System, method, and computer readable storage medium

Abstract

The invention provides a system, a method and a computer readable storage medium. A system is provided with: a risk region specifying unit that specifies a risk region outside a moving body; a holding control unit that performs control for holding position information of two points in the risk region; and a determination unit that determines the risk region when a new risk region is determined by the risk region determination unit. And a determination unit that determines whether or not a first region determined on the basis of the positional information of the two points held by the control of the holding control unit and a second region determined on the basis of the positional information of the two points of the new risk region match, and that determines whether or not the first region and the second region match. The holding control unit performs control for updating the positional information of the two points that have been held using the positional information of the two points in the new risk region.

Description

Technical Field

[0001] The present invention relates to systems, methods and computer-readable storage media. Background Art

[0002] Patent Document 1 describes a system in which a risk area is managed by an MEC server, and the MEC server provides information on the risk area to each vehicle.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2021-140470 Summary of the invention

[0004] In a first aspect of the present invention, a system is provided. The system includes a risk area determination unit that determines a risk area outside a moving body. The system includes a maintenance control unit that performs control for maintaining position information of two points in the risk area. The system includes a judgment unit that, when a new risk area is determined by the risk area determination unit, determines whether a first area determined based on the position information of the two points that has been maintained by the control of the maintenance control unit and a second area determined based on the position information of the two points in the new risk area are consistent. When the judgment unit determines that the first area and the second area are consistent, the maintenance control unit performs control for updating the position information of the two points that has been maintained with the position information of the two points in the new risk area.

[0005] In a second aspect of the present invention, a system is provided. The system includes a risk area determination unit that determines a risk area outside a mobile body. The system includes a maintenance control unit that performs control for maintaining position information of two points in the risk area. The system includes a judgment unit that, when a new risk area is determined by the risk area determination unit, determines whether a first area determined based on the position information of the two points that have been maintained by the maintenance control unit and a second area determined based on the position information of the two points in the new risk area are consistent. When the judgment unit determines that the first area and the second area are inconsistent, the maintenance control unit performs control for re-maintaining the position information of the two points in the new risk area.

[0006] In any of the above systems, when the determination unit determines that the first area and the second area do not coincide with each other, the retention control unit may perform control for re-retaining the position information of the two points in the new risk area.

[0007] In any of the above-mentioned systems, it can be configured that, when a new risk area is determined by the risk area determination unit, the maintenance control unit determines the position information of the first plurality of points that demarcate the first area based on the position information of the two points that have been maintained, and determines the position information of the second plurality of points that demarcate the second area based on the position information of the two points of the new risk area, and the judgment unit judges whether the first area and the second area are consistent based on the degree of overlap between the first area demarcated by the first plurality of points and the second area demarcated by the second plurality of points.

[0008] In any of the above systems, the determination unit may be configured to determine whether the first region and the second region coincide with each other based on an overlapping area of ​​the first region and the second region.

[0009] In any of the above systems, the determination unit may determine whether the first region and the second region coincide with each other based on an area ratio of at least one of the first region and the second region to a partial region overlapping the first region and the second region.

[0010] In any of the above systems, the determination unit may be configured to determine whether the first region and the second region coincide with each other based on an amount of displacement between a center of gravity position of the first region and a center of gravity position of the second region.

[0011] In any of the above systems, the determination unit may be configured to determine whether the first region and the second region coincide with each other based on an amount of displacement between a plurality of points defining the first region and a plurality of points defining the second region.

[0012] In any of the above systems, the judgment unit may judge whether the first area and the second area are consistent based on at least one of an average value, a maximum value and a minimum value of offsets between a plurality of points defining the first area and a plurality of points defining the second area.

[0013] Any of the above-mentioned systems may be configured to further include a transmission control unit that performs control for transmitting the position information of the two points held by the holding control unit to another moving body.

[0014] Any of the above systems may include the mobile body and a server outside the mobile body. The server may include the maintenance control unit. The mobile body may include the risk area determination unit, a location information receiving unit that receives the location information maintained by the maintenance control unit from the server, and the determination unit.

[0015] Any of the above systems may include the mobile body and a server outside the mobile body. The mobile body may include the risk area determination unit. The server may include the maintenance control unit, a reception control unit that controls the reception of risk area information indicating a risk area outside the mobile body determined by the mobile body, and the determination unit.

[0016] In any of the above systems, it can be configured that the server is a mobile edge computing (MEC) server.

[0017] In any of the above systems, the moving object may be a vehicle.

[0018] In a third aspect of the present invention, a method is provided. The method includes a step of determining a risk area outside a moving body. The method includes a step of performing control for maintaining position information of two points in the risk area. The method includes a step of determining new risk area information. The method includes a step of determining whether a first area determined based on the position information of the two points that have been maintained and a second area determined based on the position information of the two points in the risk area indicated by the new risk area information are consistent. The method includes a step of performing control for updating the position information of the two points that have been maintained with the position information of the two points in the new risk area when it is determined that the first area and the second area are consistent.

[0019] In a fourth aspect of the present invention, a method is provided. The method includes a step of determining a risk area outside a moving body. The method includes a step of performing control for maintaining position information of two points of the risk area. The method includes a step of determining new risk area information. The method includes a step of determining whether a first area determined based on the position information of the two points that have been maintained and a second area determined based on the position information of the two points of the risk area indicated by the new risk area information are consistent. The method includes a step of performing control for re-maintaining the position information of the two points of the new risk area when it is determined that the first area and the second area are inconsistent.

[0020] In a fifth aspect of the present invention, a program is provided. The program causes a computer to function as a risk area determination unit that determines a risk area outside a mobile body. The program causes a computer to function as a maintenance control unit that performs control for maintaining position information of two points in the risk area. The program causes a computer to function as a judgment unit that, when a new risk area is determined by the risk area determination unit, determines whether a first area determined based on the position information of the two points that has been maintained by the control of the maintenance control unit and a second area determined based on the position information of the two points in the new risk area are consistent. When the judgment unit determines that the first area and the second area are consistent, the maintenance control unit performs control for updating the position information of the two points that have been maintained with the position information of the two points in the new risk area.

[0021] In a sixth aspect of the present invention, a program is provided. The program causes a computer to function as a risk area determination unit that determines a risk area outside a mobile body. The program causes a computer to function as a holding control unit that performs control for holding position information of two points in the risk area. The program causes a computer to function as a judgment unit that, when a new risk area is determined by the risk area determination unit, judges whether a first area determined based on the position information of the two points that have been held under the control of the holding control unit and a second area determined based on the position information of the two points in the new risk area are consistent. When the judgment unit determines that the first area and the second area are inconsistent, the holding control unit performs control for re-holding the position information of the two points in the new risk area.

[0022] In addition, the above summary of the invention does not list all the essential features of the present invention. In addition, sub-combinations of these feature groups may also be an invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The usage scenario of the system 10 is schematically shown.

[0024] Figure 2 This shows a situation where the information processing device 24b included in the vehicle 20b transmits the risk area information.

[0025] Figure 3 This shows a situation in which the information processing device 64 included in the vehicle 60 requests position information of a risk area.

[0026] Figure 4 This shows a situation in which the information processing device 64 performs an inquiry regarding a risk area.

[0027] Figure 5 The system configurations of the vehicle 20a and the vehicle 20b are shown.

[0028] Figure 6 The system configuration of the server 52 is shown.

[0029] Figure 7 The risk area determined by the risk area determination unit 220a in the vehicle 20a is schematically shown.

[0030] Figure 8 Another example of the risk area identified by the risk area identification unit 220 a is schematically shown.

[0031] Fig. 9 This is a diagram for explaining a process of determining whether the first region 810 and the second region 820 represent the same region.

[0032] Fig.10 This is a diagram for explaining another process of determining whether the first area 810 and the second area 820 represent the same area.

[0033] Fig.11 This is a diagram for explaining another process of determining whether the first area 810 and the second area 820 represent the same area.

[0034] Fig.12 The flow of processing related to the information processing method executed by the vehicle 20 a , the vehicle 20 b , and the server 52 is schematically shown.

[0035] Fig.13 The flow of processing related to the information processing method executed by the server 52 , the vehicle 60 , and the terminal 82 is schematically shown.

[0036] Fig.14 An example of a computer 2000 is shown. DETAILED DESCRIPTION

[0037] 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, all combinations of the features described in the embodiments are not necessarily essential to the solution means of the invention.

[0038] Figure 1 The following schematically shows a usage scenario of the system 10 . The system 10 includes a vehicle 20 a , a vehicle 20 b , a vehicle 60 , a terminal 82 , a base station 50 , and a server 52 .

[0039] Vehicle 20a, vehicle 20b and vehicle 60 are vehicles traveling on road 70. Vehicle 20a, vehicle 20b and vehicle 60 are examples of mobile bodies. Vehicle 20a is provided with an information processing device 24a and a sensor 29a. Sensor 29a is configured to include a camera. Information processing device 24a has a function of processing information acquired by sensor 29a and a function of communicating with a server 52 outside vehicle 60. Sensor 29b is configured to include a camera. Information processing device 24b has a function of processing information acquired by sensor 29b and a function of communicating with server 52. Vehicle 20a and vehicle 20b are, for example, vehicles having an advanced driver assistance system (ADAS) function. Vehicle 20b is provided with an information processing device 24b and a sensor 29b. In the present embodiment, vehicle 20a and vehicle 20b are sometimes collectively referred to as "vehicle 20". Vehicle 60 is provided with an information processing device 64. Information processing device 64 has a communication function with server 52. For example, vehicle 60 is a vehicle that does not have an ADAS function.

[0040] The terminal 82 is a terminal carried by the person 80. The terminal 82 is a mobile terminal such as a smartphone. The base station 50 is a base station for mobile communication. The server 52 is a server connected to the base station 50. The server 52 may include an edge computing server such as a mobile edge computing (MEC) server. The server 52 continuously manages the location information of the terminal 82. In addition, although Figure 1 , one server 52 is shown, but the server 52 may be composed of a plurality of servers connected to a plurality of base stations. The information processing device 24a may communicate with a server close to the vehicle 20a among the plurality of servers constituting the server 52, the information processing device 24b may communicate with a server close to the vehicle 20b among the plurality of servers constituting the server 52, and the information processing device 64 may communicate with a server close to the vehicle 60 among the plurality of servers constituting the server 52.

[0041] exist Figure 1 , vehicle 20a, vehicle 20b, and vehicle 60 are vehicles traveling along road 70. Vehicle 90 is a vehicle parked on road 70. Vehicle 20b is traveling behind vehicle 20a in the same traveling direction as vehicle 20a. Vehicle 60 is traveling behind vehicle 20b in the same traveling direction as vehicle 20b.

[0042] For vehicle 20a, area 110 on the side of the traveling direction of vehicle 20a compared to parked vehicle 90 is an area that is difficult to visually confirm from the position of vehicle 20a. Information processing device 24a determines area 110 that cannot be seen from vehicle 20a as a risk area based on information such as an image of the traveling direction acquired by sensor 29a.

[0043] For example, the information processing device 24a determines four vertices 111, 112, 113, and 114 of a quadrilateral region 110 including the position of the vehicle 90 based on the recognition information of the image acquired by the sensor 29a. The vertex 113 is a point at a distance L1 from the vertex 111 determined based on the recognition information of the image in the traveling direction of the vehicle 20a. The vertex 114 is a point at a distance L1 from the vertex 112 determined based on the recognition information of the image in the traveling direction of the vehicle 20a. L1 is a distance determined according to the vehicle speed of the vehicle 20a.

[0044] In order to query the server 52 whether the terminal 82 exists in the area 110, the information processing device 24a sends the risk area information including four vertices 111, 112, 113 and 114 to the server 52. Figure 1 In the example of , since the terminal 82 does not exist in the area 110 defined by the four vertices 111, 112, 113, and 114, the server 52 discards the query information or sends a response information indicating that the terminal 82 does not exist to the vehicle 20a.

[0045] The server 52 stores the coordinate information of the vertex 111 and the vertex 112 located on the side close to the vehicle 20a among the four vertices 111, 112, 113 and 114 included in the risk area information received from the information processing device 24a, and provides the coordinate information to other vehicles including the vehicle 20b or the vehicle 60 behind the vehicle 20a.

[0046] Figure 2FIG. 2 shows a situation in which the information processing device 24b of the vehicle 20b transmits the risk area information. As with the vehicle 20a, when the sensor 29b recognizes the vehicle 90, the vehicle 20b determines the risk area 110' and transmits the risk area information including the four vertices 111', 112', 113' and 114' of the determined risk area to the server 52. The server 52 determines whether the risk area determined by the vehicle 20b is the same area as the risk area determined in the past by the vehicle 20a based on the coordinate information of the vertices 111' and 112 already stored and the coordinate information of the two vertices 111' and 112' included in the risk area information received from the vehicle 20b. When it is determined that the risk area determined by the vehicle 20b is the same area as the risk area determined in the past by the vehicle 20a, the server 52 updates the coordinate information of the vertices 111' and 112' determined by the vehicle 20b. When it is determined that the risk area identified by vehicle 20b is not the same as the risk area identified in the past by vehicle 20a, coordinate information of two vertices on the vehicle 20b side of risk area 110' is added based on information of risk area 110' identified by vehicle 20b.

[0047] Generally, due to the difference in equipment performance of vehicles that identify risk areas between vehicle 20a and vehicle 20b, or due to the difference in the driving environment of vehicle 20a and vehicle 20b, even when the same risk area is identified, there is a case where the coordinate information of the risk area identified is different. According to the system 10 of this embodiment, it is possible to appropriately determine whether the risk areas sent from vehicle 20a and vehicle 20b are the same to update or add the coordinate information of the risk area.

[0048] Figure 3 The information processing device 64 of the vehicle 60 requests the position information of the risk area. When the information processing device 64 is in the area that can communicate with the server 52, it sends the risk area request to the server 52. The server 52 sends the coordinate information of the vertex 111' and the vertex 112' of the stored area 110 to the information processing device 64. The information processing device 64 stores the coordinate information of the vertex 111' and the vertex 112' received from the server 52.

[0049] Figure 4The information processing device 64 shows a situation in which the information processing device 64 performs an inquiry about the risk area. When the distance from the vehicle 20 to the position indicated by the coordinate information of at least one of the vertex 111' and the vertex 112' is less than a predetermined distance, the information processing device 64 sets the area 120 delimited by the vertex 111', the vertex 112', the vertex 123, and the vertex 124 as a risk area for the vehicle 60. For example, the information processing device 64 determines the point that is a distance L2 determined according to the vehicle speed of the vehicle 60 from the vertex 111' in the direction of travel of the vehicle 60 as the vertex 123, and determines the point that is a distance L2 from the vertex 112' in the direction of travel of the vehicle 60 as the vertex 124.

[0050] The information processing device 64 transmits risk area information including coordinate information of the vertices 111', 112', 123, and 124 of the area 120 set as the risk area to the server 52. When the position information of the terminal 82 managed by the server 52 is included in the area 120 surrounded by the vertices included in the risk area information, the server 52 transmits warning information to the information processing device 64 and the terminal 82. When receiving the warning information from the server 52, the information processing device 64 outputs a warning to the passenger of the vehicle 60. For example, the information processing device 64 outputs a warning to the passenger through the HMI (Human Machine Interface) function of the vehicle 20. Thus, even if the information processing device 64 itself does not have a function of identifying a risk area through a sensor device such as a camera, the information processing device 64 can output a warning using the risk area received from the server 52 through the wireless communication function. In addition, when receiving the warning information from the server 52, the terminal 82 outputs a warning to the person 80. For example, the terminal 82 outputs a warning to the person 80 through the HMI function of the terminal 82.

[0051] Figure 5 The system configuration of vehicle 20a and vehicle 20b is shown. Here, vehicles 20a and 20b are collectively referred to as "vehicle 20". Vehicle 20 includes sensor 29, information processing device 24, communication device 48, and information output device 40. Figure 6 In the following figures, "a" is added to the end of the constituent elements of the information processing device 24a included in the vehicle 20a, and "b" is added to the end of the constituent elements of the information processing device 24b included in the vehicle 20b for distinction.

[0052] The sensor 29 includes a radar 21, a camera 22, a GNSS receiving unit 25, and a vehicle speed sensor 26. The radar 21 may be a laser radar, a millimeter wave radar, or the like. The GNSS receiving unit 25 receives radio waves transmitted from a GNSS (Global Navigation Satellite System) satellite. The GNSS receiving unit 25 generates information indicating the current position of the vehicle 20 based on the signal received from the GNSS satellite. The camera 22 is an example of a photographing device mounted on the vehicle 20. The camera 22 photographs the surroundings of the vehicle 20 to generate image information. For example, the camera 22 photographs an image in the traveling direction of the vehicle 20 to generate image information. The camera 22 may be a monocular camera. The camera 22 is a compound eye camera and may be a camera capable of acquiring distance information to an object. The camera 22 recognizes an object based on an image acquired by the photographing function and outputs position information of the recognized object. The vehicle speed sensor 26 detects the vehicle speed of the vehicle 20. In addition, the sensor 29 may include a position sensor such as an odometer and an IMU (inertial measurement unit) such as an acceleration sensor or an attitude sensor.

[0053] Furthermore, the vehicle 20 may include a driving assistance control device that performs driving assistance of the vehicle 20 using information detected by the sensor 29. The driving assistance control device may be realized by an ECU that provides an ADAS function.

[0054] The communication device 48 is responsible for communication with the server 52. The communication device 48 can communicate with the server 52 through mobile communication. For example, the communication device 48 can communicate through a mobile base station communication (Uu) interface for inter-vehicle communication.

[0055] The information output device 40 is a device that outputs alarm information. The information output device 40 may have an HMI function. The information output device 40 may include a head-up display or a navigation system. The information output device 40 may also be a portable terminal carried by an occupant of the vehicle 20. The information output device 40 may include a voice output device that outputs alarm information by voice.

[0056] The information processing device 24 includes a control unit 200 and a storage unit 280. The control unit 200 is implemented by a circuit such as a calculation processing device including a processor. The storage unit 280 is implemented by including a non-volatile storage medium. The control unit 200 performs processing by using the information stored in the storage unit 280. The control unit 200 can be implemented by an ECU (Electronic Control Unit) having a microcomputer including a CPU, ROM, RAM, I / O, bus, etc.

[0057] The control unit 200 includes a coordinate information acquisition unit 210, a risk area determination unit 220, a control unit 208, a transmission control unit 250, and a reception control unit 260. Figure 5 For example, a mode in which only a part of the functions are realized in the control unit 200 and the other functions are realized as functions of other circuits such as the sensor 29 may be adopted.

[0058] The risk area determination unit 220 determines a risk area outside the vehicle 20. The transmission control unit 250 performs control for transmitting risk area information indicating the risk area determined by the risk area determination unit 220 to a server that stores information related to the risk area. The risk area determination unit 220 may determine an area delimited by a plurality of points as a risk area, and the transmission control unit 250 may perform control for transmitting coordinate information of the plurality of points as risk area information to the server 52. The plurality of points delimiting the risk area may be a plurality of vertices delimiting the area determined as the risk area. The plurality of points delimiting the risk area may be a plurality of vertices delimiting the area determined as the risk area.

[0059] In addition, the risk area may be an area outside the vehicle 20 that poses a risk to the movement of the vehicle 20. The risk area may be an area that is not visible from the position of the vehicle 20 due to an object outside the vehicle 20. For example, the invisible area is the position information of an area that is blocked when viewed from the position of the vehicle 20 due to being blocked by a three-dimensional object such as another vehicle, a building, or a roadside tree.

[0060] The coordinate information acquisition unit 210 acquires coordinate information of an object recognized from an image of the exterior of the vehicle 20 captured by the camera 22 mounted on the vehicle 20. The risk area determination unit 220 may determine a risk area based on the coordinate information of the object recognized from the image of the exterior of the vehicle 20 captured by the camera 22.

[0061] The coordinate information may include a first relative coordinate in a first direction along the traveling direction of the vehicle 20 and a second relative coordinate in a second direction intersecting the first direction, as the coordinates of each of the plurality of points defining the position of the object. The second direction may be a direction orthogonal to the first direction. The number of the plurality of points may be three or more. The risk area determination unit 220 may determine, based on the coordinate information of the object recognized from the image outside the vehicle 20, the area defined by the three or more points included in the coordinate information as the risk area.

[0062] The control unit 208 can control the execution of driving assistance of the vehicle 20 or warnings to the occupants of the vehicle 20. For example, when the information output device 40 is equipped with a head-up display, the control unit 208 can cause the head-up display of the vehicle 20 to output light for forming a mark as warning information indicating that a pedestrian is present in the risk area. In addition, the control unit 208 causes the head-up display to output light for forming a mark in a display area corresponding to the position of the risk area where a pedestrian is present. The controller 208 can project the light for forming the mark onto a reflective member provided on the windshield of the vehicle 20. In addition, the control unit 208 can also output the warning information by voice or characters. In addition, the control unit 208 can control the travel of the vehicle 20 through the driving assistance control device equipped in the vehicle 20.

[0063] Figure 6 2 shows the system configuration of the server 52. The server 52 includes a communication device 348, a control unit 300, and a storage unit 380.

[0064] The control unit 300 controls the communication device 348. The communication device 348 is responsible for communication with the terminal 82 and the information processing device 24. The control unit 200 is implemented by a circuit such as a calculation processing device including a processor. The storage unit 380 is implemented by including a non-volatile storage medium. The control unit 300 performs processing by using the information stored in the storage unit 380. The control unit 300 can be implemented by a microcomputer equipped with a CPU, ROM, RAM, I / O, bus, etc.

[0065] The control unit 300 includes a holding control unit 310, an existence determination unit 320, a determination unit 330, a transmission control unit 350, and a reception control unit 360. Figure 6 The functional blocks shown are part of the functional manner.

[0066] The receiving control unit 360 performs control for receiving risk area information indicating a risk area outside the vehicle 20 determined by the vehicle 20. The maintaining control unit 310 performs control for maintaining position information of two points in the risk area. For example, the maintaining control unit 310 causes the storage unit 380 to store position information of two points in the risk area indicated by the risk area information. The risk area information may include a plurality of points that define the risk area. The maintaining control unit 310 causes the storage unit 380 to store position information of two points among the plurality of points in the risk area indicated by the risk area information.

[0067] When a new risk area is determined by the risk area determination unit 220, the determination unit 330 determines whether the first area determined based on the position information of the two points already held by the control of the holding control unit 310 and the second area determined based on the position information of the two points of the new risk area are consistent. When the determination unit 330 determines that the first area and the second area are consistent, the holding control unit 310 performs control for updating the position information of the two points already held with the position information of the two points of the new risk area.

[0068] When the determination unit 330 determines that the first area and the second area are inconsistent, the maintenance control unit 310 performs control for re-maintaining the position information of the two points of the new risk area. When the determination unit 330 determines that the first area and the second area are inconsistent, the maintenance control unit 310 may perform control for re-maintaining the position information of the two points of the risk area indicated by the new risk area information without updating the position information of the two points maintained by the control of the maintenance control unit 310.

[0069] When a new risk area is determined by the risk area determination unit 220, the retention control unit 310 determines the position information of the first plurality of points delimiting the first area based on the position information of the two points that have been retained, and determines the position information of the second plurality of points delimiting the second area based on the position information of the two points of the risk area indicated by the new risk area information. The determination unit 330 determines whether the first area delimited by the first plurality of points and the second area delimited by the second plurality of points are consistent based on the degree of overlap between the first area delimited by the first plurality of points and the second area delimited by the second plurality of points.

[0070] The judgment unit 330 may judge whether the first region and the second region are consistent based on the area where the first region and the second region overlap. The judgment unit 330 may judge whether the first region and the second region are consistent based on the area ratio between at least one of the first region and the second region and the partial area that overlaps the first region and the second region. The judgment unit 330 may judge whether the first region and the second region are consistent based on the offset between the center of gravity position of the first region and the center of gravity position of the second region.

[0071] The determination unit 330 may determine whether the first area and the second area are consistent based on the offset between the multiple points defining the first area and the multiple points defining the second area. For example, the determination unit 330 may determine whether the first area and the second area are consistent based on at least one of an average value, a maximum value, and a minimum value of the offset between the multiple points defining the first area and the multiple points defining the second area.

[0072] The transmission control unit 350 performs control for transmitting the position information of the two points held by the holding control unit 310 to the other vehicle 20 .

[0073] In addition, the reception control section 360 performs control for periodically receiving the location information of a plurality of terminals including the terminal 82. The server 52 manages the location information of each of the plurality of terminals by storing the location information of the plurality of terminals received under the control of the reception control section 360 in the storage section 380.

[0074] The receiving control unit 360 receives risk area information from the vehicle 20 or the vehicle 60. The risk area information is information sent from the vehicle 20 or the vehicle 60, and is information used to query whether a terminal whose location information is managed by the server 52 exists in the risk area. The risk area information may include all coordinates of a plurality of vertices that delimit the risk area. The existence determination unit 320 determines whether a certain terminal exists in the risk area delimited by the plurality of vertices included in the risk area information based on the location information managed by the server 52. When it is determined that a certain terminal exists in the risk area, the sending control unit 250 performs control for sending response information indicating the existence of the terminal to the vehicle 20 or the vehicle 60 that is the source of the risk area information.

[0075] Figure 7 The risk area determined by the risk area determination unit 220a in the vehicle 20a is schematically shown. Figure 7 An example of determining a rectangular area as a risk area is shown.

[0076] The sensor 29a outputs coordinate information indicating the position of the object recognized by the sensor 29a. For example, the sensor 29a outputs coordinate information of the position of the object in a coordinate system, wherein, for example, the direction of travel of the vehicle 20a is set as the positive direction of the x-axis, and the direction parallel to the surface of the road on which the vehicle 20a is traveling and orthogonal to the x-axis is set as the y-axis direction. The origin O of the coordinate system is set at a predetermined position in the vehicle 20a. For example, Figure 7 In the example shown, the sensor 29a outputs coordinate information including the coordinates of position 601, position 602, and position 603. Position 601 is the most negative position on the y-axis at which the sensor 29a recognizes the object, position 602 is the most positive position on the y-axis at which the sensor 29a recognizes the object, and position 603 is the most negative position on the x-axis at which the sensor 29a recognizes the object. That is, position 603 is the position of the object recognized by the sensor 29a that is closest to the vehicle 20.

[0077] The risk area determination unit 220a determines the area 110 as a risk area based on the coordinate information acquired by the coordinate information acquisition unit 210a. The area 110 is a rectangular area defined by connecting vertices 111, 112, 114, and 113. One side of the area 110 on the vehicle 20a side is a side that includes the position 603 and is parallel to the y-axis. One side of the area 110 on the vehicle 20a side is defined by vertices 111 and 112. Vertex 111 is determined to be a position that is the same as or exceeds position 601 by a predetermined amount in the negative direction of the y-axis. Vertex 112 is determined to be a position that is the same as or exceeds position 602 by a predetermined amount in the positive direction of the y-axis. Figure 7 In the example of FIG. 1 , vertex 111 is determined as a position that exceeds position 601 by a predetermined amount in the negative direction of the y-axis, and vertex 112 is determined as a position that exceeds position 602 by a predetermined amount in the positive direction of the y-axis. Vertex 113 is determined as a position that is a distance L1 from vertex 111 in the positive direction of the x-axis. Vertex 114 is determined as a position that is a distance L1 from vertex 112 in the positive direction of the x-axis. L1 is determined according to the speed of vehicle 20. The higher the speed of vehicle 20, the longer L1 is determined.

[0078] Figure 8 Another example of the risk area specified by the risk area specifying unit 220 a is schematically shown. Figure 8 Other examples of rectangular areas determined as risk areas are shown.

[0079] exist Figure 8 In the example shown, the sensor 29a outputs coordinate information including the coordinates of position 701, position 702, and position 703. Position 701 is the most negative position on the y-axis of the object recognized by the sensor 29a, position 702 is the most positive position on the y-axis of the object recognized by the sensor 29a, and position 703 is the most negative position on the x-axis of the object recognized by the sensor 29a. Position 703 is the position of the object recognized by the sensor 29 that is closest to the vehicle 20.

[0080] The risk area determination unit 220a determines area 710 as a risk area based on the coordinate information acquired by the coordinate information acquisition unit 210a. Area 710 is a rectangular area defined by connecting vertices 711, vertices 712, vertices 714, and vertices 713. One side of area 710 on the vehicle 20a side is a side that includes position 703 and is parallel to the y-axis. One side of area 710 on the vehicle 20a side is defined by vertices 711 and vertices 712. Vertex 711 is determined to be a position that is at least the same as position 701 in the negative direction of the y-axis or exceeds position 701 by a predetermined amount. Vertex 711 is determined to be a position that is at least the same as position 702 in the positive direction of the y-axis or exceeds position 702 by a predetermined amount. Figure 8In the example of , vertex 711 is determined to be at the same position as position 701 in the negative direction of the y-axis, and vertex 712 is determined to be at the same position as position 702 in the positive direction of the y-axis. Vertex 713 is determined to be at a distance L1 from vertex 711 in the positive direction of the x-axis. Vertex 714 is determined to be at a distance L1 from vertex 712 in the positive direction of the x-axis.

[0081] like Figure 7 and Figure 8 As shown, the risk area identification unit 220a identifies an area including at least the position of the vehicle 90 recognized by the sensor 29a as a risk area. Figure 7 and Figure 8 The example shows a case where the risk area determination unit 220a determines a rectangular area as a risk area. However, the area set as a risk area by the risk area determination unit 220a may be a quadrilateral area including a parallelogram, etc. The area set as a risk area by the risk area determination unit 220 may be a polygonal area.

[0082] Fig. 9 810 and the second area 820 are diagrams for explaining a process of determining whether or not the first area 810 and the second area 820 represent the same area. The first area 810 is an area defined by sequentially connecting vertices 811, 812, 814, 813, and 811. The second area 820 is an area defined by sequentially connecting vertices 821, 822, 824, 823, and 821. It is assumed that vertices 811 and 812 of the first area 810 are coordinate information included in the risk area transmitted from the vehicle 20a, and vertices 821 and 822 of the second area 820 are coordinate information included in the risk area transmitted from the vehicle 20b.

[0083] The determination unit 330 determines the vertex 813 and the vertex 814. The maintenance control unit 310 sets the point that is a predetermined distance L from the position of the vertex 811 in the direction along the road 70 as the vertex 813. The determination unit 330 sets the point that is a predetermined distance L from the position of the vertex 812 in the direction along the road 70 as the vertex 814. Thus, the first area 810 and the second area 820 are demarcated.

[0084] The determination unit 330 calculates the area of ​​the first region 810 and the area S3 of the region where the first region 810 overlaps with the second region 820. The determination unit 330 calculates the degree of overlap between the first region 810 and the second region 830 based on the ratio of the area S1 of the first region 810 to the area S3 of the region 830 where the first region 810 and the second region 820 overlap, and determines whether the first region 810 and the second region 820 are the same region based on the calculated degree of overlap. For example, the determination unit 330 calculates the ratio of the area S3 to the area S1, and when the ratio of the area S3 to the area S1 is greater than a predetermined threshold, determines that the first region 810 and the second region 820 are the same region. On the other hand, when the ratio of the area S3 to the area S1 is less than the predetermined threshold, the determination unit 330 determines that the first region 810 and the second region 820 are not the same region.

[0085] In addition, the determination unit 330 calculates the area S2 of the second region 820, calculates the degree of overlap between the first region 810 and the second region 820 based on the ratio of the area S2 of the second region 820 to the area S3 of the region 830, and determines whether the first region 810 and the second region 820 are the same region based on the calculated degree of overlap. For example, the determination unit 330 calculates the ratio of the area S3 to the area S2, and when the ratio of the area S3 to the area S2 is greater than a predetermined threshold, determines that the first region 810 and the second region 820 are the same region. On the other hand, when the ratio of the area S3 to the area S2 is less than the predetermined threshold, the determination unit 330 determines that the first region 810 and the second region 820 are not the same region.

[0086] Fig.10 810 and the second area 820 are used to illustrate another process for determining whether the first area 810 and the second area 820 represent the same area. Fig. 9 Vertex 813, vertex 814, vertex 823, and vertex 824 are set in the same manner as described.

[0087] The determination unit 330 calculates the center of gravity position 815 based on the coordinate information of the vertices 811, 812, 813, and 814 of the first region 810, and calculates the center of gravity position 825 based on the coordinate information of the vertices 821, 822, 823, and 824 of the second region 820. The determination unit 330 calculates the displacement amount of the position between the center of gravity position 815 of the first region 810 and the center of gravity position 825 of the second region 820. When the calculated displacement amount of the center of gravity position is less than a predetermined threshold value, the determination unit 330 determines that the first region 810 and the second region 820 are the same region. On the other hand, when the displacement amount of the center of gravity position is greater than or equal to the predetermined threshold value, the determination unit 330 determines that the first region 810 and the second region 820 are not the same region.

[0088] Fig.11 810 and the second area 820 are used to illustrate another process for determining whether the first area 810 and the second area 820 represent the same area. Fig. 9 Vertex 813, vertex 814, vertex 823, and vertex 824 are set in the same manner as described.

[0089] The determination unit 330 calculates an offset 1001 between the vertex 811 of the first region 810 and the vertex 821 of the second region 820, an offset 1002 between the vertex 812 of the first region 810 and the vertex 822 of the second region 820, an offset 1003 between the vertex 813 of the first region 810 and the vertex 823 of the second region 820, and an offset 1004 between the vertex 814 of the first region 810 and the vertex 824 of the second region 820. When the average value of the offset 1001, the offset 1002, the offset 1003, and the offset 1004 is less than a predetermined threshold value, the determination unit 330 determines that the first region 810 and the second region 820 are the same region. On the other hand, when the average value of the offset 1001, the offset 1002, the offset 1003, and the offset 1004 is greater than or equal to the predetermined threshold value, the determination unit 330 determines that the first region 810 and the second region 820 are not the same region.

[0090] In addition, when the maximum value of the offset 1001, the offset 1002, the offset 1003, and the offset 1004 is greater than the predetermined threshold, the determination unit 330 may determine that the first region 810 and the second region 820 are not the same region. When the minimum value of the offset 1001, the offset 1002, the offset 1003, and the offset 1004 is less than the predetermined threshold, the determination unit 330 may determine that the first region 810 and the second region 820 are the same region. Fig.11 As described above, the determination unit 330 may determine whether the first region 810 and the second region 820 are the same region based on the offset of the positions of one or more corresponding points between the first region 810 and the second region 820 .

[0091] refer to Figures 9 to 11, as a method of judging whether the first area 810 and the second area 820 are the same area, an example of a method of judging whether the first area 810 and the second area 820 represent the same area by calculating the degree of overlap between the first area 810 and the second area 820 using four vertices of each of the first area 810 and the second area 820 is described. In addition, the judgment unit 330 may also judge whether the first area 810 and the second area 820 are the same area based on two vertices 811 and 812 stored in the storage unit 380 and two vertices 821 and 822 included in the newly received risk area information, without calculating the four vertices of each of the first area 810 and the second area 820. The judgment unit 330 may judge whether the first area 810 and the second area 820 are the same area based on the offset between the centroid position of the vertex 811 and the vertex 812 and the centroid position of the two vertices 821 and the vertex 822. The determination unit 330 may determine whether the first region 810 and the second region 820 are the same region based on at least one of an average value, a maximum value, and a minimum value of the positional offset between the vertices 811 and 821 and the positional offset between the vertices 812 and 822 .

[0092] Fig.12 The flow of processing related to the information processing method performed by the vehicle 20a, the vehicle 20b, and the server 52 is schematically shown. In S1202, the risk area determination unit 220a of the vehicle 20a determines the risk area based on the information recognized by the sensor 29a. For example, the risk area determination unit 220a determines four vertices that delimit the risk area 110 based on the coordinate information output by the sensor 29a acquired by the coordinate information acquisition unit 210a. For example, the risk area determination unit 220a determines the four vertices that delimit the risk area 110 by using the reference Figure 7 and Figure 8 The method described by et al. determines four vertices to determine the risk area.

[0093] In S1208, the transmission control unit 250a transmits risk area information for querying whether the predetermined object exists in the risk area to the server 52. The risk area information includes coordinate information of four vertices defining the risk area determined in S1202. The risk area information may include geographic coordinate information represented by the latitude and longitude of the four vertices defining the risk area. The risk area information may include information indicating the current position of the vehicle 20a or the traveling direction of the vehicle 20a.

[0094] When the server 52 receives the risk area information transmitted from the vehicle 20a, in S1210, the maintenance control unit 310 selects two vertices satisfying a predetermined condition from the four vertices included in the risk area information based on the risk area information received under the control of the reception control unit 360. For example, the maintenance control unit 310 selects two vertices closest to the side of the vehicle 20a among the four vertices. Specifically, the maintenance control unit 310 can select two vertices that meet a predetermined condition from the four vertices. Figure 7 The vertices 111 and 112 shown can be selected Figure 8 Vertex 711 and vertex 712 are shown.

[0095] In S1212, the storage control unit 310 registers the coordinate information of the two vertices selected in S1210 as vertex information of the risk area. For example, the storage control unit 310 causes the storage unit 380 to store the coordinate information of the two vertices selected in S1210 as vertex information of the risk area.

[0096] Furthermore, in S1214, the existence determination unit 320 determines whether the terminal 82 exists in the area defined by the four vertices included in the risk area information received from the vehicle 20a. Figure 1 In the situation shown, the existence determination unit 320 determines that the terminal 82 does not exist in the area 110 defined by the four vertices included in the risk area information. In this case, the transmission control unit 350 may not send the response information for the risk area information to the vehicle 20a. In addition, when the terminal 82 does not exist in the area defined by the four vertices included in the risk area information, the transmission control unit 350 may also send the response information indicating that the object does not exist in the risk area to the vehicle 20a.

[0097] Thereafter, in S1222, the risk area determination unit 220b of the vehicle 20b determines the risk area based on the information identified by the sensor 29b. For example, the risk area determination unit 220b determines four vertices defining the risk area 110' based on the coordinate information output by the sensor 29b acquired by the coordinate information acquisition unit 210b. The method for determining the vertices of the risk area may be the same as that of the reference. Figure 7 and Figure 8 The same method as described by et al.

[0098] In S1228, the transmission control unit 250b transmits risk area information for querying whether the predetermined object exists in the risk area to the server 52. The risk area information includes coordinate information of four vertices defining the risk area determined in S1222. The risk area information may include geographic coordinate information represented by the latitude and longitude of the four vertices defining the risk area. The risk area information may include information indicating the current position of the vehicle 20b or the traveling direction of the vehicle 20b.

[0099] When the server 52 receives new risk area information transmitted from the vehicle 20b, in S1230, the determination unit 330 selects two vertices satisfying a predetermined condition from the four vertices included in the risk area information based on the risk area information received under the control of the reception control unit 360. For example, the determination unit 330 selects two vertices closest to the side of the vehicle 20b among the four vertices.

[0100] In S1231, the determination unit 330 selects vertex information closest to the positions of the two vertices selected in S1230 from the vertex information already stored in the storage unit 380. For example, the determination unit 330 selects vertex information whose distance between a line segment connecting two vertices of the vertex information already stored in the storage unit 380 and a line segment connecting the two vertices selected in S1230 is the shortest.

[0101] In S1232, the determination unit 330 calculates the degree of overlap between the first area based on the coordinate information of the two vertices selected in S1231 and the second area based on the coordinate information of the two vertices selected in S1230. For example, the determination unit 330 may use reference Figures 9 to 11 In S1233, the retention control unit 310 updates the stored vertex information with the vertex information of the two vertices selected in S1230, or newly adds the vertex information of the two vertices selected in S1230, according to the overlap degree calculated by the determination unit 330.

[0102] In S1234, the existence determination unit 320 determines whether the terminal 82 exists in the area defined by the four vertices included in the risk area information received from the vehicle 20b. Figure 2 In the situation shown, the existence determination unit 320 determines that the terminal 82 does not exist in the area 120 defined by the four vertices included in the risk area information. In this case, the transmission control unit 350 may not send the response information for the risk area information to the vehicle 20b. In addition, when the terminal 82 does not exist in the area defined by the four vertices included in the risk area information, the transmission control unit 350 may also send the response information indicating that the object does not exist in the risk area to the vehicle 20b.

[0103] Fig.13 The flow of processing related to the information processing method executed by the server 52 , the vehicle 60 , and the terminal 82 is schematically shown. Fig.13 The processing is in Fig.12 The processing that is performed afterwards.

[0104] In S1322, the information processing device 64 of the vehicle 60 transmits a risk area request for requesting position information of the risk area to the server 52. The risk area request may include information indicating the position of the vehicle 60 and the traveling direction of the vehicle 60. In S1314, the transmission control unit 350 transmits, to the vehicle 60, vertex information of the risk area existing ahead in the traveling direction of the vehicle 60 among the vertex information of the risk area stored in the storage unit 380, based on the risk area request.

[0105] In S1324, when it is determined that the vehicle 60 has approached the position indicated by the vertex information based on the current position of the vehicle 60 and the vertex information received from the server 52, the information processing device 64 sets a risk area based on the two vertices indicated by the vertex information and the vehicle speed of the vehicle 60. For example, as shown in FIG. Figure 4 As described above, the information processing device 64 determines the vertex 123 and the vertex 124 based on the coordinates of the two vertices 111' and the vertex 112' and the distance L2, and sets the area 120 delimited by the vertices 111', 112', 123, and 124 as a risk area. In S1325, the information processing device 64 sends the risk area information of the four vertices including the risk area set in S1324 to the server 52.

[0106] When the server 52 receives the risk area information transmitted from the vehicle 60, the existence determination unit 320 determines whether the terminal 82 exists in the area defined by the four vertices included in the risk area information received from the vehicle 60 in S1315. Figure 4 In the situation shown, the existence determination unit 320 determines that the terminal 82 exists in the area 120 defined by the four vertices included in the risk area information. In this case, in S1318, the transmission control unit 350 transmits warning information indicating that the terminal 82 exists in the area to the vehicle 60 via the communication device 348 as response information to the query information. In addition, the transmission control unit 350 transmits warning information indicating that the vehicle is approaching to the terminal 82 via the communication device 348.

[0107] When receiving the warning information from the server 52, in S1328, the information processing device 64 outputs a warning to the passenger of the vehicle 60 through the HMI function of the information output device 40. In addition, when receiving the warning information from the server 52, in S1338, the terminal 82 outputs a warning to the person 80 through the HMI function of the terminal 82.

[0108] In addition, the communication between the information processing device 24 and the server 52 can be carried out by following the communication method of Cellular-V2X. As Cellular-V2X, communication methods such as LTE-V2X PC5 and 5G-V2X PC5 are included. In another embodiment, the communication between the information processing device 24 and the server 52 can also be carried out by using Wi-Fi (registered trademark) and DSRC (Dedicated Short Range Communications). In addition to Cellular-V2X, DSRC (registered trademark), etc., the communication between the information processing device 24 and the server 52 can also adopt any communication method such as Bluetooth (registered trademark). The information processing device 24 can also communicate with the server 52 using the communication infrastructure possessed by ITS (Intelligent Transport Systems).

[0109] In addition, the vehicle 20 and the vehicle 60 may be examples of transportation equipment. The transportation equipment may include cars, buses, and other vehicles, saddle vehicles, bicycles, and the like. In addition, in the above-mentioned present embodiment, the system 10 functions as a system for issuing a warning when the terminal 82 is present in the risk area, but may also function as a system for issuing a warning when there is any communication device other than the terminal 82 that can manage the location information of the server 52. The communication device involved may be provided on any mobile body such as a car, a saddle vehicle, a bicycle, and the like.

[0110] As a variation of the above-mentioned system 10, a method may be adopted in which the information processing device 24 of the vehicle 20 has the function of the determination unit 330 of the server 52. For example, the transmission control unit 350 of the server 52 controls the communication device 348 to transmit the position information of two points of the risk area stored in the storage unit 380 by the maintenance control unit 310 to the vehicle 20. In the information processing device 24 of the vehicle 20, the communication device 48 can receive the position information sent from the server 52, and determine whether the first area closest to the new risk area determined by the risk area determination unit 220 and the second area determined based on the position information of the two points of the new risk area are consistent with each other in one or more areas determined based on the position information received by the communication device 48.

[0111] When it is determined in the information processing device 24 that the first area and the second area are consistent, the transmission control unit 250 of the information processing device 24 may send risk area update information including the position information of the two points of the first area and the position information of the two points of the new risk area determined by the risk area determination unit 220 to the server 52. When the communication device 348 of the server 52 receives the risk area update information, the retention control unit 310 of the server 52 may perform control for updating the position information of the two points of the first area contained in the risk area update information in the position information stored in the storage unit 380 with the position information of the two points of the new risk area contained in the risk area update information.

[0112] When it is determined in the information processing device 24 that the first area and the second area are inconsistent, the transmission control unit 250 of the information processing device 24 may send the risk area additional information including the position information of the two points of the new risk area determined by the risk area determination unit 220 to the server 52. When the communication device 348 of the server 52 receives the risk area additional information, the retention control unit 310 of the server 52 may perform control for re-retaining the position information of the two points of the new risk area contained in the risk area additional information.

[0113] As described above, due to the difference in the equipment performance of the vehicles that identify the risk area between vehicle 20a and vehicle 20b, or due to the difference in the driving environment of vehicle 20a and vehicle 20b, even when the same risk area is identified, there is a case where the coordinate information identified as the risk area is different. The present embodiment is constructed in view of the above situation, and the purpose of the present embodiment is to improve the safety of traffic and suppress the decline in traffic flow. Specifically, according to the system 10 of the present embodiment, it is possible to appropriately determine whether the risk areas sent from vehicle 20a and vehicle 20b are the same to update or add the coordinate information of the risk area, thereby improving the safety of traffic and suppressing the decline in traffic flow.

[0114] Fig.14 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 information processing device 24 and the server 52 involved in the embodiments or each unit of the device, or as a system such as the system 10 involved in the embodiments or each unit of the system, perform operations associated with the device, each unit of the device, the system or each unit of the system, and / or perform a process involved in the embodiments 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.

[0115] 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.

[0116] The CPU 2012 operates according to the programs stored in the ROM 2026 and the RAM 2014 , thereby controlling each unit.

[0117] 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.

[0118] The program is provided via a computer-readable medium such as a CD-ROM, a 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 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] The program or software module described above can be stored in a computer-readable 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 medium. The program stored in the computer-readable medium can be provided to the computer 2000 via a network.

[0123] When the computer 2000 functions as the control unit 200, the program installed in the computer 2000 and causing the computer 2000 to function as the control unit 200 can be run in the CPU 2012 and the like, thereby causing the computer 2000 to function as each unit of the control unit 200. 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 control unit 200. 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 control unit 200 corresponding to the purpose of use is constructed.

[0124] When the computer 2000 functions as the control unit 300, the program installed in the computer 2000 and causing the computer 2000 to function as the control unit 300 can be run in the CPU 2012 and the like, thereby causing the computer 2000 to function as each unit of the control unit 300. 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 control unit 300. 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 control unit 300 corresponding to the purpose of use is constructed.

[0125] 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 medium, and / or a processor supplied together with computer-readable instructions stored on a computer-readable 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.

[0126] The computer-readable medium may include any tangible device capable of storing instructions to be executed by an appropriate device, and as a result, the computer-readable medium having the instructions stored therein constitutes at least a part of a product containing instructions that can be executed to implement a unit for performing the operations specified in the process flow or block diagram. As examples of computer-readable 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 media, floppy disks (registered trademarks), 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 (RTM) optical disks, memory sticks, integrated circuit cards, etc. may be included.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] [Description of Reference Numerals]

[0132] 10 System

[0133] 20, 60, 90 vehicles

[0134] 21 Radar

[0135] 22 Camera

[0136] 24Information processing device

[0137] 25GNSS receiving unit

[0138] 26 Vehicle speed sensor

[0139] 29 Sensors

[0140] 40 Information output device

[0141] 48 communication devices

[0142] 50 base stations

[0143] 52 servers

[0144] 64 Information processing device

[0145] 70 Road

[0146] 80 people

[0147] 82 Terminal

[0148] 110, 120 area

[0149] Vertex 111, 112, 113, 114, 123, 124

[0150] 200 Control Department

[0151] 208 Control Department

[0152] 210 Coordinate information acquisition unit

[0153] 220 Risk Area Determination Department

[0154] 250 Sending control unit

[0155] 260 Receiving Control Unit

[0156] 280 Storage Department

[0157] 300 Control Department

[0158] 310 Maintain Control Unit

[0159] 320 Existence Judgment Unit

[0160] 330 Judgment Department

[0161] 348 communication device

[0162] 350 Sending control unit

[0163] 360 receiving control unit

[0164] 380 Storage Department

[0165] Positions 601, 602, 603, 701, 702, 703

[0166] Area 710

[0167] Vertices 711, 712, 713, 714

[0168] 810 First Area

[0169] 820 Second Area

[0170] 830 Area

[0171] Vertex 811, 812, 813, 814

[0172] Vertex 821, 822, 823, 824

[0173] 815, 825 center of gravity position

[0174] 1001, 1002, 1003, 1004 offset

[0175] 2000 Computer

[0176] 2010 Main Controller

[0177] 2012CPU

[0178] 2014 RAM

[0179] 2020 Input / Output Controller

[0180] 2022 Communication Interface

[0181] 2024 Flash

[0182] 2026ROM

[0183] 2040 input / output chips.

Claims

1. A system, wherein: have: a risk area determination unit that determines a risk area outside the mobile object; a holding control unit that performs control for holding position information of two points in the risk area; as well as a judgment unit that, when a new risk area is determined by the risk area determination unit, judges whether a first area determined based on the position information of the two points that has been maintained under the control of the maintenance control unit and a second area determined based on the position information of the two points of the new risk area are consistent with each other, When the determination unit determines that the first region and the second region coincide with each other, the retention control unit performs control for updating the retained position information of the two points with the position information of the two points in the new risk region.

2. A system, wherein: have: a risk area determination unit that determines a risk area outside the mobile object; a holding control unit that performs control for holding position information of two points in the risk area; as well as a judgment unit that, when a new risk area is determined by the risk area determination unit, judges whether a first area determined based on the position information of the two points that has been maintained under the control of the maintenance control unit and a second area determined based on the position information of the two points of the new risk area are consistent with each other, When the determination unit determines that the first region and the second region do not coincide with each other, the retention control unit performs control for re-retaining the position information of the two points in the new risk region.

3. The system according to claim 1, wherein: When the determination unit determines that the first region and the second region do not coincide with each other, the retention control unit performs control for re-retaining the position information of the two points in the new risk region.

4. The system according to any one of claims 1 to 3, wherein: When a new risk area is determined by the risk area determination unit, The holding control unit determines the position information of the first plurality of points demarcating the first area based on the position information of the two points that have been held, and determines the position information of the second plurality of points demarcating the second area based on the position information of the two points of the new risk area, The determination unit determines whether the first region and the second region coincide with each other based on a degree of overlap between the first region defined by the first plurality of points and the second region defined by the second plurality of points.

5. The system according to any one of claims 1 to 3, wherein: The determination unit determines whether the first region and the second region coincide with each other based on an overlapping area of ​​the first region and the second region.

6. The system according to claim 5, wherein: The determination unit determines whether the first region and the second region coincide with each other based on an area ratio of a partial region where at least one of the first region and the second region overlaps with the first region and the second region.

7. The system according to any one of claims 1 to 3, wherein: The determination section determines whether the first region and the second region coincide with each other based on an amount of deviation between a center of gravity position of the first region and a center of gravity position of the second region.

8. The system according to any one of claims 1 to 3, wherein: The determination unit determines whether the first region and the second region coincide with each other based on an amount of displacement between a plurality of points defining the first region and a plurality of points defining the second region.

9. The system according to claim 8, wherein: The determination unit determines whether the first region and the second region coincide with each other based on at least one of an average value, a maximum value, and a minimum value of shift amounts between a plurality of points defining the first region and a plurality of points defining the second region.

10. The system according to any one of claims 1 to 3, wherein: The device further includes a transmission control unit that performs control for transmitting the position information of the two points held by the holding control unit to another moving body.

11. The system according to any one of claims 1 to 3, wherein: The system includes the mobile body and a server external to the mobile body. The server includes the holding control unit. The mobile object includes the risk area specifying unit, a position information receiving unit that receives the position information held by the holding control unit from the server, and the determining unit.

12. The system according to any one of claims 1 to 3, wherein: The system includes the mobile body and a server external to the mobile body. The mobile object includes the risk area specifying unit. The server includes the holding control unit, a reception control unit that performs control for receiving risk area information indicating a risk area outside the moving body that is specified by the moving body, and the determination unit.

13. The system according to claim 12, wherein: The server is a mobile edge computing server.

14. The system according to any one of claims 1 to 3, wherein: The moving object is a vehicle.

15. A method, wherein: have: The step of determining a risk area outside the moving body; A step of performing control for maintaining position information of two points of the risk area; Steps to identify new risk area information; a step of determining whether a first area determined based on the position information of the two points that have been stored and a second area determined based on the position information of the two points in the risk area indicated by the new risk area information are consistent; as well as When it is determined that the first area and the second area coincide with each other, a control step is performed for updating the already stored position information of the two points with the position information of the two points of the new risk area.

16. A method, wherein: have: The step of determining a risk area outside the moving body; A step of performing control for maintaining position information of two points of the risk area; Steps to identify new risk area information; a step of determining whether a first area determined based on the position information of the two points that have been stored and a second area determined based on the position information of the two points in the risk area indicated by the new risk area information are consistent; as well as When it is determined that the first area and the second area do not coincide with each other, a control step is performed to re-maintain the position information of the two points in the new risk area.

17. A computer-readable storage medium, wherein: A program is stored, the program causing the computer to function as the following means: A risk area determination unit that determines a risk area outside the moving object; a holding control unit for performing control for holding position information of two points in the risk area; as well as a judgment unit, which judges whether a first area determined based on the position information of the two points already maintained by the control of the maintenance control unit and a second area determined based on the position information of the two points of the new risk area are consistent when a new risk area is determined by the risk area determination unit, When the determination unit determines that the first region and the second region coincide with each other, the retention control unit performs control for updating the retained position information of the two points with the position information of the two points in the new risk region.

18. A computer-readable storage medium, wherein: A program is stored, the program causing the computer to function as the following means: A risk area determination unit that determines a risk area outside the moving object; a holding control unit for performing control for holding position information of two points in the risk area; as well as a judgment unit, which judges whether a first area determined based on the position information of the two points already maintained by the control of the maintenance control unit and a second area determined based on the position information of the two points of the new risk area are consistent when a new risk area is determined by the risk area determination unit, When the determination unit determines that the first region and the second region do not coincide with each other, the retention control unit performs control for re-retaining the position information of the two points in the new risk region.

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