Information processing apparatus, moving object, information processing method, and computer-readable storage medium

Abstract

The invention provides an information processing apparatus, a moving object, an information processing method, and a computer readable storage medium. An information processing device includes: an acquisition unit that acquires information detected by an imaging device provided on a moving body; a prediction unit that, on the basis of the information acquired by the acquisition unit, predicts at least one of the movement and the movement direction of a moving object present in the vicinity of the moving object; an alarm control unit that performs control for outputting an alarm on the basis of at least one of the movement and the movement direction of the moving object predicted by the prediction unit; and a transmission control unit that performs control for transmitting information indicating at least one of the movement and the movement direction of the moving object predicted by the prediction unit to other moving objects around the moving object.

Description

Technical Field

[0001] The present invention relates to an information processing device, a mobile object, an information processing method and a computer-readable storage medium. Background Art

[0002] In recent years, efforts to provide access to sustainable transportation systems for vulnerable people among traffic participants have become increasingly active. To achieve this goal, research and development efforts are being made to further improve the safety and convenience of traffic through research and development related to preventive safety technologies. Patent documents 1 and 2 describe technologies for notifying other vehicles of dangerous events and risk areas detected by a vehicle.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2020-102822

[0004] Patent Document 2: Japanese Patent Application Publication No. 2023-11080 Summary of the invention

[0005] However, in preventive safety technology, providing high-precision information to mobile objects has become a problem. This application is to solve the above problem, and its purpose is to provide high-precision information to mobile objects at an earlier timing. In addition, it also contributes to the development of sustainable transportation systems.

[0006] In a first aspect of the present invention, an information processing device is provided. The information processing device includes an acquisition unit that acquires information detected by a camera installed on a mobile body. The information processing device includes a prediction unit that predicts at least one of the motion and moving direction of a mobile object existing near the mobile body based on the information acquired by the acquisition unit. The information processing device includes an alarm control unit that performs control for outputting an alarm based on at least one of the motion and moving direction of the mobile object predicted by the prediction unit. The information processing device includes a transmission control unit that performs control for transmitting information indicating at least one of the motion and moving direction of the mobile object predicted by the prediction unit to other mobile bodies around the mobile body.

[0007] In the above-mentioned information processing device, the acquisition unit can acquire an image captured by the shooting device. The prediction unit can determine the posture of the mobile object based on the image acquired by the acquisition unit, and predict at least one of the motion and moving direction of the mobile object based on the determined posture of the mobile object.

[0008] In any of the above-mentioned information processing devices, the acquisition unit may acquire an image captured by the capture device. The prediction unit may determine the posture of the mobile object based on the image acquired by the acquisition unit, and predict whether the mobile object moves toward the moving path of the mobile body as the movement of the mobile object based on the determined posture of the mobile object.

[0009] In any of the above-mentioned information processing devices, the prediction unit may predict the moving speed of the moving object based on the information acquired by the acquisition unit.

[0010] In any of the above-mentioned information processing devices, the alarm control unit can perform control for outputting an alarm to an occupant of the moving object based on the moving speed of the moving object predicted by the prediction unit, when it is judged that the moving object enters the moving path of the moving object during the period from the moving object to the moving direction of the moving object until the moving object reaches the position of the moving object.

[0011] In any of the above-mentioned information processing devices, even if the alarm control unit determines that the mobile object has not entered the moving path of the mobile object during the period from the time when the mobile object reaches the position of the mobile object in the moving direction of the mobile object, the sending control unit can also perform control for sending information representing at least one of the motion and moving direction of the mobile object predicted by the prediction unit to the surroundings of the mobile object.

[0012] In any of the above-mentioned information processing devices, the moving object may be a vehicle.

[0013] According to a second aspect of the present invention, there is provided a mobile object including any one of the above-mentioned information processing devices.

[0014] In a third aspect of the present invention, an information processing method is provided. The information processing method includes a step of acquiring information detected by a camera installed on a mobile body. The information processing method includes a step of predicting at least one of the motion and moving direction of a mobile object existing near the mobile body based on the information detected by the camera. The information processing method includes a step of performing control for outputting an alarm based on at least one of the motion and moving direction of the mobile object predicted in the predicting step. The information processing method includes a step of performing control for sending information indicating at least one of the motion and moving direction of the mobile object predicted in the predicting step to other mobile bodies around the mobile body.

[0015] A fourth aspect of the present invention provides a program that causes a computer to function as any one of the above-mentioned information processing devices.

[0016] 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

[0017] Figure 1 A usage scenario of the assistance system 10 is schematically shown.

[0018] Figure 2 The system configuration of the vehicle 20 is shown.

[0019] Figure 3 This is a diagram for explaining a process of determining whether or not the in-vehicle information processing device 40a outputs an alarm.

[0020] Figure 4 An example of a flowchart related to an information processing method performed by the in-vehicle information processing device 40 is shown.

[0021] Figure 5 An example of a computer 2000 is shown. DETAILED DESCRIPTION

[0022] 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.

[0023] Figure 1 The following schematically shows a usage scenario of the support system 10 . The support system 10 includes a vehicle 20 a , a vehicle 20 b , a vehicle 20 c , a pedestrian terminal 82 a , a pedestrian terminal 82 b , and a server 60 .

[0024] The vehicle 20a is provided with the vehicle information processing device 40a, the vehicle 20b is provided with the vehicle information processing device 40b, and the vehicle 20c is provided with the vehicle information processing device 40c. The pedestrian terminal 82a is a terminal held by the pedestrian 80a, and the pedestrian terminal 82b is a terminal held by the pedestrian 80b. In the present embodiment, the pedestrian 80a and the pedestrian 80b are pedestrians. The pedestrian 80a and the pedestrian 80b are examples of moving objects.

[0025] In this embodiment, the vehicle 20a, the vehicle 20b, and the vehicle 20c are sometimes collectively referred to as "the vehicle 20". The vehicle-mounted information processing device 40a, the vehicle-mounted information processing device 40b, and the vehicle-mounted information processing device 40c are sometimes collectively referred to as "the vehicle-mounted information processing device 40". The pedestrian terminal 82a and the pedestrian terminal 82b are sometimes collectively referred to as "the pedestrian terminal 82". The pedestrian 80a and the pedestrian 80b are sometimes collectively referred to as "the pedestrian 80".

[0026] The vehicle 20 is a vehicle traveling on the road 90. The vehicle 20 is an example of a mobile body. The vehicle 20 is composed of various sensors including a position sensor including a global navigation satellite system (GNSS) receiver, a vehicle speed sensor, a camera, a radar, etc. The vehicle information processing device 40 has a function of processing information acquired by various sensors provided by the vehicle 20. The vehicle information processing device 40 has a function of communicating with the vehicle information processing devices 40 of other vehicles 20 and the server 60, respectively. The vehicle information processing device 40 provides an advanced driver assistance system (ADAS) function provided by the vehicle 20.

[0027] The pedestrian terminal 82 is a portable terminal such as a smartphone, for example. The pedestrian terminal 82 is an example of a mobile object. The pedestrian terminal 82 periodically transmits the current position information of the pedestrian terminal 82 detected by a position sensor including a GNSS receiver to the server 60 .

[0028] The server 60 receives information transmitted from the vehicle information processing device 40 and the pedestrian terminal 82 via mobile communication. The server 60 can receive information transmitted from the vehicle information processing device 40 and the pedestrian terminal 82 via mobile communication and a communication line such as the Internet and a dedicated line.

[0029] The vehicle-mounted information processing device 40a analyzes the image of the pedestrian 80 acquired by the camera provided in the vehicle 20, extracts the skeleton of the pedestrian 80, and thereby determines the posture of the pedestrian 80. The vehicle-mounted information processing device 40a determines at least one of the motion and the moving direction of the pedestrian 80 based on the skeleton and / or the posture extracted from the plurality of images. The vehicle-mounted information processing device 40a predicts the position of the pedestrian 80 at a time point after a predetermined time based on at least one of the determined motion and the moving direction of the pedestrian 80.

[0030] The in-vehicle information processing device 40a further predicts the position of the vehicle 20 at a time point after a predetermined time. When the distance between the predicted position of the pedestrian 80 and the position of the vehicle 20a is shorter than a predetermined threshold, the in-vehicle information processing device 40a determines that the pedestrian 80 is close to the vehicle 20a, and outputs an alarm to the passengers of the vehicle 20a. When the in-vehicle information processing device 40a determines that the pedestrian 80 is close to the vehicle 20a, it can cause the pedestrian terminal 82 to output an alarm through direct communication or via the server 60.

[0031] On the other hand, when the in-vehicle information processing device 40a determines that the pedestrian 80 and the vehicle 20a are not close within a predetermined time, the passengers of the vehicle 20a and the pedestrian terminal 82 do not output an alarm. For example, the in-vehicle information processing device 40a does not output an alarm when the vehicle 20a has already passed the position of the pedestrian 80a during the period from the pedestrian 80a to the vehicle 20a's route. Even in such a case, the in-vehicle information processing device 40a sends information indicating the movement and / or moving direction of the determined pedestrian 80 to the surrounding vehicles 20b and 20c through direct communication or via the server 60.

[0032] The vehicle information processing device 40b of the vehicle 20b and the vehicle information processing device 40c of the vehicle 20c assist in outputting a warning or the like to the passengers of the vehicle 20b and the vehicle 20c using the information indicating the movement and / or moving direction of the pedestrian 80 received from the vehicle information processing device 40a. Since the vehicle 20a is located closer to the pedestrian 80 than the vehicles 20b and 20c, the vehicle information processing device 40a can determine the movement and / or moving direction of the pedestrian 80 with a higher accuracy than the vehicle information processing devices 40b and 40c can determine.

[0033] According to the assistance system 10, the in-vehicle information processing device 40b of the vehicle 20b traveling behind the vehicle 20a can utilize the movement and / or moving direction of the pedestrian 80a determined from a position closer to the pedestrian 80a than the position of the vehicle 20b at an earlier timing. Similarly, the in-vehicle information processing device 40c of the vehicle 20c traveling in the opposite lane of the vehicle 20a can utilize the movement and / or moving direction of the pedestrian 80b determined from a position closer to the pedestrian 80b than the position of the vehicle 20c at an earlier timing. Therefore, according to the assistance system 10, it is possible to assist the traffic participants with higher accuracy.

[0034] Figure 2 1 shows a system configuration of a vehicle 20. The vehicle 20 includes a sensor 29, a driving assistance control device 30, an alarm device 270, and a communication device 290.

[0035] The sensor 29 includes a radar 21, a camera 22, a GNSS receiver 25, and a vehicle speed sensor 26. The radar 21 may be a LiDAR, a millimeter wave radar, or the like. The GNSS receiver 25 receives radio waves transmitted from a GNSS satellite. The GNSS receiver 25 generates information indicating the current position of the vehicle 20 based on the signal received from the GNSS satellite. The camera 22 captures the surroundings of the vehicle 20 to generate image information. For example, the camera 22 captures the direction of travel of the vehicle 20 and the space in the direction opposite to the direction of travel to generate image information. The vehicle speed sensor 26 detects the speed of the vehicle 20. The sensor 29 may also include a position sensor such as an odometer, and an IMU (inertial measurement unit) such as an acceleration sensor and an attitude sensor.

[0036] The driving assistance control device 30 performs driving assistance of the vehicle 20 using information detected by the sensor 29. The driving assistance control device 30 can be implemented by an ECU (Electronic Control Unit) having an ADAS function.

[0037] The alarm device 270 has, for example, an HMI (Human Machine Interface) function. The alarm device 270 outputs an alarm to the passengers of the vehicle 20 through the HMI function.

[0038] The communication device 290 is responsible for communication with the outside of the vehicle 20. The communication device 290 has, for example, a function of inter-vehicle communication through direct communication with the PC 5, etc. The communication device 290 can communicate with other vehicles 20 by communicating via a base station of mobile communication. The communication device 290 can have a function of directly communicating with the pedestrian terminal 82.

[0039] The vehicle-mounted information processing device 40 includes a control device 200, a storage device 280, and a communication device 290. The control device 200 is implemented by, for example, a calculation processing device including a processor. The storage device 280 is implemented by including a non-volatile storage medium. The control device 200 performs processing using information stored in the storage device 280. The control device 200 can be implemented by an ECU having a microcomputer including a CPU, a ROM, a RAM, an I / O, a bus, and the like.

[0040] The communication device 290 is responsible for the communication between the vehicle-mounted information processing device 40 and the pedestrian terminal 82 and the server 60 respectively based on the control of the control device 200 .

[0041] The control device 200 includes an acquisition unit 250, a prediction unit 220, a transmission control unit 230, and an alarm control unit 260. However, the vehicle-mounted information processing device 40 may not include the above-mentioned components. Figure 2The sensor 29 may include a part of the functions of the in-vehicle information processing device 40.

[0042] The acquisition unit 250 acquires information detected by the sensor 29 provided on the vehicle 20. The prediction unit 220 predicts at least one of the motion and the moving direction of the pedestrian 80 existing near the vehicle 20 based on the information acquired by the acquisition unit 250. The alarm control unit 260 performs control for outputting an alarm based on at least one of the motion and the moving direction of the pedestrian 80 predicted by the prediction unit 220. The alarm control unit 260 causes the alarm device 270 to output an alarm to the passengers of the vehicle 20. The transmission control unit 230 performs control for transmitting information indicating at least one of the motion and the moving direction of the pedestrian 80 predicted by the prediction unit 220 to other vehicles 20 around the vehicle 20. Thus, at least one of the motion and the moving direction of the pedestrian 80 determined by the vehicle 20 can be shared with other vehicles 20.

[0043] As an example, the acquisition unit 250 may acquire an image captured by the camera 22, and the prediction unit 220 may determine the posture of the pedestrian 80 based on the image acquired by the acquisition unit 250, and predict at least one of the motion and movement direction of the pedestrian 80 based on the determined posture of the pedestrian 80. Thus, at least one of the motion and movement direction predicted based on the posture of the pedestrian 80 can be shared with other vehicles 20.

[0044] The acquisition unit 250 may acquire an image captured by the camera 22, and the prediction unit 220 may determine the posture of the pedestrian 80 based on the image acquired by the acquisition unit 250, and predict whether the pedestrian 80 moves toward the path of the vehicle 20 as the movement of the pedestrian 80 based on the determined posture of the pedestrian 80. Thus, “whether the pedestrian 80 moves toward the path of the vehicle 20” can be shared with other vehicles 20.

[0045] The prediction unit 220 predicts the moving speed of the pedestrian 80 based on the information acquired by the acquisition unit 250 . As a result, the moving speed of the pedestrian 80 can be shared with other vehicles 20 .

[0046] The alarm control unit 260 performs control for outputting an alarm for the occupants of the vehicle 20, when it is determined that the pedestrian 80 enters the path of the vehicle 20 in the period from when the vehicle 20 reaches the position of the pedestrian 80 in the direction of travel of the vehicle 20, based on the moving speed of the pedestrian 80 predicted by the prediction unit 220. Even when it is determined by the alarm control unit 260 that the pedestrian 80 does not enter the path of the vehicle 20 in the period from when the vehicle 20 reaches the position of the pedestrian 80 in the direction of travel of the vehicle 20, the transmission control unit 230 performs control for transmitting information indicating at least one of the motion and moving speed of the pedestrian 80 predicted by the prediction unit 220 to the vicinity of the vehicle 20.

[0047] Figure 3 2 is a diagram for explaining the process of determining whether the vehicle-mounted information processing device 40a outputs an alarm. The prediction unit 220 determines the posture of the pedestrian 80a by extracting the skeleton of the pedestrian 80a from the image captured by the camera 22. The vehicle-mounted information processing device 40a predicts the movement of the pedestrian 80a based on the skeleton and / or posture of the pedestrian 80a obtained from one or more images, or the change in the skeleton and / or posture of the pedestrian 80a.

[0048] The prediction unit 220 may predict the direction of movement of the pedestrian 80a based on the determined current posture and / or posture change of the pedestrian 80a instead of or in addition to the movement of the pedestrian 80a. The prediction unit 220 may determine the speed of movement of the pedestrian 80a based on the current posture and / or skeleton of the pedestrian 80a and / or the posture and / or skeleton change.

[0049] The prediction unit 220 may determine the speed at which the pedestrian 80a moves by determining whether the posture of the pedestrian 80a is a driving posture or a walking posture. The prediction unit 220 may determine the moving speed of the foot of the pedestrian 80a according to the changes in the skeleton of the pedestrian 80a, and determine the moving speed of the pedestrian 80a considering the determined moving speed of the foot. The prediction unit 220 may determine the length of the foot of the pedestrian 80a according to the skeleton of the pedestrian 80a, and determine the moving speed of the pedestrian 80a considering the determined length of the foot. The prediction unit 220 may further determine the length of the foot of the pedestrian 80a considering the distance from the vehicle 20a to the pedestrian 80a obtained by the radar 21. The prediction unit 220 may predict the moving speed of the pedestrian 80a based on the moving direction and the moving speed of the pedestrian 80a.

[0050] The prediction unit 220 may determine the age group of the pedestrian 80a based on the image captured by the camera 22. The prediction unit 220 may predict the range in which the pedestrian 80a may move within a predetermined time in the future, taking into account the age group of the pedestrian 80a. For example, in the case where the age group of the pedestrian 80a is above the predetermined age group, the larger the age group of the pedestrian 80a, the prediction unit 220 may make the range in which the pedestrian 80a may move within the predetermined time narrower.

[0051] like Figure 3 As shown in FIG. 2 , when the moving speed of the pedestrian 80a is determined, the prediction unit 220 predicts the position P of the pedestrian 80a and the position Q of the vehicle 20a at a time point after a predetermined time from the current time based on the moving speed of the pedestrian 80a. When the position P is within the predetermined range of the position Q, the alarm control unit 260 determines that the vehicle 20a and the pedestrian 80a are close within the predetermined time, and causes the alarm device 270 to output an alarm.

[0052] exist Figure 3 In the example of , when the pedestrian 80a arrives at the position P in the future, the vehicle 20a is located at the position Q ahead of the position P of the pedestrian 80a in the traveling direction of the vehicle 20a. That is, when the pedestrian 80a arrives at the position P, the vehicle 20a has already passed the position P of the pedestrian 80a. Therefore, the alarm control unit 260 does not cause the alarm device 270 to output an alarm.

[0053] However, although the vehicle information processing device 40a can determine that the pedestrian 80a is not approaching the vehicle 20a, it cannot determine the possibility that the pedestrian 80a will approach the vehicle 20b or the vehicle 20c in the future. Therefore, even if the alarm device 270 does not output an alarm, the transmission control unit 230 sends the information indicating the movement and / or moving direction of the pedestrian 80a predicted by the prediction unit 220 to the vehicle information processing device 40b and the vehicle information processing device 40c.

[0054] By performing the same processing on the pedestrian 80b, the prediction unit 220 predicts the movement and / or moving direction of the pedestrian 80b, and the alarm control unit 260 determines whether to output an alarm based on the predicted movement and / or moving direction of the pedestrian 80b. Therefore, even if the alarm device 270 does not output an alarm, the transmission control unit 230 transmits information indicating the movement and / or moving direction of the pedestrian 80b predicted by the prediction unit 220 to the vehicle information processing device 40b and the vehicle information processing device 40c.

[0055] The information transmission from the vehicle information processing device 40a to the vehicle information processing device 40b and the vehicle information processing device 40c is performed by direct communication or by communication via the server 60. The vehicle information processing device 40b and the vehicle information processing device 40c use the information indicating the movement and / or moving direction of the pedestrian 80 predicted by the vehicle information processing device 40a to determine whether to output an alarm to the passengers of each vehicle 20. As a result, the vehicle information processing device 40b and the vehicle information processing device 40c can perform the process related to the alarm at an earlier timing based on the information indicating the more accurate movement and / or moving direction of the pedestrian 80.

[0056] The information indicating the movement and / or moving direction of the pedestrian 80 sent from the vehicle information processing device 40a to the vehicle information processing device 40b and the vehicle information processing device 40c may include any combination of information indicating the moving direction of the pedestrian 80, information indicating the moving speed of the pedestrian 80, and information indicating whether the pedestrian 80 is moving toward the road 90. However, in the case where the posture of the pedestrian 80 itself can indicate the movement and / or moving direction of the pedestrian 80, the information indicating the movement and / or moving direction of the pedestrian 80 sent to the vehicle information processing device 40b and the vehicle information processing device 40c may be the information indicating the posture of the pedestrian 80 itself.

[0057] Figure 4 An example of a flowchart related to an information processing method performed by the in-vehicle information processing device 40 is shown.

[0058] In S400, the prediction unit 220 determines the posture of the pedestrian based on the image acquired by the acquisition unit 250. In S402, the prediction unit 220 determines the moving direction of the pedestrian. In S404, the prediction unit 220 determines whether the pedestrian is moving toward the road 90 based on the moving direction. If it is determined that the pedestrian is not moving toward the road 90, the process is transferred to S412.

[0059] When it is determined that the pedestrian is moving toward the road 90, the prediction unit 220 determines the moving speed of the pedestrian in S406. In S408, the alarm control unit 260 determines whether the pedestrian and the vehicle 20a are approaching within a predetermined time. When it is determined that the pedestrian and the vehicle 20a are not approaching within the predetermined time, the process proceeds to S412. When it is determined that the pedestrian and the vehicle 20a are approaching within the predetermined time, in S410, the alarm control unit 260 causes the alarm device 270 to output an alarm.

[0060] In S412 , the transmission control unit 230 transmits information indicating the movement and / or moving direction of the pedestrian predicted by the prediction unit 220 to the in-vehicle information processing device 40 of the other vehicle 20 .

[0061] In the above description, an example is described in which the image acquired by the acquisition unit 250 is an image acquired by photographing the front of the vehicle 20. However, the image acquired by the acquisition unit 250 may be an image acquired by photographing the rear of the vehicle 20.

[0062] In the above description, as an example of a moving object, a person is listed for explanation, but the moving object is not limited to a pedestrian. The moving object may include a runner. The moving object may include a person riding on a two-wheeled vehicle (including a parallel two-wheeled vehicle) such as a bicycle. The moving object may be an animal other than a human.

[0063] According to the assistance system 10 described above, information indicating the movement and / or movement direction of the pedestrian 80 near the vehicle 20 detected by the vehicle 20 can be sent to other vehicles 20 traveling behind or opposite to the vehicle 20. Therefore, the other vehicles 20 can obtain high-precision information about the movement and / or movement direction at an earlier timing. As a result, more accurate traffic assistance can be performed.

[0064] Figure 5 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 make the computer 2000 function as a device such as the vehicle-mounted information processing device 40 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. In order to make the computer 2000 perform the processing flow described in this specification and specific operations associated with some or all of the functional blocks in the block diagram, such a program can be executed by the CPU 2012.

[0065] 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.

[0066] The CPU 2012 operates according to the programs stored in the ROM 2026 and the RAM 2014 , thereby controlling each unit.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] The program installed in the computer 2000 and causing the computer 2000 to function as the server 60 can be run in the CPU 2012, etc., so that the computer 2000 functions as each unit (e.g., the control device 200, etc.) of the vehicle-mounted information processing device 40. 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 vehicle-mounted information processing device 40. 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 vehicle-mounted information processing device 40 corresponding to the purpose of use is constructed.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] [Description of Reference Numerals]

[0081] 10Assistance Systems

[0082] 20 vehicles

[0083] 21 Radar

[0084] 22 Filming Device

[0085] 25GNSS receiver

[0086] 26 Vehicle speed sensor

[0087] 29 Sensors

[0088] 30 Driving assistance control device

[0089] 40In-vehicle information processing device

[0090] 60 servers

[0091] 80 pedestrians

[0092] 82 Pedestrian Terminal

[0093] 90 Road

[0094] 200 control devices

[0095] 220 Forecast Department

[0096] 230 Sending control unit

[0097] 250 Acquisition Department

[0098] 260 Alarm Control Department

[0099] 270 alarm device

[0100] 280 storage devices

[0101] 290 communication device

[0102] 2000 Computer

[0103] 2010 Main Controller

[0104] 2012CPU

[0105] 2014 RAM

[0106] 2020 Input / Output Controller

[0107] 2022 Communication Interface

[0108] 2024 Flash

[0109] 2026ROM

[0110] 2040 input / output chips.

Claims

1. An information processing device, characterized in that: have: an acquisition unit that acquires information detected by a camera installed on the moving object; a prediction unit that predicts at least one of a motion and a moving direction of a moving object existing near the moving body based on the information acquired by the acquisition unit; an alarm control unit that performs control for outputting an alarm based on at least one of the motion and the moving direction of the moving object predicted by the prediction unit; as well as A transmission control unit performs control for transmitting information indicating at least one of the motion and the moving direction of the moving object predicted by the prediction unit to other moving objects around the moving object.

2. The information processing device according to claim 1, wherein: The acquisition unit acquires the image captured by the imaging device. The prediction unit determines the posture of the mobile object based on the image acquired by the acquisition unit, and predicts at least one of the motion and the moving direction of the mobile object based on the determined posture of the mobile object.

3. The information processing device according to claim 1, wherein: The acquisition unit acquires the image captured by the imaging device. The prediction section determines the posture of the mobile object based on the image acquired by the acquisition section, and predicts whether the mobile object moves toward a travel route of the mobile body as the motion of the mobile object based on the determined posture of the mobile object.

4. The information processing device according to any one of claims 1 to 3, wherein: The prediction section predicts the moving speed of the moving object based on the information acquired by the acquisition section.

5. The information processing device according to claim 4, wherein: The alarm control unit performs control for outputting an alarm to an occupant of the moving object when it is determined that the moving object enters the moving path of the moving object during the period from the moving direction of the moving object to the moving direction of the moving object when the moving object reaches the position of the moving object based on the moving speed of the moving object predicted by the prediction unit.

6. The information processing device according to claim 5, wherein: Even in a case where the alarm control unit determines that the moving object has not entered the moving object's path during the period from when the moving object reaches the position of the moving object in the moving direction of the moving object, the sending control unit performs control for sending information indicating at least one of the motion and moving direction of the moving object predicted by the prediction unit to the vicinity of the moving object.

7. The information processing device according to any one of claims 1 to 3, wherein: The moving object is a vehicle.

8. A mobile body, characterized in that: An information processing device comprising any one of claims 1 to 7.

9. An information processing method, characterized in that: have: A step of acquiring information detected by a camera installed on a moving object; A step of predicting at least one of a motion and a moving direction of a moving object existing near the moving body based on information detected by the camera; a step of performing control for outputting an alarm based on at least one of the motion and the moving direction of the moving object predicted in the predicting step; as well as A control step is performed for transmitting information indicating at least one of the motion and the moving direction of the moving object predicted in the predicting step to other moving objects around the moving object.

10. A computer-readable storage medium, characterized in that: The computer stores a program for causing a computer to function as the information processing device according to any one of claims 1 to 7.

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