Information processing device, information processing method, and program

Abstract

An information processing device is provided with: a recognition unit that recognizes, on the basis of a road structure around a moving body, a region in which the moving body can move and a position of interest, which is a current position or a future position of a traffic participant present around the moving body; and a control unit that, when the eye-on-eye position is included in a reporting area preset in the periphery of the moving body and is within the movable area, reports the presence of the traffic participant to the occupant of the moving body using a notification unit, and controls the presence of the traffic participant to the occupant of the moving body using the notification unit. The control unit restricts the reporting when the eye-catching position is included in the reporting area and is outside the movable area.

Description

Technical Field

[0001] The present invention relates to an information processing device, an information processing method, and a program. Background Art

[0002] Conventionally, a vehicle alarm device that issues an alarm based on the possibility of a collision with an object has been disclosed (for example, see Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2021-64084 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] However, in the above-mentioned device, it is sometimes impossible to make appropriate notification to the occupants.

[0008] The present invention has been made in consideration of such circumstances, and one of its objects is to provide an information processing device, an information processing method, and a program that can make appropriate reports to passengers. For example, it can suppress unnecessary reports.

[0009] Solutions to Problems

[0010] The information processing device, information processing method, and program according to the present invention have the following configurations.

[0011] (1): One embodiment of the present invention relates to an information processing device, wherein the information processing device comprises: an identification unit that identifies an area in which the moving body can move and a focus position based on a road structure in the vicinity of the moving body, the focus position being the current position or future position of a traffic participant existing in the vicinity of the moving body; and a control unit that uses a notification unit to report the presence of the traffic participant to an occupant of the moving body when the focus position is included in a reporting area pre-set in the vicinity of the moving body and is within the movable area, and the control unit restricts the reporting when the focus position is included in the reporting area and is outside the movable area.

[0012] (2): In the above-mentioned embodiment (1), the restriction means not making the report or making a report with a weakened intensity.

[0013] (3): In the scheme of (1) above, information on the traffic participant entering a high-risk location within the movable area from outside the movable area of ​​the moving body is stored in a storage unit together with information on the level of risk. When the focus position is included in a reporting area pre-set around the moving body and is outside the movable area, and when the focus position coincides with the high-risk location stored in the storage unit, the control unit reports with an intensity corresponding to the level of risk of the high-risk location.

[0014] (4): In the above-mentioned aspect (3), the control unit issues a stronger notification when the target position is the high-risk position than when the target position is the low-risk position.

[0015] (5): In the scheme of (1) above, the information processing device includes a line of sight acquisition unit for acquiring the direction of the line of sight of the driver of the moving body, and the control unit makes a report with a stronger intensity when the focus position is included in the reporting area pre-set around the moving body and is within the movable area, and the line of sight is not directed toward the traffic participant, compared with the case where the focus position is included in the reporting area pre-set around the moving body and is within the movable area, and the line of sight is directed toward the traffic participant.

[0016] (6): In the scheme of (1) above, the information processing device includes a line of sight acquisition unit for acquiring the direction of the line of sight of the driver of the moving body, and the control unit makes a report with a stronger intensity when the focus position is included in the reporting area pre-set around the moving body and is outside the movable area, and the line of sight is not directed toward the traffic participant, compared with the case where the focus position is included in the reporting area pre-set around the moving body and is outside the movable area, and the line of sight is directed toward the traffic participant.

[0017] (7): In the scheme of (1) above, information on the traffic participant entering a high-risk location within the movable area from outside the movable area of ​​the moving body is stored in the storage unit together with information on the level of risk. When the focus position is included in a reporting area pre-set around the moving body and is outside the movable area, when the focus position coincides with the high-risk location stored in the storage unit, the control unit reports with an intensity corresponding to the level of risk of the high-risk location. When the focus position does not coincide with the high-risk location stored in the storage unit, the control unit reports with an intensity obtained by suppressing an intensity corresponding to the level of risk, or does not report.

[0018] (8): In any of the schemes in (7) above, the information processing device includes a line of sight acquisition unit for acquiring the direction of the line of sight of the driver of the mobile body. When the focus position is included in the reporting area pre-set around the mobile body and is outside the movable area, and the focus position coincides with the high-risk position, and the line of sight is toward the traffic participant, the control unit performs a report of a first intensity. When the focus position is included in the reporting area pre-set around the mobile body and is outside the movable area, and the focus position coincides with the high-risk position, and the line of sight is not toward the traffic participant, the control unit performs a report of a second intensity that is stronger than the report of the first intensity.

[0019] (9): Another embodiment of the present invention relates to an information processing method, wherein the information processing method causes a computer to perform the following processing: identifying an area in which the moving body can move and a focus position based on a road structure in the vicinity of the moving body, the focus position being the current position or future position of a traffic participant existing in the vicinity of the moving body; and using a notification unit to report the presence of the traffic participant to an occupant of the moving body when the focus position is included in a reporting area pre-set in the vicinity of the moving body and is within the movable area, and limiting the reporting when the focus position is included in the reporting area and is outside the movable area.

[0020] (10): Another embodiment of the present invention relates to a program, wherein the program causes a computer to perform the following processing: identifying an area in which the moving body can move and a focus position based on a road structure in the vicinity of the moving body, the focus position being the current position or future position of a traffic participant existing in the vicinity of the moving body; and using a notification unit to report the presence of the traffic participant to an occupant of the moving body when the focus position is included in a reporting area pre-set in the vicinity of the moving body and is within the movable area, and limiting the reporting when the focus position is included in the reporting area and is outside the movable area.

[0021] Effects of the Invention

[0022] According to the above-mentioned aspects (1) to (10), appropriate notification can be made to the occupants. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 1 is a configuration diagram of a vehicle M equipped with the vehicle system 1 (camera 10 and driving support device 100 ) according to the embodiment.

[0024] Figure 21 is a diagram showing an example of the functional configuration of the vehicle system 1 .

[0025] Figure 3 1 is a diagram showing an example of a scene in which a bicycle is present around a vehicle M.

[0026] Figure 4 This is a diagram showing an example of a report displayed on the display unit.

[0027] Figure 5 1 is a diagram showing an example of a scene in which pedestrians are present around a vehicle M.

[0028] Figure 6 This is a flowchart showing an example of the flow of processing executed by the driving support device 100 .

[0029] Figure 7 It is a diagram showing an example of the content of the corresponding information 150.

[0030] Figure 8 This is a flowchart showing an example of the flow of processing executed by the driving support device 100A.

[0031] Figure 9 This is a flowchart showing an example of the flow of processing executed by the driving support device 100 .

[0032] Figure 10 This is a flowchart showing an example of the flow of processing executed by the driving support device 100A. DETAILED DESCRIPTION

[0033] Hereinafter, embodiments of the information processing device, information processing method, and program according to the present invention will be described with reference to the accompanying drawings.

[0034] Hereinafter, the front direction of the moving body may be referred to as the positive X direction, the rear direction of the moving body may be referred to as the negative X direction, the right direction in the direction perpendicular to the front-back direction (the right direction when facing the positive X direction) may be referred to as the positive Y direction, the left direction in the direction perpendicular to the front-back direction (the left direction when facing the positive X direction) may be referred to as the negative Y direction, the direction perpendicular to the X and Y directions and pointing vertically upward may be referred to as the positive Z direction, and the direction perpendicular to the X and Y directions and pointing vertically downward may be referred to as the negative Z direction.

[0035] <First embodiment>

[0036] [Overall structure]

[0037] Figure 1This is a structural diagram of a vehicle M equipped with the vehicle system 1 (camera 10 and driving support device 100) according to an embodiment. Vehicle M is, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and its driving source is an internal combustion engine such as a diesel engine or gasoline engine, an electric motor, or a combination thereof. The electric motor operates using power generated by a generator coupled to the internal combustion engine, or power discharged from a secondary battery or fuel cell. Vehicle M is an example of a "mobile object."

[0038] One or more cameras 10 are mounted on the vehicle M. Each of the multiple cameras 10 captures the surroundings of the vehicle M (e.g., a 360-degree image). Each of the multiple cameras 10 captures a different capture area, thereby capturing the surroundings of the vehicle M. The cameras 10 may be positioned at any location as long as they can capture the surroundings of the vehicle M. The number of cameras 10 may also be set as desired.

[0039] The driving support device 100 recognizes or estimates the viewing direction of the occupant based on the image captured by the camera 10 , and controls the notification based on the estimation result.

[0040] Figure 2 This is a diagram showing an example of the functional structure of a vehicle system 1. The vehicle M is equipped with, for example, one or more cameras 10, a radar device 12, a LIDAR (Light Detection and Ranging) 14, an object recognition device 16, an HMI (Human Machine Interface) 30, a vehicle sensor 40, a navigation device 50, a driver monitoring camera 60, a driving operating element 70, a driving support device 100, a driving force output device 200, a braking device 210, and a steering device 220. These devices and equipment are interconnected through multiple communication lines such as CAN (Controller Area Network) communication lines, serial communication lines, wireless communication networks, etc. It should be noted that Figure 1 The structure shown is just an example, and part of the structure may be omitted or another structure may be added.

[0041] The camera 10 is, for example, a digital camera using a solid-state imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is mounted at any location on the vehicle M. The camera 10 cyclically and repeatedly captures images of the surrounding area of ​​the vehicle M. The camera 10 may also be a stereo camera.

[0042] The radar device 12 radiates radio waves, such as millimeter waves, toward the periphery of the vehicle M and detects the radio waves (reflected waves) reflected by objects to detect at least the object's position (range and direction). The radar device 12 is mounted at any location on the vehicle M. The radar device 12 can also detect the position and velocity of objects using the FM-CW (Frequency Modulated Continuous Wave) method.

[0043] LIDAR 14 irradiates light (or electromagnetic waves with a wavelength similar to light) around the vehicle M and measures the scattered light. LIDAR 14 detects the distance to an object based on the time between light emission and light reception. The irradiated light is, for example, pulsed laser light. LIDAR 14 can be mounted at any location on the vehicle M.

[0044] The object recognition device 16 performs sensor fusion processing on the detection results from some or all of the camera 10, radar device 12, and LIDAR 14 to identify the position, speed, and other aspects of the object. The object recognition device 16 outputs the recognition results to the driving support device 100. The object recognition device 16 can output the detection results from the camera 10, radar device 12, and LIDAR 14 directly to the driving support device 100. The object recognition device 16 can also be omitted from the vehicle system 1.

[0045] The HMI 30 presents various information to the occupants of the vehicle M and receives input operations from the occupants. The HMI 30 includes various display devices, speakers, a buzzer, a vibration generator (vibrator), a touch panel, switches, buttons, and the like.

[0046] The vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects angular velocity about a vertical axis, an azimuth sensor that detects the orientation of the vehicle M, and the like.

[0047] The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver, a guidance control unit, and a storage unit storing map information. The GNSS receiver determines the position of the vehicle M based on signals received from GNSS satellites. The position of the vehicle M can also be determined or supplemented by an INS (Inertial Navigation System) utilizing the output of the vehicle sensor 40. The guidance control unit, for example, determines a route from the position of the vehicle M determined by the GNSS receiver (or an input arbitrary position) to the destination input by the occupant, referring to map information, and causes the HMI 30 to output guidance information to guide the vehicle M along the route. Map information is, for example, information that represents the shape of a road by representing road segments and nodes connected by the segments. Map information may also include road curvature, POI (Point of Interest) information, and the like. The navigation device 50 may also transmit the current position and destination of the vehicle M to a navigation server via a communication device and obtain the route from the navigation server.

[0048] The driver monitoring camera 60 is, for example, a digital camera utilizing a solid-state imaging element such as a CCD or CMOS. The driver monitoring camera 60 is mounted at any location on the vehicle M in a position and orientation capable of capturing an image of the head of a passenger (hereinafter referred to as the driver) seated in the driver's seat of the vehicle M from the front (in an orientation that captures the face). The driver monitoring camera 60 captures images of the interior of the vehicle M, including the driver, from the mounted position, and outputs these images to the driving support device 100.

[0049] Driving control elements 70 include, for example, an accelerator pedal, a brake pedal, a steering wheel, a shift lever, and other operating elements. Sensors are mounted on driving control elements 70 to detect the amount of operation or the presence or absence of operation. These detection results are output to some or all of the driving force output device 200, the braking device 210, and the steering device 220.

[0050] The driving force output device 200 outputs the driving force (torque) used to propel the vehicle to the drive wheels. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, and a transmission, as well as an ECU (Electronic Control Unit) that controls these components. The ECU controls the aforementioned components based on information input from the driving support device 100 or from the driving operating elements 70.

[0051] The braking device 210 includes, for example, a brake caliper, a hydraulic cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the hydraulic cylinder, and an ECU. The ECU controls the electric motor according to information input from the driving support device 100 or information input from the driving operating element 70 to output a braking torque corresponding to the braking operation to each wheel. The braking device 210 may include a mechanism that transmits the hydraulic pressure generated by operating the brake pedal included in the driving operating element 70 to the hydraulic cylinder via a master hydraulic cylinder as a backup. It should be noted that the braking device 210 is not limited to the structure described above, and may also be an electronically controlled hydraulic braking device that controls an actuator according to information input from the driving support device 100 to transmit the hydraulic pressure of the master hydraulic cylinder to the hydraulic cylinder.

[0052] The steering system 220 includes, for example, a steering ECU and an electric motor. The electric motor applies force to, for example, a rack-and-pinion mechanism to change the direction of the steering wheel. The steering ECU drives the electric motor based on information input from the driving support device 100 or from the driving operating element 70 to change the direction of the steering wheel.

[0053] [Driving support device]

[0054] The driving support device 100 includes, for example, a recognition unit 110, a driver recognition unit 120, a processing unit 130, and a driving support unit 140. These functional units are implemented by executing programs (software) on a hardware processor, such as a CPU (Central Processing Unit). Furthermore, some or all of these components may be implemented using hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or through a combination of software and hardware. The program may be pre-stored in a storage device (including a non-transitory storage medium) such as an HDD or flash memory in the driving support device 100, or it may be stored on a removable storage medium such as a DVD or CD-ROM and installed in the HDD or flash memory of the driving support device 100 via the storage medium (non-transitory storage medium) attached to a drive. The functional configuration combining the processing unit 130 and the driving support unit 140 is an example of a "control unit."

[0055] The recognition unit 110 identifies objects around the vehicle M based on the recognition results from the object recognition device 16. The recognition unit 110 identifies the object's type, location, direction of movement, and speed. Objects include some or all of moving objects such as vehicles, bicycles, two-wheeled vehicles, and pedestrians; roadway boundaries such as road dividing lines, steps, guardrails, curbs, and medians; road signs and billboards; fallen objects on the roadway; and obstacles such as objects around the vehicle M. The recognition unit 110 identifies the current and future locations of traffic participants such as vehicles, bicycles, two-wheeled vehicles, and pedestrians around the vehicle M. For example, the recognition unit 110 identifies the future location of traffic participants based on their direction of movement and speed. For example, the recognition unit 110 may input images captured by the camera 10 into a learned model that has been trained to output information such as the existence, location, and type of an object when the image is captured by the camera 10. This information, such as the existence, location, and type of the object, can be obtained.

[0056] The recognition unit 110 analyzes the road structure around the vehicle M based on detection information from the object recognition device 16 (camera 10, radar device 12, LIDAR 14) and identifies areas where the vehicle M can move based on the analyzed road structure. Areas where the vehicle M can move include, for example, areas where the vehicle M can drive or park. Areas where the vehicle M can move include, for example, lanes. Sidewalks, for example, are excluded from these areas. Road structure refers to the shape of the road, objects located on the road, road signs, and road markings. The recognition unit 110 may determine the areas where the vehicle M can move based on, for example, information indicating the boundary between lanes and sidewalks, such as lanes or road signs. Alternatively, the recognition unit 110 may determine the areas where the vehicle M can move based on a learned model or a predetermined algorithm. A learned model is a model that, when inputted into an image, outputs information indicating lanes, sidewalks, and the boundary between lanes and sidewalks. An algorithm, for example, is semantic segmentation. The recognition unit 110 may also use semantic segmentation technology to classify and label each pixel within an image frame by type (lane, sidewalk, boundary, obstacle, etc.), and identify the areas where the vehicle M can move based on the assigned labels. The driving support device 100 may also utilize high-precision map information including road structure information to identify the road structure at the location of the object, instead of (or in addition to) the detection information from the object recognition device 16. For example, the driving support device 100 may pre-store high-precision map information in its storage unit, and the driving support device 100 may refer to the high-precision map information to identify the location of the vehicle M or the road structure surrounding the location of the vehicle M. For example, the driving support device 100 may determine the movable area based on information such as the location of the lane corresponding to the location of the vehicle M, the type of lane, and the location of the lane or sidewalk, as included in the map information.

[0057] The driver recognition unit 120 obtains direction information indicating the user's gaze direction based on the image of the user's face captured by the driver monitoring camera 60. The driver recognition unit 120 may also recognize direction information based on the orientation of the face, or based on a predetermined facial part or line of sight. The driver recognition unit 120 obtains direction information using a known method. In the first embodiment, the driver recognition unit 120 may be omitted.

[0058] The processing unit 130 determines whether or not a traffic participant who is the target of reporting to the occupant exists around the vehicle M. Details of this processing will be described later.

[0059] The driving support unit 140 performs driving support for the vehicle M based on the result of the processing by the processing unit 130 . The driving support unit 140 reports the result of the processing by the processing unit 130 to the occupant.

[0060] [Handling when there are traffic participants within the reporting area and within the area where they can move]

[0061] When a traffic participant exists within the notification area and in the movable area, the driving support unit 140 notifies the occupant (eg, the driver) of the presence of the traffic participant. Figure 3 1 is a diagram showing an example of a scene in which a bicycle exists around a vehicle M. The processing unit 130 sets a notification area AR1 around the vehicle M. The notification area AR1 is an area set based on the speed of the vehicle M and the direction in which the vehicle M is traveling, for example. Figure 3 In the example of , the rear of the vehicle M is excluded from the notification area AR1. Figure 3 In the example of FIG, the notification area AR1 is set within the lane, so the entire notification area is an area where the vehicle can move. When a bicycle B exists in the notification area AR1, the driving support unit 140 notifies the passenger of the presence of the bicycle B (see FIG. Figure 4 ).

[0062] Figure 4 1 is a diagram showing an example of a report displayed on the display unit. Figure 4As shown, the display unit (HMI 30) displays an image including an item indicating "Beware of Bicycles" and an item indicating the position of bicycles relative to vehicle M, and the HMI 30 outputs an audible warning to notify traffic participants of their presence. This notification may be a combination of one or more of an image-based notification, an audio-based notification, and a vibration-based notification (e.g., a notification that causes the seat belt to vibrate). For example, if a pedestrian is on the sidewalk, the driving support unit 140 may display an item on the display that includes text such as "Beware of Pedestrians" and a schematic diagram of the road structure (e.g., a diagram showing the shape of the road, the shape of the sidewalk, the vehicle M, and the positional relationship between the road and the sidewalk) indicating the location of the pedestrian to be aware of.

[0063] As described above, the driving support unit 140 makes a notification when a traffic participant exists in the notification area and in the movable area, thereby being able to notify the occupants of the presence of the traffic participant.

[0064] In the above example, driving support unit 140 reports when the current location of the traffic participant is within the notification area and is within the area where the vehicle can move. Alternatively, or in lieu of this, driving support unit 140 may report when the future location of the traffic participant is within the notification area and is within the area where the vehicle can move. In this case, processing unit 130 obtains the future location of the traffic participant and determines whether the future location is within the notification area and is within the area where the vehicle can move. The future location refers to a location after a predetermined time. In the following description, the future location may be used as a determination target in addition to (or in lieu of) the current location.

[0065] [Handling when there are traffic participants within the reporting area but outside the area where they can move]

[0066] The driving support unit 140 restricts reporting when a traffic participant is within the reporting area and outside the movable area. Restriction means, for example, not making a report or reducing the intensity of the report. Reducing the intensity of the report means, for example, reducing the intensity of the report compared to the intensity of the report when a traffic participant is within the reporting area and within the movable area. Reducing the intensity may also mean reducing the intensity of the report sound compared to a baseline. Furthermore, reducing the intensity may also mean not displaying the report screen. For example, the display unit may display the report screen without reducing the intensity, while the display unit may display the report screen with reducing the intensity.

[0067] Figure 5is a diagram showing an example of a scene in which a pedestrian exists around the vehicle M. The processing unit 130 sets the notification area AR1 around the vehicle M. Figure 5 In this example, the notification area AR1 includes notification area AR1-1, notification area AR1-2, and notification area AR1-3. Notification area AR1-1 is a mobile area, while notification areas AR1-2 and AR1-3 are outside the mobile area. Notification areas AR1-2 and AR1-3 are, for example, areas on the sidewalk. Driving support unit 140 restricts notification if a pedestrian is present in notification area AR1-2.

[0068] As described above, the driving support unit 140 restricts notification when a traffic participant is within the notification area and outside the movable area, thereby enabling appropriate notification to the occupants. For example, unnecessary notification is suppressed, which is convenient for the occupants.

[0069] [Flowchart (Part 1)]

[0070] Figure 6 This is a flowchart illustrating an example of the process flow executed by the driving support device 100. First, the recognition unit 110 recognizes the road structure around the vehicle M obtained from an image (step S100). Next, the recognition unit 110 determines a movable area based on the recognized road structure (step S110).

[0071] Next, the processing unit 130 sets the notification area (step S120). Next, the processing unit 130 determines the first area ( Figure 5 AR1-1) (step S130).

[0072] Next, the processing unit 130 determines whether there are any road users in the first area (step S140). If there are no road users in the first area, the process proceeds to step S160. If there are any road users in the first area, the driving support unit 140 issues a notification to the occupants notifying them of their presence (step S150).

[0073] As described above, when a road user exists in the first area, the driving support unit 140 issues a notification so that the occupant can pay attention to the road user, thereby making it possible to provide appropriate notification to the occupant.

[0074] Next, the processing unit 130 uses the processing of steps S100 to S120 to determine a second area ( Figure 5 AR1-2, AR1-3) (step S160).

[0075] Next, the processing unit 130 determines whether a road user is present in the second area (step S170). If no road users are present in the second area, the processing unit 130 does not issue a notification (step S180). If a road user is present in the second area, the driving support unit 140 limits the notification used to inform the occupant of the road user's presence (step S190). This notification is, for example, a less intense notification than that issued when a road user is present in the first area. This concludes the processing of one routine in this flowchart.

[0076] In the above-mentioned process, when a traffic participant exists in the second area, the driving support unit 140 may not make a report.

[0077] As described above, driving support unit 140 can appropriately control notifications when a road user is in the second area. For example, the second area is not a movable area, and the occupant's attention may be less important than in the first area. Therefore, by suppressing notifications when a road user is in the second area, driving support unit 140 can appropriately control notifications.

[0078] According to the first embodiment described above, the driving support device 100 can appropriately inform the occupant when a traffic participant exists in one or both of the first area and the second area.

[0079] <Second embodiment>

[0080] The following describes a second embodiment. In the second embodiment, when a traffic participant is present in a second area, the driving support device 100A refers to the risk information regarding the location of the traffic participant and makes a report. For example, if the target location, which is the current or future location of the traffic participant, is included in the report area and is outside the movable area, the driving support device 100A refers to the corresponding information. If the target location matches the corresponding information, the driving support device 100A makes a report using the risk information intensity associated with the corresponding information location. The following description focuses on the differences from the first embodiment.

[0081] Figure 7 This figure shows an example of the configuration of a driving support device 100A including correspondence information 150. In the second embodiment, the driving support device 100A includes a storage unit ST, and the correspondence information 150 is stored in the storage unit ST. The storage unit ST is implemented, for example, by ROM (Read Only Memory), flash memory, SD card, RAM (Random Access Memory), HDD (Hard Disk Drive), registers, and the like.

[0082] Correspondence information 150 stores information about high-risk locations where a traffic participant enters a vehicle M's movable area from outside the vehicle's movable area, along with information about the degree of risk. Correspondence information 150, for example, is information that associates locations with risk information. Risk information, for example, indicates the degree of risk. Correspondence information 150, for example, associates risk information with locations outside the movable area.

[0083] Correspondence information 150 may also be associated with road structural features instead of locations. Road structural features include, for example, sidewalk width, a combination of sidewalk and lane widths, and information indicating the structure of the boundary between lanes and sidewalks (e.g., the presence of curbs, steps, etc.). In this case, processing unit 130 acquires risk information corresponding to the road structural features identified by recognition unit 110.

[0084] High-risk locations refer to areas with a high risk (high probability) of traffic participants entering a lane, for example. High-risk locations can also refer to areas where past statistical data indicates a tendency for traffic participants to enter a lane. High-risk areas can also refer to areas where there are no steps, fences, or guardrails at the boundary between the lane and the sidewalk, making it easy for traffic participants to enter the lane.

[0085] The driving support device 100A refers to the corresponding information 150 and makes a report. Figure 8 This is a flowchart showing an example of the process flow executed by the driving support device 100A. The processes of steps S100 to S170 in this flowchart are similar to those in FIG. Figure 6 The processing of steps S100-S170 is the same as Figure 6 The description will focus on the differences in the processing of the flowchart.

[0086] The processing unit 130 determines a second area ( Figure 5 AR1-2, AR1-3) (step S160). Next, the processing unit 130 determines whether there are any transit participants in the second area (step S170). If there are no transit participants in the second area, the processing unit 130 does not make a report (step S180).

[0087] If there is a traffic participant in the second area, the processing unit 130 refers to the correspondence information 150 (step S172 ) and determines whether the second area where the traffic participant exists is a risk area associated with risk information in the correspondence information 150 (step S174 ).

[0088] If the area is not a risk area associated with the risk information, the process proceeds to step S180. That is, no report is issued. If the area is not a risk area associated with the risk information, the driving support unit 140 may issue a report to the occupant notifying them of the presence of a traffic participant in the second area (with a report at a reduced intensity compared to the intensity based on the risk information). This report may be, for example, weaker than the report in step S176, described later.

[0089] If the risk area is associated with the risk information, the driving support unit 140 issues a report corresponding to the risk associated with the second area in the association information 150 (a report based on the intensity of the risk information) (step S176 ). This completes the processing of one routine in this flowchart.

[0090] According to the second embodiment described above, the driving support device 100A can make a notification corresponding to the risk information of the second area when a traffic participant is present in the second area, and thus can make an appropriate notification to the occupant.

[0091] <Third embodiment>

[0092] The third embodiment will be described below. In the third embodiment, the driving support device 100 takes the direction of the occupant's line of sight into consideration when reporting. The following description will focus on the differences from the first embodiment.

[0093] Figure 9 This is a flowchart showing an example of the flow of processing executed by the driving support device 100 . Figure 9 The processing of steps S100 to S140 and steps S160 to S190 is the same as Figure 6 The processing of the same step number in the flowchart is the same, so the description is omitted.

[0094] If it is determined in step S140 that a road user is present in the first area, the processing unit 130 determines whether the passenger (e.g., the driver) is looking in the direction of the road user (step S152). If the passenger is looking in the direction of the road user, the driving support unit 140 issues a notification of a first intensity (step S154). If the passenger is not looking in the direction of the road user, the driving support unit 140 issues a notification of a second intensity (step S156). The second intensity notification is stronger than the first intensity notification.

[0095] According to the third embodiment described above, the driving support device 100 can provide an appropriate notification to the occupant based on whether the occupant's line of sight is directed toward a traffic participant.

[0096] <Fourth embodiment>

[0097] The fourth embodiment will be described below. In the fourth embodiment, the driving support device 100A reports the presence of a traffic participant in the second area, taking into account the direction of the occupant's line of sight. The following description will focus on the differences from the second embodiment.

[0098] Figure 10 This is a flowchart showing an example of the process flow executed by the driving support device 100A. The process from step S100 to step S174 is the same as Figure 8 The processing of the same step number in the flowchart is the same, so the description is omitted.

[0099] If the area is not a risk area associated with the risk information in step S174, the process proceeds to step S180. If the area is not a risk area associated with the risk information, the driving support unit 140 may notify the occupant of the presence of a road user in the second area (using a report with a reduced intensity compared to the intensity based on the risk information). If the area is a risk area associated with the risk information, the processing unit 130 determines whether the occupant's line of sight is in the direction of the road user (step S175A).

[0100] If the occupant's gaze is directed toward a road user, driving support unit 140 issues a first report (step S175B). If the occupant's gaze is not directed toward a road user, driving support unit 140 issues a second report (step S175C). The first report is weaker than the second report. This concludes the processing of one routine in this flowchart.

[0101] According to the fourth embodiment described above, the driving support device 100A issues a notification according to the direction of the occupant's line of sight when the second area where the traffic participants are present is a risk area. Therefore, it is possible to issue an appropriate notification to the occupant.

[0102] According to the embodiment described above, the driving support device 100 can make appropriate notifications to the occupant based on the notification area, the movable area, and the position of the traffic participant.

[0103] The above-described embodiment can be expressed as follows.

[0104] An information processing device comprising:

[0105] a storage medium storing computer-readable instructions; and

[0106] a processor connected to the storage medium,

[0107] The processor executes the computer-readable instructions to:

[0108] identifying, based on a road structure surrounding the moving body, an area in which the moving body can move and a focus position, the focus position being a current position or a future position of a traffic participant existing around the moving body; and

[0109] When the focus position is included in a notification area pre-set around the mobile body and is within the movable area, the presence of the traffic participant is notified to an occupant of the mobile body using a notification unit;

[0110] When the attention point is included in the notification area and outside the movable area, the notification is restricted.

[0111] While specific embodiments of the present invention have been described above, the present invention is not limited to these embodiments at all, and various modifications and substitutions can be made without departing from the spirit of the present invention.

[0112] Description of Reference Numerals

[0113] 10. Camera

[0114] 100 Driving support device

[0115] 110 Identification Department

[0116] 130 Processing Department

[0117] 140 Driving Support Unit.

Claims

1. An information processing device, wherein: The information processing device comprises: an identification unit that identifies, based on a road structure around the moving body, an area in which the moving body can move and a focus position, the focus position being a current position or a future position of a traffic participant existing around the moving body; and a control unit that, when the focus position is included in a notification area pre-set around the mobile body and is within the movable area, uses a notification unit to notify an occupant of the mobile body of the presence of the traffic participant; The control unit restricts the notification when the attention point is included in the notification area and outside the movable area.

2. The information processing device according to claim 1, wherein The restriction means not performing the report or performing a report with a weakened intensity.

3. The information processing device according to claim 1, wherein The information that the traffic participant has entered a high-risk location within the movable area from outside the movable area of ​​the moving body is stored in a storage unit together with information on the level of risk. When the focus position is included in a reporting area pre-set around the mobile body and is outside the movable area, the control unit reports with an intensity corresponding to the risk level of the high-risk position when the focus position coincides with the high-risk position stored in the storage unit.

4. The information processing device according to claim 3, wherein: The control unit issues a notification with a higher intensity when the target position is the high-risk position compared to when the target position is the low-risk position. The information processing device according to claim 1 , wherein: The information processing device includes a sight line acquisition unit that acquires the direction of the sight line of the driver of the mobile object. The control unit makes a stronger report when the focus position is included in a reporting area pre-set around the moving body, is within the movable area, and the line of sight is not directed toward the traffic participant, compared with a case where the focus position is included in a reporting area pre-set around the moving body, is within the movable area, and the line of sight is directed toward the traffic participant. The information processing apparatus according to claim 1 , wherein: The information processing device includes a sight line acquisition unit that acquires the direction of the sight line of the driver of the mobile object. The control unit makes a stronger report when the focus position is included in a reporting area pre-set around the moving body, is outside the movable area, and the line of sight is not directed toward the traffic participant, compared with a case where the focus position is included in a reporting area pre-set around the moving body, is outside the movable area, and the line of sight is directed toward the traffic participant.

7. The information processing apparatus according to claim 1, wherein: The information that the traffic participant has entered a high-risk location within the movable area from outside the movable area of ​​the moving body is stored in a storage unit together with information on the level of risk. When the focus position is included in a notification area pre-set around the mobile object and is outside the movable area, When the focus position matches the high-risk position stored in the storage unit, the control unit issues a report with an intensity corresponding to the risk level of the high-risk position. When the target position does not match the high-risk position stored in the storage unit, the control unit reports the result with an intensity obtained by suppressing the intensity from an intensity corresponding to the level of risk, or does not report the result.

8. The information processing apparatus according to claim 7, wherein: The information processing device includes a sight line acquisition unit that acquires the direction of the sight line of the driver of the mobile object. When the focus position is included in the notification area pre-set around the moving object and is outside the movable area, and the focus position coincides with the high-risk position, and the line of sight is directed toward the traffic participant, the control unit performs a notification of the first intensity. When the focus position is included in the reporting area pre-set around the moving body and is outside the movable area, and the focus position coincides with the high-risk position, and the line of sight is not directed towards the traffic participant, the control unit performs a report of a second intensity that is stronger than the report of the first intensity.

9. An information processing method, wherein: The information processing method causes a computer to perform the following processing: identifying, based on a road structure surrounding the moving body, an area in which the moving body can move and a focus position, the focus position being a current position or a future position of a traffic participant existing around the moving body; as well as When the focus position is included in a notification area pre-set around the mobile body and is within the movable area, the presence of the traffic participant is notified to an occupant of the mobile body using a notification unit; When the attention point is included in the notification area and outside the movable area, the notification is restricted.

10. A program, wherein The program causes the computer to execute the following processing: identifying, based on a road structure surrounding the moving body, an area in which the moving body can move and a focus position, the focus position being a current position or a future position of a traffic participant existing around the moving body; as well as When the focus position is included in a notification area pre-set around the mobile body and is within the movable area, the presence of the traffic participant is notified to an occupant of the mobile body using a notification unit; When the attention point is included in the notification area and outside the movable area, the notification is restricted.

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