Auxiliary control device, auxiliary control method and computer readable storage medium

Abstract

The invention provides an assist control device, an assist control method, and a program computer-readable storage medium. The assist control device is provided with: a first acquisition unit that acquires position information of a vehicle detected by the vehicle, and information indicating a traffic lane of the vehicle detected by analyzing an image captured by an imaging device provided in the vehicle; a position determination unit that determines the position of the vehicle on a map on the basis of the position information of the vehicle acquired by the first acquisition unit and information indicating the traffic lane of the vehicle; and an assistance control unit that performs control for traffic assistance with respect to the vehicle on the basis of the position determined by the position determination unit.

Description

Technical Field

[0001] The invention relates to an auxiliary control device, an auxiliary control method and a computer-readable storage medium. Background Art

[0002] In recent years, efforts to provide access to sustainable transportation systems for people in vulnerable situations among traffic participants have become increasingly active. In order to achieve this goal, research and development are being devoted to further improving the safety and convenience of traffic through research and development related to preventive safety technologies. Patent documents 1 to 3 describe technologies for processing information sent from vehicles.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2009-145167

[0004] Patent Document 2: International Publication No. 2020 / 012208

[0005] Patent Document 3: Japanese Patent Application Publication No. 2021-111331 Summary of the invention

[0006] However, in preventive safety technology, it is a problem to determine the position of a moving object with high accuracy. This application is to solve the above problem, and its purpose is to determine the position of a moving object with high accuracy. Moreover, it also contributes to the development of a sustainable transportation system.

[0007] In a first aspect of the present invention, an auxiliary control device is provided. The auxiliary control device includes a first acquisition unit that acquires position information of the vehicle detected by the vehicle and information indicating the lane of the vehicle detected by analyzing an image captured by a camera installed on the vehicle. The auxiliary control device includes a position determination unit that determines the position of the vehicle on a map based on the position information of the vehicle acquired by the first acquisition unit and the information indicating the lane of the vehicle. The auxiliary control device includes an auxiliary control unit that performs control for traffic assistance for the vehicle based on the position determined by the position determination unit.

[0008] The auxiliary control device may further include a second acquisition unit that acquires position information of another vehicle detected by another vehicle other than the vehicle, information indicating a lane of the other vehicle detected by analyzing an image captured by a camera installed on the other vehicle, and information indicating a lane of the vehicle detected by analyzing an image captured by a camera installed on the other vehicle. The position determination unit may determine the position of the vehicle on the map based on the position information of the vehicle and the information indicating the lane of the vehicle acquired by the first acquisition unit, the position information of the other vehicle, the information indicating the lane of the other vehicle, and the information indicating the lane of the vehicle acquired by the second acquisition unit.

[0009] In any of the above-mentioned auxiliary control devices, it can be configured that, in a case where the shooting device installed on the other vehicle is a first shooting device that shoots the front of the other vehicle, the position determination unit determines whether the vehicle is a vehicle traveling in front of the other vehicle based on the position information of the vehicle and the position information of the other vehicle, and when it is determined that the vehicle is a vehicle traveling in front of the other vehicle, the position of the vehicle on the map is determined based on the position information of the vehicle acquired by the first acquisition unit and the information indicating the lane of the vehicle, the position information of the other vehicle acquired by the second acquisition unit, the information indicating the lane of the other vehicle detected by analyzing the image captured by the first shooting device, and the information indicating the lane of the vehicle detected by analyzing the image captured by the first shooting device.

[0010] In any of the above-mentioned auxiliary control devices, it can be configured that, in a case where the shooting device installed on the other vehicle is a second shooting device that shoots the rear of the other vehicle, the position determination unit determines whether the vehicle is a vehicle traveling behind the other vehicle based on the position information of the vehicle and the position information of the other vehicle, and when it is determined that the vehicle is a vehicle traveling behind the other vehicle, the position of the vehicle on the map is determined based on the position information of the vehicle acquired by the first acquisition unit and the information indicating the lane of the vehicle, the position information of the other vehicle acquired by the second acquisition unit, the information indicating the lane of the other vehicle detected by analyzing the image captured by the second shooting device, and the information indicating the lane of the vehicle detected by analyzing the image captured by the second shooting device.

[0011] In any of the auxiliary control devices described above, the second acquisition unit may also acquire distance information from the other vehicle to the vehicle detected by analyzing an image captured by a camera installed on the other vehicle. The position determination unit may also determine the position of the vehicle on a map based on the distance information from the other vehicle to the vehicle acquired by the second acquisition unit.

[0012] In any of the above auxiliary control devices, the first acquisition unit may also acquire detection accuracy information of the lane of the vehicle detected by analyzing an image captured by a camera disposed on the vehicle. The position determination unit may also determine the position of the vehicle based on the detection accuracy information of the lane of the vehicle acquired by the first acquisition unit.

[0013] In any of the above auxiliary control devices, the second acquisition unit may also acquire detection accuracy information of the lane of the vehicle detected by analyzing an image captured by a camera installed on the other vehicle. The position determination unit may also determine the position of the vehicle based on the detection accuracy information of the lane of the vehicle acquired by the second acquisition unit.

[0014] In any of the above auxiliary control devices, the first acquisition unit may further acquire detection accuracy information of the position information of the vehicle detected by the vehicle. The position determination unit may further determine the position of the vehicle based on the detection accuracy information of the position information of the vehicle acquired by the first acquisition unit.

[0015] In any of the above auxiliary control devices, the second acquisition unit may further acquire detection accuracy information of the position information of the other vehicle detected by the other vehicle. The position determination unit may further determine the position of the vehicle based on the detection accuracy information of the position information of the other vehicle acquired by the second acquisition unit.

[0016] In any of the above auxiliary control devices, the second acquisition unit may also acquire detection accuracy information of distance information from the other vehicles to the vehicle. The position determination unit may also determine the position of the vehicle on the map based on the detection accuracy information of the distance information from the other vehicles to the vehicle acquired by the second acquisition unit.

[0017] In a second aspect of the present invention, an auxiliary control method is provided. The auxiliary control method includes the steps of acquiring position information of the vehicle detected by the vehicle and information indicating the lane of the vehicle detected by analyzing an image captured by a camera installed on the vehicle. The auxiliary control method includes the steps of determining the position of the vehicle on a map based on the position information of the vehicle and the information indicating the lane of the vehicle. The auxiliary control method includes the steps of performing control for traffic assistance for the vehicle based on the position determined in the step of determining the position of the vehicle.

[0018] In a third aspect of the present invention, there is provided a program that causes a computer to function as any one of the above-mentioned auxiliary control devices.

[0019] In addition, the above summary of the invention does not list all the features of the present invention. In addition, a sub-combination of these feature groups may also be an invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A usage scenario of the assistance system 10 is schematically shown.

[0021] Figure 2 The functional structure of the auxiliary device 60 is shown.

[0022] Figure 3 This is a diagram for explaining an example of a process of determining the position of the vehicle 20a based on the lanes of the vehicles 20a and 20d.

[0023] Figure 4 This is a diagram for explaining an example of a process of determining the position of the vehicle 20a in consideration of the distance detected in the vehicle 20d.

[0024] Figure 5 An example of the execution flow of the processes of the user terminal 82 , the in-vehicle processing device 40 included in the vehicle 20 , and the support device 60 is shown.

[0025] Figure 6 An example of a flowchart related to an assist control method performed by the assist device 60 is shown.

[0026] Figure 7 An example of a computer 2000 is shown. DETAILED DESCRIPTION

[0027] Hereinafter, the present invention will be described by way of the embodiments of the invention, but the following embodiments do not limit the claimed invention. In addition, not all combinations of features described in the embodiments are essential to the solution means of the invention.

[0028] Figure 1The following schematically shows a usage scenario of the support system 10 . The support system 10 includes vehicles 20 a , 20 b , 20 c , and 20 d , user terminals 82 a and 82 b , and a support device 60 .

[0029] The vehicle 20a includes an on-board processing device 40a, a first camera 30a, and a second camera 32a, the vehicle 20b includes an on-board processing device 40b, a first camera 30b, and a second camera 32b, the vehicle 20c includes an on-board processing device 40c, a first camera 30c, and a second camera 32c, and the vehicle 20d includes an on-board processing device 40d, a first camera 30d, and a second camera 32d. The vehicles 20a, 20b, and 20d are traveling vehicles, and the vehicle 20c is a stopped vehicle. The user terminal 82a is a terminal held by the user 80a, and the user terminal 82b is a terminal held by the user 80b. In the present embodiment, the users 80a and 80b are pedestrians.

[0030] In this embodiment, vehicle 20a, vehicle 20b, vehicle 20c and vehicle 20d are sometimes collectively referred to as "vehicle 20". The on-board processing device 40a, on-board processing device 40b, on-board processing device 40c and on-board processing device 40d are sometimes collectively referred to as "on-board processing device 40". The first camera 30a, the first camera 30b, the first camera 30c and the first camera 30d are sometimes collectively referred to as "first camera 30". The second camera 32a, the second camera 32b, the second camera 32c and the second camera 32d are sometimes collectively referred to as "second camera 32". The user terminal 82a and the user terminal 82b are sometimes collectively referred to as "user terminal 82". The user 80a and the user 80b are sometimes collectively referred to as "user 80".

[0031] The vehicle 20 is a vehicle traveling on the road 90. The vehicle 20 is an example of a mobile body. The vehicle-mounted processing device 40 is composed of sensors including a position sensor including a global navigation satellite system (GNSS) receiver, a speed sensor such as a vehicle speed sensor, and a distance sensor that measures the distance from the vehicle 20 to surrounding objects. The vehicle-mounted processing device 40 has a function of processing information acquired by various sensors, the first camera 30, and the second camera 32, and a function of communicating with the auxiliary device 60. The vehicle-mounted processing device 40 provides an advanced driving assistance system (ADAS) function that the vehicle 20 has.

[0032] The first imaging device 30 is an imaging device that captures images of the front of the vehicle 20. The second imaging device 32 is an imaging device that captures images of the rear of the vehicle 20.

[0033] The user terminal 82 is a portable terminal such as a smartphone, for example. The user terminal 82 is an example of a mobile object. The user terminal 82 periodically transmits the current position information of the user terminal 82 detected by a position sensor including a GNSS receiver to the assistance device 60.

[0034] The support device 60 receives information transmitted from the vehicle-mounted processing device 40 and the user terminal 82 via mobile communication. The support device 60 can receive information transmitted from the vehicle-mounted processing device 40 and the user terminal 82 via mobile communication and a communication line such as the Internet and a dedicated line.

[0035] The assistance device 60 performs traffic assistance on the vehicle 20 based on the information received from the vehicle-mounted processing device 40 and the user terminal 82. For example, based on the history of the position information and speed information of the vehicle 20a received from the vehicle-mounted processing device 40a and the history of the position information of the user terminal 82, when it is predicted that the user 80a and the vehicle 20a will approach each other within a predetermined time, the assistance device 60 determines that traffic assistance should be performed on the vehicle 20a and the user 80a, and instructs the vehicle-mounted processing device 40a and the user terminal 82a to output an alarm.

[0036] The onboard processing device 40 detects the lane in which the vehicle 20 is traveling. For example, the onboard processing device 40 detects the lane of the vehicle 20 by analyzing the images captured by the first camera 30 and / or the second camera 32. The onboard processing device 40 further detects the lanes of other vehicles 20 in front of the vehicle 20 and the lanes of other vehicles 20 behind the vehicle 20 by analyzing the images captured by the first camera 30 and the second camera 32. The onboard processing device 40 sends the detected position information of the vehicle 20, the information indicating the lane of the vehicle 20, the lanes of other vehicles 20 in front of the vehicle 20, and the lanes of other vehicles 20 behind the vehicle 20 to the auxiliary device 60.

[0037] The assist device 60 determines the position of each vehicle 20 based on the information transmitted from the vehicle 20. For example, the assist device 60 determines the position of the vehicle 20a based on the position of the vehicle 20a detected by the vehicle-mounted processing device 40a and the lane of the vehicle 20a. When the assist device 60 receives information indicating the position of the vehicle 20d detected in the vehicle 20d traveling behind the vehicle 20a, the lane of the vehicle 20d, and the lane of the vehicle 20a, the position of the vehicle 20a can be further determined based on the information detected in the vehicle 20d traveling behind the vehicle 20a. Thus, even when the position detection accuracy based on the signal from the GNSS satellite is low, the assist device 60 can determine that the vehicle 20a is traveling on the lane detected by the vehicle-mounted processing device 40a and / or the vehicle-mounted processing device 40d, and match the lane with the map information to determine the position of the vehicle 20a. Thus, the position determination accuracy of the vehicle 20a can be improved.

[0038] Figure 2 The following is a functional configuration of the support device 60. The support device 60 includes a support control device 200, a communication device 290, and a storage device 280.

[0039] The communication device 290 is responsible for the communication between the vehicle-mounted processing device 40 and the user terminal 82 and the auxiliary device 60, respectively, based on the control of the auxiliary control device 200. The auxiliary control device 200 is implemented by a circuit including, for example, a calculation processing device including a processor. The auxiliary control device 200 can be implemented by a microcomputer including a CPU, ROM, RAM, I / O, bus, etc. The storage device 280 is implemented by a non-volatile storage medium. The auxiliary control device 200 uses the information stored in the storage device 280 for processing.

[0040] The auxiliary control device 200 includes an acquisition unit 202, a position determination unit 230, and an auxiliary control unit 260. The acquisition unit 202 includes a first acquisition unit 210 and a second acquisition unit 220. Figure 2 The functional form of a part of the functional structure shown.

[0041] The acquisition unit 202 acquires information transmitted from the vehicle 20 and the user terminal 82. Specifically, the first acquisition unit 210 acquires the position information of the vehicle 20 detected by the vehicle 20 and the information indicating the lane of the vehicle 20 detected by analyzing the image captured by the camera provided on the vehicle 20. The position determination unit 230 determines the position of the vehicle 20 on the map based on the position information of the vehicle 20 acquired by the first acquisition unit 210 and the information indicating the lane of the vehicle 20. The assistance control unit 260 controls the vehicle 20 for traffic assistance based on the position determined by the position determination unit 230.

[0042] The second acquisition unit 220 acquires the position information of the other vehicle 20 detected by the other vehicle 20, the information indicating the lane of the other vehicle 20 detected by analyzing the image captured by the camera provided in the other vehicle 20, and the information indicating the lane of the vehicle 20 detected by analyzing the image captured by the camera provided in the other vehicle 20. The position determination unit 230 may determine the position of the vehicle 20 on the map based on the position information of the vehicle 20 and the information indicating the lane of the vehicle 20 acquired by the first acquisition unit 210, the position information of the other vehicle 20, the information indicating the lane of the other vehicle 20, and the information indicating the lane of the vehicle 20 acquired by the second acquisition unit 220.

[0043] In the case where the camera installed on the other vehicle 20 is the first camera 30 that captures the front of the other vehicle 20, the position determination unit 230 determines whether the vehicle 20 is the vehicle 20 traveling in front of the other vehicle 20 based on the position information of the vehicle 20 and the position information of the other vehicle 20. When it is determined that the vehicle 20 is the vehicle 20 traveling in front of the other vehicle 20, the position of the vehicle 20 on the map is determined based on the position information of the vehicle 20 and the information indicating the lane of the vehicle 20 acquired by the first acquisition unit 210, the position information of the other vehicle 20 acquired by the second acquisition unit 220, the information indicating the lane of the other vehicle 20 detected by analyzing the image captured by the first camera 30, and the information indicating the lane of the vehicle 20 detected by analyzing the image captured by the first camera 30.

[0044] In the case where the camera installed on the other vehicle 20 is the second camera 32 that captures the rear of the other vehicle 20, the position determination unit 230 can determine whether the vehicle 20 is the vehicle 20 traveling behind the other vehicle 20 based on the position information of the vehicle 20 and the position information of the other vehicle 20. In the case where it is determined that the vehicle 20 is the vehicle 20 traveling behind the other vehicle 20, the position of the vehicle 20 on the map is determined based on the position information of the vehicle 20 and the information indicating the lane of the vehicle 20 acquired by the first acquisition unit 210, the position information of the other vehicle 20 acquired by the second acquisition unit 220, the information indicating the lane of the other vehicle 20 detected by analyzing the image captured by the second camera 32, and the information indicating the lane of the vehicle 20 detected by analyzing the image captured by the second camera.

[0045] The second acquisition unit 220 may also acquire distance information from another vehicle 20 to the vehicle 20 detected by analyzing an image captured by a camera installed on the other vehicle 20. The position determination unit 230 may further determine the position of the vehicle 20 on the map based on the distance information from another vehicle 20 to the vehicle 20 acquired by the second acquisition unit 220.

[0046] The second acquisition unit 220 may also acquire detection accuracy information of distance information from other vehicles 20 to the vehicle 20. The position determination unit 230 may further determine the position of the vehicle 20 on the map based on the detection accuracy information of distance information from other vehicles 20 to the vehicle 20 acquired by the second acquisition unit 220.

[0047] The first acquisition unit 210 may also acquire detection accuracy information of the lane of the vehicle 20 detected by analyzing an image captured by a camera installed on the vehicle 20. The position determination unit 230 may further determine the position of the vehicle 20 based on the detection accuracy information of the lane of the vehicle 20 acquired by the first acquisition unit 210.

[0048] The second acquisition unit 220 also acquires the detection accuracy information of the lane of the vehicle 20 detected by analyzing the image captured by the camera provided on the other vehicle 20. The position determination unit 230 may further determine the position of the vehicle 20 based on the detection accuracy information of the lane of the vehicle 20 acquired by the second acquisition unit 220.

[0049] The first acquisition unit 210 may also acquire detection accuracy information of the position information of the vehicle 20 detected by the vehicle 20. The position determination unit 230 may further determine the position of the vehicle 20 based on the detection accuracy information of the position information of the vehicle 20 acquired by the first acquisition unit 210.

[0050] The second acquisition unit 220 may also acquire detection accuracy information of the position information of the other vehicle 20 detected by the other vehicle 20. The position determination unit 230 may further determine the position of the vehicle 20 based on the detection accuracy information of the position information of the other vehicle 20 acquired by the second acquisition unit 220.

[0051] Figure 3 1 is a diagram for explaining an example of a process of determining the position of vehicle 20a based on the lanes of vehicles 20a and 20d. Assume that vehicle 20a is traveling in front of vehicle 20d on road 90. Lanes 91, 92, 93, and 94 are set on road 90. Lane lines 310, 312, 330, 332, and 320 are set on road 90.

[0052] The on-board processing device 40a provided on the vehicle 20a detects the lane 91 in which the vehicle 20a is traveling by analyzing the image captured by the first camera 30a or the second camera 32a. For example, the on-board processing device 40a detects the position of the lane line set on the road 90 by analyzing the image captured by the first camera 30a or the second camera 32a, and detects the lane 91 in which the vehicle 20a is traveling based on the position of the detected lane line. In addition to the lane line, the on-board processing device 40a can also detect the position of the curb, guardrail, isolation belt, planting, etc., and further detect the lane 91 in which the vehicle 20a is traveling based on the detected information.

[0053] The vehicle-mounted processing device 40a detects the lane 91 in which the vehicle 20d behind the vehicle 20a is traveling by analyzing the image captured by the second camera 32a. The vehicle-mounted processing device 40a detects the position of the lane line set on the road 90 by analyzing the image captured by the second camera 32a, and detects the lane 91 in which the vehicle 20d is traveling based on the position of the detected lane line and the position of the vehicle 20d detected from the image. In addition to the lane line, the vehicle-mounted processing device 40a can also detect the position of the curb, guardrail, isolation belt, planting, etc., and further detect the lane 91 in which the vehicle 20d is traveling based on the detected information.

[0054] The vehicle-mounted processing device 40a detects the position of the vehicle 20a based on the signal from the GNSS satellite received by the GNSS receiver. Here, the position of the vehicle 20a detected by the vehicle-mounted processing device 40a is Figure 3 Position 350 shown.

[0055] The vehicle-mounted processing device 40a transmits position information indicating the position of the vehicle 20a, own-vehicle lane information indicating the lane 91 in which the vehicle 20a is traveling, and other-vehicle lane information indicating the lane 91 in which the vehicle 20d is traveling to the support device 60. The other-vehicle lane information includes information indicating whether the vehicle 20a is traveling in the lane of the vehicle in front of it or in the lane of the vehicle behind it.

[0056] In the support device 60 , the first acquisition unit 210 acquires information transmitted from the in-vehicle processing device 40 a .

[0057] The vehicle-mounted processing device 40d provided in the vehicle 20d traveling behind the vehicle 20a detects the lane 91 in which the vehicle 20d is traveling by analyzing the image captured by the first imaging device 30d or the second imaging device 32d. For example, the vehicle-mounted processing device 40d detects the lane 91 in which the vehicle 20d is traveling by performing the same processing as the vehicle-mounted processing device 40a.

[0058] The vehicle-mounted processing device 40d detects the lane 91 in which the vehicle 20a in front of the vehicle 20d is traveling by analyzing the image captured by the first camera 30d. The vehicle-mounted processing device 40d detects the position of the lane line set on the road 90 by analyzing the image captured by the first camera 30d, and detects the lane 91 in which the vehicle 20a is traveling based on the position of the detected lane line and the position of the vehicle 20a detected from the image. In addition to the lane line, the vehicle-mounted processing device 40d can also detect the position of the curb, guardrail, isolation belt, planting, etc., and further detect the lane 91 in which the vehicle 20a is traveling based on the detected information.

[0059] The vehicle-mounted processing device 40d detects the position of the vehicle 20d based on the signal from the GNSS satellite received by the GNSS receiver. Here, the position of the vehicle 20d detected by the vehicle-mounted processing device 40d is Figure 3 Position 360 shown.

[0060] The vehicle-mounted processing device 40d transmits the position information indicating the position of the vehicle 20d, the own vehicle lane information indicating the lane 91 in which the vehicle 20d is traveling, and the other vehicle lane information indicating the lane 91 in which the vehicle 20a is traveling to the support device 60. The other vehicle lane information includes information indicating whether the vehicle 20d is traveling in the lane of the vehicle in front of the vehicle 20d or in the lane of the vehicle behind the vehicle 20d. In the support device 60, the second acquisition unit 220 acquires the information transmitted from the vehicle-mounted processing device 40d.

[0061] As an example, the position determination unit 230 determines that the vehicle 20a is traveling in the lane 91 based on the information transmitted from the vehicle-mounted processing device 40a. Thus, the position determination unit 230 refers to the lane information of the road 90 included in the map information, and determines the position 352 as the position of the vehicle 20a by correcting the position information transmitted from the vehicle-mounted processing device 40a. The position 352 is, for example, a position obtained by shifting the position 350 to the center position of the lane 91 in a direction orthogonal to the extending direction of the road 90.

[0062] Similarly, based on the information transmitted from the vehicle-mounted processing device 40d, the position determination unit 230 determines that the vehicle 20d is traveling in the lane 91. The position determination unit 230 refers to the lane information of the road 90 included in the map information, and determines the position 362 as the position of the vehicle 20d by correcting the position information transmitted from the vehicle-mounted processing device 40d.

[0063] The position determination unit 230 may further determine the position of the vehicle 20a based on the information transmitted from the vehicle-mounted processing device 40d. For example, the position determination unit 230 determines that the vehicle 20d is traveling behind the vehicle 20a based on the position of the vehicle 20d and the position of the vehicle 20a. Furthermore, the position determination unit 230 determines that the vehicle 20a is traveling in the same lane 91 as the lane 91 in which the vehicle 20d is traveling based on the information transmitted from the vehicle-mounted processing device 40d. Thus, the position determination unit 230 refers to the lane information of the road 90 included in the map information, and determines the position 352 as the position of the vehicle 20a by correcting the position information transmitted from the vehicle-mounted processing device 40a.

[0064] The position determination unit 230 may determine the position of the vehicle 20a by comprehensively considering the lane of the vehicle 20a detected by the vehicle-mounted processing device 40a and the lane of the vehicle 20a detected by the vehicle-mounted processing device 40d. The position determination unit 230 may determine the position of the vehicle 20a by considering the detection accuracy of the lane of the vehicle 20a detected by the vehicle-mounted processing device 40a and the detection accuracy of the lane of the vehicle 20a detected by the vehicle-mounted processing device 40d.

[0065] The information transmitted from the vehicle-mounted processing device 40a and the vehicle-mounted processing device 40d to the auxiliary device 60 may include information indicating the detection accuracy of the lane by each vehicle-mounted processing device 40. The detection accuracy of the lane by the vehicle-mounted processing device 40 may be a predetermined fixed value or a value determined by the image analysis performed by the vehicle-mounted processing device 40. The detection accuracy of the lane by the vehicle-mounted processing device 40 may be improved during the daytime and reduced during the nighttime. When the detection accuracy of the lane of the vehicle 20a detected by the vehicle-mounted processing device 40a is higher than the detection accuracy of the lane of the vehicle 20a detected by the vehicle-mounted processing device 40d, the position determination unit 230 may determine the position of the vehicle 20a based on the lane of the vehicle 20a detected by the vehicle-mounted processing device 40a. The position determination unit 230 can determine the position of the vehicle 20a based on the lane of the vehicle 20a detected by the onboard processing device 40d when the detection accuracy of the lane of the vehicle 20a detected by the onboard processing device 40a is lower than the detection accuracy of the lane of the vehicle 20a detected by the onboard processing device 40d.

[0066] Figure 4 2 is a diagram for explaining an example of a process for determining the position of the vehicle 20a in consideration of the distance detected in the vehicle 20d. Figure 3 The description of the overlapping processes of the in-vehicle processing device 40 and the support device 60 will be omitted.

[0067] The vehicle-mounted processing device 40a detects the distance from the vehicle 20a to the vehicle 20d behind the vehicle 20a by the distance measuring sensor provided in the vehicle-mounted processing device 40d. The vehicle-mounted processing device 40a transmits distance information indicating the distance from the vehicle 20a to the vehicle 20d to the auxiliary device 60. The vehicle-mounted processing device 40a may transmit information indicating the detection accuracy of the distance by the distance measuring sensor of the vehicle-mounted processing device 40a together with the distance information to the auxiliary device 60. The information transmitted from the vehicle-mounted processing device 40a is acquired by the first acquisition unit 210 of the auxiliary device 60.

[0068] Similarly, the vehicle-mounted processing device 40d detects the distance from the vehicle 20d to the vehicle 20a in front of the vehicle 20d by the distance measuring sensor provided in the vehicle-mounted processing device 40a. The vehicle-mounted processing device 40a transmits distance information indicating the distance from the vehicle 20d to the vehicle 20a to the auxiliary device 60. The vehicle-mounted processing device 40d may transmit information indicating the detection accuracy of the distance by the distance measuring sensor of the vehicle-mounted processing device 40d together with the distance information to the auxiliary device 60. The information transmitted from the vehicle-mounted processing device 40d is acquired by the second acquisition unit 220 of the auxiliary device 60.

[0069] The position determination unit 230 determines the distance D between the vehicle 20a and the vehicle 20d based on the distance information transmitted from the vehicle-mounted processing device 40a and / or the distance information transmitted from the vehicle-mounted processing device 40d. For example, the position determination unit 230 determines the distance D between the vehicle 20a and the vehicle 20d based on the average value of the distance indicated by the distance information transmitted from the vehicle-mounted processing device 40a and the distance indicated by the distance information transmitted from the vehicle-mounted processing device 40d. The position determination unit 230 may determine the distance D between the vehicle 20a and the vehicle 20d based on the average value weighted by the accuracy indicated by the detection accuracy of each distance, of the distances indicated by the distance information transmitted from the vehicle-mounted processing device 40a and the distance information transmitted from the vehicle-mounted processing device 40d. The position determination unit 230 may determine the distance with higher detection accuracy as the distance D between the vehicle 20a and the vehicle 20d.

[0070] The position determination unit 230 corrects the position information transmitted from the vehicle processing device 40 based on the position of the vehicle 20a detected by the vehicle processing device 40a, the position of the vehicle 20d detected by the vehicle processing device 40d, the distance D, the lane 91 in which the vehicle 20a is traveling, and / or the lane 91 in which the vehicle 20d is traveling, thereby determining the position 452 as the position of the vehicle 20a and determining the position 462 as the position of the vehicle 20d. The position 452 and the position 462 are obtained by, for example, shifting the position 350 and the position 360 to the center position of the lane 91 in a direction orthogonal to the extending direction of the road 90 and shifting the position 350 and / or the position 360 in the extending direction of the road 90 so that the distance between the position 452 and the position 462 becomes the distance D.

[0071] When the position determination unit 230 displaces the position 350 and / or the position 360 in the extending direction of the road 90 to determine the position 452 and the position 462, the position determination unit 230 may displace both the position 350 and the position 360, or may displace one of the position 350 and the position 360. The position determination unit 230 may determine whether to displace both the position 350 and the position 360 in the extending direction of the road 90 or to displace one of the position 350 and the position 360 in the extending direction of the road 90 based on the respective detection accuracies of the position 350 and the position 360. The position determination unit 230 may displace only the one of the position 350 and the position 360 with a lower detection accuracy in the extending direction of the road 90. The position determination unit 230 may determine the distances by which the position 350 and the position 360 are displaced in the extending direction of the road 90, respectively, based on the detection accuracies. When the detection accuracy of position 360 is higher than that of position 350, position determination unit 230 may shift position 350 in the extending direction of road 90 by a distance greater than that of position 360 in the extending direction of road 90. When the detection accuracy of position 360 is higher than that of position 350 and the detection accuracy of position 360 is higher than a predetermined value, position determination unit 230 may shift only position 350 in the extending direction of road 90.

[0072] exist Figure 3 as well as Figure 4 In the example of , the example of processing when the position of the vehicle 20a is determined based on the lane information of the vehicle 20a detected by the vehicle-mounted processing device 40d of the vehicle 20d behind the vehicle 20a is mainly described. However, the same processing can also be applied to the processing of determining the position of the vehicle 20a based on the lane information of the vehicle 20a detected by the vehicle-mounted processing device 40 of the vehicle 20 ahead of the vehicle 20a, so the description thereof is omitted.

[0073] Figure 5An example of the execution flow of the processes of the user terminal 82 , the in-vehicle processing device 40 included in the vehicle 20 , and the support device 60 is shown.

[0074] In S502, the user terminal 82a transmits position information indicating the current position of the user terminal 82a based on a signal received from a GNSS satellite to the support device 60. The position information is transmitted from the user terminal 82a to the support device 60 periodically.

[0075] In S503, the user terminal 82b transmits position information indicating the current position of the user terminal 82b based on the signal received from the GNSS satellite to the support device 60. The position information is transmitted from the user terminal 82b to the support device 60 periodically.

[0076] In S512, the vehicle-mounted processing device 40a transmits position information indicating the current position of the vehicle 20a based on the signal received from the GNSS satellite, information indicating the lane of the vehicle 20a, lane information indicating the lane of other vehicles traveling in front of and / or behind the vehicle 20a, and distance information indicating the distance to the other vehicles to the auxiliary device 60. In S512, the vehicle-mounted processing device 40a may transmit information indicating the detection accuracy of each of the position, lane, and distance based on the vehicle-mounted processing device 40a. Information is transmitted from the vehicle-mounted processing device 40a to the auxiliary device 60 periodically.

[0077] In S513, the vehicle-mounted processing device 40b transmits position information indicating the current position of the vehicle 20b based on the signal received from the GNSS satellite, information indicating the lane of the vehicle 20b, lane information indicating the lane of other vehicles traveling in front of and / or behind the vehicle 20b, and distance information indicating the distance to the other vehicles to the auxiliary device 60. In S513, the vehicle-mounted processing device 40b may transmit information indicating the detection accuracy of each of the position, lane, and distance based on the vehicle-mounted processing device 40b. Information is transmitted from the vehicle-mounted processing device 40b to the auxiliary device 60 periodically.

[0078] In S514, the vehicle-mounted processing device 40d transmits position information indicating the current position of the vehicle 20d based on the signal received from the GNSS satellite, information indicating the lane of the vehicle 20d, lane information indicating the lane of other vehicles traveling in front of and / or behind the vehicle 20d, and distance information indicating the distance to the other vehicles to the assistance device 60. In S514, the vehicle-mounted processing device 40d may transmit information indicating the detection accuracy of each of the position, lane, and distance based on the vehicle-mounted processing device 40d. Information is transmitted from the vehicle-mounted processing device 40d to the assistance device 60 periodically.

[0079] In S530, the assistance control unit 260 of the assistance device 60 determines whether to perform traffic assistance on the vehicle 20 and the user terminal 82 based on the information received in S502, S503, S512, S513, and S514. Figure 3 and Figure 4 According to the method described in the above, the position determination unit 230 determines the position of the vehicle 20 based on the information received in S512, S513 and S514. The auxiliary control unit 260 determines whether the vehicle 20 and the user terminal 82 approach to within a predetermined distance within a predetermined time, and / or whether the vehicle 20 and another vehicle 20 approach to within a predetermined distance within a predetermined time, based on the position of the vehicle 20 determined by the position determination unit 230 and the position of the user terminal 82 received in S502 and S503. When it is determined that the vehicle 20 and the user terminal 82 approach to within a predetermined distance within a predetermined time, and / or when it is determined that the vehicle 20 and another vehicle 20 approach to within a predetermined distance within a predetermined time, the auxiliary control unit 260 determines to perform traffic assistance.

[0080] In this embodiment, the auxiliary control unit 260 determines that the user terminal 82a and the vehicle 20a approach to within a predetermined distance within a predetermined time, and determines that the vehicle 20b and the user terminal 82b approach to within a predetermined distance within a predetermined time. Therefore, in S532, the auxiliary control unit 260 controls the communication device 290 to send auxiliary information indicating that the onboard processing device 40a and the user terminal 82a output an alarm to the onboard processing device 40a and the user terminal 82a, respectively. And in S534, the auxiliary control unit 260 controls the communication device 290 to send auxiliary information indicating that the onboard processing device 40b and the user terminal 82b output an alarm to the onboard processing device 40b and the user terminal 82b, respectively.

[0081] When the user terminal 82a receives the assistance information from the assistance device 60, in S506, the user terminal 82a notifies the user 80a of the presence of the vehicle 20 approaching the user 80a through the HMI (Human Machine Interface) function of the user terminal 82a. The user terminal 82a can notify the user 80a of the presence of the vehicle approaching the user 80a by sound.

[0082] When the vehicle-mounted processing device 40a receives the auxiliary information from the auxiliary device 60, in S516, the vehicle-mounted processing device 40a notifies the passengers of the vehicle 20a that there is a user approaching the vehicle 20a through the HMI function of the vehicle-mounted processing device 40a. The vehicle-mounted processing device 40a can notify the passengers of the vehicle 20a of the presence of a vehicle approaching the vehicle 20a through sound and display on a display device provided in the vehicle 20a.

[0083] When the user terminal 82b receives the assistance information from the assistance device 60, in S508, the user 80b is notified of the presence of a vehicle approaching the user 80b through the HMI function of the user terminal 82b. The user terminal 82b may notify the user 80b of the presence of a vehicle approaching the user 80b through sound.

[0084] When the vehicle-mounted processing device 40b receives the auxiliary information from the auxiliary device 60b, in S518, the vehicle-mounted processing device 40b notifies the passengers of the vehicle 20b of the presence of a vehicle approaching the vehicle 20b through the HMI function of the vehicle-mounted processing device 40b. The vehicle-mounted processing device 40b can notify the passengers of the vehicle 20b of the presence of a vehicle approaching the vehicle 20b through sound and display on a display device of the vehicle 20b.

[0085] Figure 6 An example of a flowchart related to the assist control method executed by the assist device 60 is shown. The processing of this flowchart can be repeatedly executed. Here, the processing of determining the position of the vehicle 20a and the assist control based on the position are particularly described.

[0086] In S600 , the acquisition unit 202 acquires the position information transmitted from the user terminal 82 .

[0087] In S602, the first acquisition unit 210 acquires information indicating the position of the vehicle 20a, the lane of the vehicle 20a, the lanes of other vehicles 20 in front of and / or behind the vehicle 20a, the distance to the other vehicles 20, and information indicating the detection accuracy of each information, which is sent from the on-board processing device 40a of the vehicle 20a.

[0088] In S603, the second acquisition unit 220 acquires information indicating the position of the vehicle 20d, the lane of the vehicle 20d, the lanes of other vehicles 20 in front of and / or behind the vehicle 20d, the distance to the other vehicles 20, and information indicating the detection accuracy of each information, which is sent from the on-board processing device 40d of the vehicle 20d.

[0089] In S604, the position determination unit 230 combines Figure 3 and Figure 4 The position of the vehicle 20a is determined by the method described in the above-mentioned method. In S606, the assistance control unit 260 performs the above-mentioned approach judgment based on the position of the vehicle 20a calculated in S606 and the position of the user terminal 82 acquired in S600, and determines whether to perform traffic assistance for the vehicle 20a and the user terminal 82a. In the case where it is determined that traffic assistance is to be performed for the vehicle 20a and the user terminal 82a, control related to traffic assistance is performed in S608.

[0090] According to the assistance system 10 described above, the assistance device 60 can determine the position of the vehicle 20 based on the position of the vehicle 20 and the lane detected by the onboard processing device 40. Even when the position detection accuracy based on the signal from the GNSS satellite is low, the assistance device 60 can determine that the vehicle 20 is traveling on the lane detected by the onboard processing device 40, and match the lane with the map information to determine the position of the vehicle 20. As a result, the position determination accuracy of the vehicle 20 can be improved.

[0091] Figure 7 An example of a computer 2000 that can fully or partially embody multiple embodiments of the present invention is shown. The program installed in the computer 2000 can cause the computer 2000 to function as a device such as the auxiliary device 60 or each unit of the device involved in the embodiment, perform operations associated with the device or each unit of the device, and / or perform a process involved in the embodiment or steps of the process. Such a program can be executed by the CPU 2012 in order to cause the computer 2000 to perform the processing flow described in this specification and specific operations associated with some or all of the functional blocks in the block diagram.

[0092] The computer 2000 according to the present embodiment includes a CPU 2012 and a RAM 2014, which are connected to each other via a main controller 2010. The computer 2000 further includes a ROM 2026, a flash memory 2024, a communication interface 2022, and an input / output chip 2040. The ROM 2026, the flash memory 2024, the communication interface 2022, and the input / output chip 2040 are connected to the main controller 2010 via the input / output controller 2020.

[0093] The CPU 2012 operates according to the programs stored in the ROM 2026 and the RAM 2014 , thereby controlling each unit.

[0094] The communication interface 2022 communicates with other electronic devices via a network. The flash memory 2024 stores programs and data used by the CPU 2012 in the computer 2000. The ROM 2026 stores a startup program executed by the computer 2000 when activated, and / or a program dependent on the hardware of the computer 2000. The input / output chip 2040 can also connect various input / output units such as a keyboard, a mouse, and a monitor to the input / output controller 2020 via an input / output port such as a serial port, a parallel port, a keyboard port, a mouse port, a monitor port, a USB port, and an HDMI (registered trademark) port.

[0095] The program is provided via a computer-readable storage medium such as a CD-ROM, DVD-ROM, or a USB flash drive, or a network. RAM 2014, ROM 2026, or flash memory 2024 is an example of a computer-readable storage medium. The program is installed in flash memory 2024, RAM 2014, or ROM 2026 and executed by CPU 2012. The information processing described in these programs is read by computer 2000, and the cooperation between the program and the various types of hardware resources described above is realized. The device or method can be constructed by implementing the operation or processing of information in accordance with the use of computer 2000.

[0096] For example, when the computer 2000 communicates with an external device, the CPU 2012 may execute a communication program loaded into the RAM 2014, and based on the processing described in the communication program, instruct the communication interface 2022 to perform communication processing. Under the control of the CPU 2012, the communication interface 2022 reads the transmission data stored in the transmission buffer processing area provided in the RAM 2014 and the recording medium such as the flash memory 2024, transmits the read transmission data to the network, and writes the reception data received from the network to the reception buffer processing area provided on the recording medium.

[0097] In addition, the CPU 2012 can read all or a necessary part of a file or database stored in a recording medium such as the flash memory 2024 to the RAM 2014, and execute various processes on the data in the RAM 2014. The CPU 2012 then writes the processed data back to the recording medium.

[0098] Various types of information such as programs, data, tables, and databases can be saved to a recording medium and applied to information processing. CPU2012 can perform various operations, information processing, conditional judgment, conditional branching, unconditional branching, information retrieval / replacement, etc., which are specified by the instruction sequence of the program, on the data read from RAM2014, and write the results back to RAM2014. In addition, CPU2012 can retrieve information in files, databases, etc. in the recording medium. For example, when multiple items having attribute values ​​of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, CPU2012 can retrieve an item that specifies the attribute value of the first attribute and is consistent with the condition from the multiple items, read the attribute value of the second attribute stored in the item, and thereby obtain the attribute value of the second attribute associated with the first attribute that meets the pre-set condition.

[0099] The program or software module described above can be stored in a computer-readable storage medium on or near the computer 2000. A recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium. The program stored in the computer-readable storage medium can be provided to the computer 2000 via a network.

[0100] The program installed in the computer 2000 and causing the computer 2000 to function as the auxiliary device 60 can be run in the CPU 2012 or the like, thereby causing the computer 2000 to function as each unit of the auxiliary device 60 (e.g., the auxiliary control device 200, etc.). The information processing described in these programs is read into the computer 2000, thereby functioning as a specific unit in which software and the various hardware resources described above cooperate, that is, each unit of the auxiliary device 60. And, by using these specific units to realize the calculation or processing of information corresponding to the purpose of use of the computer 2000 in this embodiment, a unique auxiliary device 60 corresponding to the purpose of use is constructed.

[0101] Various embodiments are described with reference to block diagrams, etc. In the block diagram, each functional block may represent (1) a step of a process for performing an operation or (2) each unit of a device having the function of performing an operation. Specific steps and each unit may be implemented by a dedicated circuit, a programmable circuit supplied together with computer-readable instructions stored on a computer-readable storage medium, and / or a processor supplied together with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuit may include digital and / or analog hardware circuits, and may also include integrated circuits (ICs) and / or discrete circuits. The programmable circuit may include reconfigurable hardware circuits including logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), etc., including memory elements.

[0102] The computer-readable storage medium may include any tangible device capable of storing instructions to be executed by an appropriate device, and as a result, the computer-readable storage medium having the instructions stored therein constitutes at least a part of a product containing instructions executable to implement a unit for performing the operations specified in the process flow or block diagram. As examples of computer-readable storage media, electrical storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. may be included. As more specific examples of computer-readable storage media, floppy disks (registered trademark), floppy disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), electrically erasable programmable read-only memories (EEPROM), static random access memories (SRAM), compact disk read-only memories (CD-ROM), digital versatile disks (DVD), Blu-ray (registered trademark) optical disks, memory sticks, integrated circuit cards, etc. may be included.

[0103] Computer-readable instructions may include assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine delegate instructions, microcode, firmware instructions, state setting data, or any source code or object code described in any combination of one or more programming languages ​​including object-oriented programming languages ​​such as Smalltalk (registered trademark), JAVA (registered trademark), C++, and conventional procedural programming languages ​​such as the "C" programming language or similar programming languages.

[0104] Computer readable instructions are provided to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device via a local or local area network (LAN), a wide area network (WAN) such as the Internet, and the computer readable instructions can be executed to implement a unit for performing the operations specified in the described processing flow or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0105] The present invention has been described above using the embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It is obvious to those skilled in the art that various changes or improvements can be made to the above embodiments. It is obvious from the description of the claims that such changes or improvements can also be included in the technical scope of the present invention.

[0106] Regarding the execution order of each process of actions, processes, steps, and steps in the devices, systems, programs, and methods shown in the claims, specifications, and drawings, it should be noted that there is no special indication of "before", "preceding", etc., and in addition, as long as the output of the previous process is not used in the subsequent process, it can be implemented in any order. For the action flow in the claims, specifications, and drawings, even if "first", "next", etc. are used for convenience, it does not mean that it must be implemented in such an order.

[0107] [Description of Reference Numerals]

[0108] 10Assistance Systems

[0109] 20 vehicles

[0110] 30First shooting device

[0111] 32 Second camera

[0112] 40 On-board processing device

[0113] 60 auxiliary devices

[0114] 80 users

[0115] 82 user terminals

[0116] 90 Road

[0117] Lanes 91, 92, 93, 94

[0118] 200 Auxiliary Control Devices

[0119] 202 Acquisition Department

[0120] 210 First Acquisition Department

[0121] 220 Second Acquisition Unit

[0122] 230 Position determination unit

[0123] 260 Auxiliary Control Unit

[0124] 280 storage devices

[0125] 290 communication device

[0126] Lanes 310, 312, 330, 332

[0127] 350, 352, 360, 362, 452, 462 positions

[0128] 2000 Computer

[0129] 2010 Main Controller

[0130] 2012CPU

[0131] 2014 RAM

[0132] 2020 Input / Output Controller

[0133] 2022 Communication Interface

[0134] 2024 Flash

[0135] 2026ROM

[0136] 2040 input / output chips.

Claims

1. An auxiliary control device, characterized in that: have: a first acquisition unit that acquires position information of the first vehicle detected by the first vehicle and information indicating a lane of the first vehicle detected by analyzing an image captured by a camera provided on the first vehicle; a position determination unit that determines a position of the first vehicle on a map based on the position information of the first vehicle acquired by the first acquisition unit and information indicating a lane of the first vehicle; and The assistance control unit performs control for traffic assistance for the first vehicle based on the position determined by the position determination unit.

2. The auxiliary control device according to claim 1, wherein: The system further comprises a second acquisition unit that acquires position information of the second vehicle detected by a second vehicle other than the first vehicle, information indicating a lane of the second vehicle detected by analyzing an image captured by a camera installed on the second vehicle, and information indicating a lane of the first vehicle detected by analyzing an image captured by a camera installed on the second vehicle. The position determination unit determines the position of the first vehicle on the map based on the position information of the first vehicle and the information indicating the lane of the first vehicle acquired by the first acquisition unit, the position information of the second vehicle, the information indicating the lane of the second vehicle, and the information indicating the lane of the first vehicle acquired by the second acquisition unit.

3. The auxiliary control device according to claim 2, wherein: In the case where the camera installed on the second vehicle is the first camera that captures the front of the second vehicle, the position determination unit determines whether the first vehicle is the vehicle traveling in front of the second vehicle based on the position information of the first vehicle and the position information of the second vehicle. In the case where it is determined that the first vehicle is the vehicle traveling in front of the second vehicle, the position of the first vehicle on the map is determined based on the position information of the first vehicle acquired by the first acquisition unit and the information indicating the lane of the first vehicle, the position information of the second vehicle acquired by the second acquisition unit, the information indicating the lane of the second vehicle detected by analyzing the image captured by the first camera, and the information indicating the lane of the first vehicle detected by analyzing the image captured by the first camera.

4. The auxiliary control device according to claim 2, wherein: In the case where the camera installed on the second vehicle is a second camera that captures the rear of the second vehicle, the position determination unit determines whether the first vehicle is traveling behind the second vehicle based on the position information of the first vehicle and the position information of the second vehicle. When it is determined that the first vehicle is traveling behind the second vehicle, the position of the first vehicle on the map is determined based on the position information of the first vehicle acquired by the first acquisition unit and the information indicating the lane of the first vehicle, the position information of the second vehicle acquired by the second acquisition unit, the information indicating the lane of the second vehicle detected by analyzing the image captured by the second camera, and the information indicating the lane of the first vehicle detected by analyzing the image captured by the second camera.

5. The auxiliary control device according to any one of claims 2 to 4, wherein: The second acquisition unit further acquires distance information from the second vehicle to the first vehicle detected by analyzing an image captured by a camera installed on the second vehicle. The position determination unit further determines the position of the first vehicle on the map based on the distance information from the second vehicle to the first vehicle acquired by the second acquisition unit.

6. The auxiliary control device according to any one of claims 1 to 4, wherein: The first acquisition unit further acquires detection accuracy information of the lane of the first vehicle detected by analyzing an image captured by a camera installed on the first vehicle. The position determination unit further determines the position of the first vehicle based on the detection accuracy information of the lane of the first vehicle acquired by the first acquisition unit.

7. The auxiliary control device according to any one of claims 2 to 4, wherein: The second acquisition unit further acquires detection accuracy information of the lane of the first vehicle detected by analyzing an image captured by a camera installed on the second vehicle. The position determination unit further determines the position of the first vehicle based on the detection accuracy information of the lane of the first vehicle acquired by the second acquisition unit.

8. The auxiliary control device according to any one of claims 1 to 4, wherein: The first acquisition unit further acquires detection accuracy information of the position information of the first vehicle detected by the first vehicle, The position determination unit further determines the position of the first vehicle based on the detection accuracy information of the position information of the first vehicle acquired by the first acquisition unit.

9. The auxiliary control device according to any one of claims 2 to 4, wherein: The second acquisition unit further acquires detection accuracy information of the position information of the second vehicle detected by the second vehicle, The position determination unit further determines the position of the first vehicle based on the detection accuracy information of the position information of the second vehicle acquired by the second acquisition unit.

10. The auxiliary control device according to claim 5, wherein: The second acquisition unit further acquires detection accuracy information of distance information from the second vehicle to the first vehicle, The position determination unit further determines the position of the first vehicle on the map based on the detection accuracy information of the distance information from the second vehicle to the first vehicle acquired by the second acquisition unit.

11. An auxiliary control method, characterized in that it has: A step of acquiring position information of the vehicle detected by the vehicle and information indicating a lane of the vehicle detected by analyzing an image captured by a camera provided on the vehicle; A step of determining a position of the vehicle on a map based on the position information of the vehicle and information indicating a lane of the vehicle; as well as A step of performing a control for traffic assistance for the vehicle based on the position determined in the step of determining the position of the vehicle.

12. A computer-readable storage medium, characterized in that: A program for causing a computer to function as the auxiliary control device according to any one of claims 1 to 10 is stored.

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