Control device, control method, and control program

Abstract

The invention provides a control device, a control method and a control program. A control device (100) is provided with: an acquisition unit (101) configured so as to acquire data indicating the positions of a plurality of moving bodies (600) present in the real world; and a display control unit (103) configured so as to cause a display device (200) to display a presence range (30), which is a range in which each of the moving bodies (600) is estimated to be present, in a virtual space constructed on the basis of the data acquired by the acquisition unit (101) and in which the positions of the plurality of moving bodies (600) are reproduced.

Description

Technical Field

[0001] The disclosure relates to control devices, control methods, and control procedures for systems that reproduce real-world traffic environments in virtual space. Background Technology

[0002] Digital twins are technologies that reproduce an environment identical to the real world in virtual space. Patent Document 1 discloses a system for creating a traffic digital twin that reproduces a real-world traffic environment in virtual space.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2020-013557

[0004] When you want to reproduce the positions of various moving objects in the real world in a virtual space, it may not be possible to uniquely determine the position of each moving object as a single point in the virtual space. Summary of the Invention

[0005] In view of this problem, the purpose of this disclosure is to enable users to easily identify the position of each moving object, or to properly control the vehicle, even when the position of each moving object reproduced in virtual space cannot be uniquely determined as a single point.

[0006] One aspect of the control device disclosed herein includes: an acquisition unit configured to acquire data representing the positions of a plurality of mobile objects existing in the real world. The control device also includes: a display control unit configured to display a virtual space presumably containing the range, i.e., the existence range, of each of the aforementioned mobile objects, constructed based on the data acquired by the acquisition unit, thus reproducing the positions of the plurality of mobile objects.

[0007] One aspect of the control method disclosed herein includes the step of an acquisition unit acquiring data representing the positions of multiple moving objects existing in the real world. The control method also includes the step of a display control unit causing a display device to display a virtual space presumably containing the range, or existence range, of each of the moving objects, wherein the virtual space is constructed based on the data acquired by the acquisition unit and reproduces the positions of the multiple moving objects.

[0008] One aspect of the control program disclosed herein causes an acquisition unit to acquire data representing the positions of multiple moving objects existing in the real world. This control program causes a display control unit to cause a display device to display the presumed range, or existence range, of each of the aforementioned moving objects in a virtual space, wherein the virtual space is constructed based on the data acquired by the acquisition unit and reproduces the positions of the multiple moving objects.

[0009] One aspect of the control device disclosed herein includes: an acquisition unit configured to acquire data representing the positions of multiple mobile objects existing in the real world; a calculation unit configured to calculate the range, or existence range, in a virtual space presumed to be the location of each of the mobile objects, wherein the virtual space is constructed based on the data acquired by the acquisition unit and reproduces the positions of the multiple mobile objects; and a control unit configured to control a vehicle existing in the real world based on the existence range calculated by the calculation unit. Attached Figure Description

[0010] Figure 1 This is a schematic diagram representing a traffic digital twin system.

[0011] Figure 2 It means Figure 1 A schematic diagram of the control device.

[0012] Figure 3 It means Figure 1 A schematic diagram of the vehicle's onboard equipment.

[0013] Figure 4 This is a flowchart illustrating the process of a series of processes involved in constructing a traffic digital twin, executed by the processing unit in the control device of the first embodiment.

[0014] Figure 5 This diagram illustrates the display mode of a traffic digital twin displayed on a display device by a control device according to the first embodiment.

[0015] Figure 6 This is a diagram illustrating the first existence range of the moving body calculated by the processing device of the first embodiment.

[0016] Figure 7 This is a diagram illustrating the second existence range of the moving body calculated by the processing device of the first embodiment.

[0017] Figure 8 This is a schematic diagram showing the third existence range of the moving body that the processing device of the first embodiment can calculate.

[0018] Figure 9 This is a schematic diagram showing the fourth existence range of the moving body that the processing device of the first embodiment can calculate.

[0019] Figure 10 This is a schematic diagram showing the expansion of the first area of ​​existence due to the passage of time.

[0020] Figure 11 This is a schematic diagram showing the expanded second extent of existence due to the passage of time.

[0021] Figure 12 This is a flowchart illustrating a series of processes performed by the processing device in order to control the vehicle in the second embodiment.

[0022] Figure 13 This is a schematic diagram illustrating the state in the second embodiment where the range of the controlled object's vehicle overlaps with the range of other moving bodies.

[0023] Figure 14 This is a schematic diagram illustrating the difference in the size of the range of the controlled vehicle in the second embodiment.

[0024] Figure 15 This is a flowchart illustrating a series of processes performed by the processing device for vehicle control in a modified example of the second embodiment.

[0025] Figure 16 This is a schematic diagram illustrating a variation of the second embodiment, showing a range of states with different probabilities for each vehicle.

[0026] Figure 17 This is a flowchart illustrating a series of processes performed by the processing device for vehicle control in another variation of the second embodiment.

[0027] Figure 18 It is a schematic diagram representing a state in which the center of the range of the controlled object's vehicle is farther from the range of other moving bodies than a specified middle distance, but within a specified far distance.

[0028] Figure 19 It is a schematic diagram representing a state in which the center of the range of the controlled object's vehicle is farther from the range of other moving bodies than a specified near distance, but within a specified medium distance.

[0029] Figure 20 It is a schematic diagram showing the state in which the center of the range of the controlled object's vehicle is within a specified short distance from the range of other moving objects. Detailed Implementation

[0030] (First Implementation)

[0031] The following is for reference Figures 1 to 11 A first implementation of a traffic digital twin system 10, which is a traffic digital twin constructed in virtual space that reproduces the traffic environment of the real world, will be described.

[0032] <Overview of the Transportation Digital Twin System 10>

[0033] like Figure 1As shown, the traffic digital twin system 10 includes a control device 100, a display 200 as a display device, and an external communication network 300.

[0034] The control device 100 includes a storage device 120 for storing a program and a processing device 110 for executing the program stored in the storage device 120. The processing device 110 is a processing circuit that includes one or more processors. The processing circuit may also include one or more dedicated hardware circuits, such as an application-specific integrated circuit (ASIC), that performs at least a portion of various processes. Alternatively, the processing circuit may include a combination of one or more processors and one or more dedicated hardware circuits. The storage device 120 includes memories such as RAM and ROM. Memory, or computer-readable medium, includes all usable media accessible by a general-purpose or special-purpose computer. The control device 100 includes a communication device 130. The control device 100 is connected to an external communication network 300 via the communication device 130.

[0035] The display 200 is connected to the control device 100. The control device 100 is able to display information on the display 200. The control device 100 displays an image of the traffic digital twin 20 constructed in virtual space on the display 200.

[0036] The traffic digital twin system 10 is equipped with sensors that acquire information about multiple moving objects 600 in the real world in order to reproduce the positions and behaviors of multiple moving objects 600 in the real world in the traffic digital twin 20. The multiple moving objects 600 are objects that move in the real world.

[0037] The multiple mobile bodies 600 include multiple vehicles 400. Each vehicle 400 is equipped with multiple on-board sensors 420. Specific examples of the on-board sensors 420 will be described later. The vehicles 400 exchange information with the control unit 100 via an external communication network 300. For example, the vehicles 400 can send information collected by the multiple on-board sensors 420 to the control unit 100. The vehicles 400 can receive information related to the traffic digital twin 20 from the control unit 100.

[0038] It is also possible to include a vehicle 400 among multiple vehicles 400 that does not send information collected by the on-board sensor 420 to the control device 100.

[0039] It is also possible to include vehicles 400 that provide information collected by onboard sensors 420 to the control unit 100, but do not receive information related to the traffic digital twin 20 from the control unit 100.

[0040] It is also possible to include vehicles 400 among multiple vehicles 400 that neither provide information to the control unit 100 nor receive information related to the traffic digital twin 20 from the control unit 100.

[0041] The moving body 600 contains multiple pedestrians 520. Figure 1 The information terminal 700 shown is, for example, a smartphone held by a pedestrian 520. The information terminal 700 is, for example, a smartphone held by a passenger in a vehicle 400.

[0042] Figure 1 The road sensor 800 shown is a combination of multiple sensors installed on the road. For example, the road sensor 800 includes multiple road cameras 810 and multiple traffic lights 820.

[0043] The information terminal 700 and the on-road sensor 800 collect multiple data points representing the position and behavior of multiple moving bodies 600 at multiple times.

[0044] Processing device 110 periodically receives data representing the position and behavior of multiple moving bodies 600 from multiple vehicles 400, multiple information terminals 700, and multiple road sensors 800, and associates this data with the time when each data is received. The times at which processing device 110 receives each data may also be different. Processing device 110 associates the received data representing the position and behavior of the multiple moving bodies 600 with the time when each data is received and stores it in storage device 120.

[0045] <Data stored in storage device 120>

[0046] The data representing the position and behavior of the moving body 600, received by the processing device 110 and stored in the storage device 120, will be described. The data received by the processing device 110 and stored in the storage device 120 includes, for example, vehicle information such as the vehicle 400's VIN (Vehicle Identification Number), vehicle speed, direction of travel, trajectory information, and position information. The trajectory information represents the travel path of the vehicle 400.

[0047] The data received by the processing device 110 and stored in the storage device 120 includes data indicating the position and behavior of mobile bodies 600 other than the vehicle 400. This data indicating the position and behavior of mobile bodies 600 other than the vehicle 400 may include, for example, data indicating the position and behavior of pedestrians 520 and bicycles.

[0048] The road sensor 800 collects information on changes in the status of traffic infrastructure surrounding it. This information includes, for example, changes in the status of traffic lights 820. Specifically, this includes the timing of when the traffic light 820 switches to green and the number of seconds it remains green.

[0049] The road sensor 800 identifies vehicles 400 in the vicinity of the road sensor 800. For example, the road sensor 800 sends information about vehicles 400 reflected in images captured by the road camera 810 to the processing unit 110.

[0050] like Figure 2 As shown, the control device 100 includes an acquisition unit 101, a calculation unit 102, a display control unit 103, and a control unit 104. The acquisition unit 101 acquires data representing the positions and behaviors of multiple mobile objects 600 existing in the real world. The calculation unit 102 calculates the presence range 30 of each mobile object 600 based on the data acquired by the acquisition unit 101. The display control unit 103 displays the presence range 30 of each mobile object 600 on a display device such as a display 200. The control unit 104 controls a vehicle 400 existing in the real world based on the presence range 30 of each mobile object 600.

[0051] In this embodiment, the communication device 130 corresponds to the acquisition unit 101. The processing device 110 corresponds to the calculation unit 102, the display control unit 103, and the control unit 104.

[0052] <Composition of Vehicle 400>

[0053] like Figure 3 As shown, vehicle 400 includes an onboard communication device 410. Vehicle 400 includes multiple onboard sensors 420. Vehicle 400 includes a vehicle speed sensor 421, an accelerometer sensor 422, a brake sensor 423, and an acceleration sensor 424 as onboard sensors 420. In addition, vehicle 400 includes a sonar 425, a location information acquisition system 426, a steering sensor 427, and an external camera 428 as onboard sensors 420. Furthermore, vehicle 400 includes a braking system 430, a steering system 432, turn signals 433, a display 434, and a speaker 435. Figure 3 As shown, the aforementioned devices in vehicle 400 are interconnected via vehicle network 440.

[0054] Vehicle 400 can send information to control device 100 via onboard communication device 410 and external communication network 300. For example, vehicle 400 can send the location information of vehicle 400 obtained by location information acquisition system 426 to control device 100.

[0055] Accelerometer 424 is, for example, an IMU (Inertial Measurement Unit).

[0056] The sonar 425 mounted on the vehicle 400 is capable of collecting distance information to one or more other moving objects 600 located around the vehicle 400. The vehicle 400 may also be equipped with LiDAR (Light Detection and Range) as a sensor that collects distance information to one or more other moving objects 600 located around it, similar to the sonar 425.

[0057] The location information acquisition system 426 is not limited to a specific system. It can use GNSS (Global Navigation Satellite System), RTK (Real-Time Kinematic), LiDAR, etc., as the location information acquisition system 426.

[0058] The display 434 mounted on the vehicle 400 functions as a display device. The processing unit 110 enables the display 434 to display an image of the traffic digital twin 20 constructed in virtual space.

[0059] <Control Method for Control Device 100 for Constructing a Traffic Digital Twin 20>

[0060] Next, the method for constructing the traffic digital twin 20 executed by the control device 100 of the first embodiment will be described.

[0061] Figure 4 This is a flowchart illustrating the series of processes involved in constructing the traffic digital twin 20 executed by the processing device 110. The storage device 120 of the control device 100 stores a control program that causes the processing device 110 to execute this series of processes. The processing device 110 repeatedly executes the control program stored in the storage device 120. Figure 4 The process shown involves updating the traffic digital twin 20. The traffic digital twin 20 is updated every few seconds via the processing device 110.

[0062] like Figure 4As shown, if this series of processes begins, the processing device 110 first acquires data via the communication device 130 in step S100, in a manner that establishes a correlation with the acquisition of multiple data representing the positions and behaviors of multiple mobile bodies 600 existing in the real world. For example, multiple data representing the positions and behaviors of multiple mobile bodies 600 existing in the real world are collected by vehicle-mounted sensors 420 of multiple vehicles 400. The processing device 110 acquires this data at predetermined intervals. The data acquired by the processing device 110 is stored in the storage device 120. After the processing device 110 acquires the multiple data representing the positions and behaviors of the multiple mobile bodies 600, the process proceeds to step S110.

[0063] In step S110, the processing device 110 calculates the presence range 30 of the moving body 600 based on the data stored in the storage device 120. The presence range 30 will be explained in detail later. After the processing device 110 calculates the presence range 30 of the moving body 600, the process proceeds to step S120.

[0064] In step S120, the processing device 110 constructs a traffic digital twin 20 in virtual space based on multiple data representing the location and behavior of multiple mobile bodies 600. This traffic digital twin 20 includes information about the presence range 30 of the mobile bodies 600. After the processing device 110 completes the construction of the traffic digital twin 20, the process proceeds to step S130.

[0065] In step S130, the processing device 110 causes the display device to display the constructed traffic digital twin 20. If step S130 is completed, the processing device 110 temporarily terminates this series of processes. The processing device 110 may also choose not to construct a traffic digital twin 20 that includes information on the presence range 30 of all moving bodies 600. For example, the processing device 110 may construct the traffic digital twin 20 by excluding information on the presence range 30 where the probability of the presence of a moving body 600 is less than a predetermined value.

[0066] <The Existence Range 30 of the Mobile Body 600 on the Traffic Digital Twin 20>

[0067] Sometimes there is a discrepancy between the positions of multiple moving objects 600 in the real world and the positions of multiple moving objects 600 on the traffic digital twin 20 reproduced in virtual space.

[0068] Therefore, as Figure 5 As shown, in the traffic digital twin system 10 of the embodiment, the range on the traffic digital twin 20 that is presumed to be the existence range of each mobile body 600 is displayed as the existence range 30 of each mobile body 600.

[0069] exist Figure 5 The image shows vehicles 400_1, 400_2, 400_3, 400_4, 400_5, and pedestrian 520_1 as examples of multiple moving bodies 600.

[0070] exist Figure 5 The diagram shows existence ranges 30_1, 30_2, 30_3, 30_4, 30_5, and 30_6 as examples of existence ranges 30 for each moving body 600.

[0071] Existence range 30_1 is the existence range 30 of vehicle 400_1. Existence range 30_2 is the existence range 30 of vehicle 400_2. Existence range 30_3 is the existence range 30 of vehicle 400_3. Existence range 30_4 is the existence range 30 of vehicle 400_4. Existence range 30_5 is the existence range 30 of vehicle 400_5. Existence range 30_6 is the existence range 30 of pedestrian 520_1.

[0072] There are several ways to display a moving body 600 together with its presence range 30 on the traffic digital twin 20. For example, the presence range 30 is calculated and displayed based on the probability that the moving body 600 exists within the presence range 30 reaches a predetermined value. Figure 5 The existence ranges 30_1, 30_2, 30_3, 30_4, 30_5, and 30_6 shown are calculated based on the probability that each moving body 600 exists within each existence range 30 is 80%.

[0073] In the case where the existence range 30 is calculated and displayed in such a way that the probability of the presence of the moving body 600 within the existence range 30 reaches a predetermined value, the size of the existence range 30 varies depending on the measurement uncertainty contained in the multiple data acquired by the processing device 110.

[0074] For example, the location information of the moving body 600 acquired by the location information acquisition system 426 contains errors due to the precision of the location information measurement method. For example, the location information of the moving body 600 measured by GNSS contains an error of ten to twenty meters. The location information of the moving body 600 measured by RTK contains an error of a few centimeters. The presence range 30 calculated by the processing device 110 based on the data obtained by the measurement method with smaller error is smaller than the presence range 30 calculated by the processing device 110 based on the data obtained by the measurement method with larger error.

[0075] The speed of the vehicle 400 being measured affects the measurement uncertainty. The higher the speed of the vehicle 400, the larger the range presumed to be the presence of vehicle 400 at a given moment. That is, the higher the speed of the vehicle 400, the larger the range 30 of the presence of vehicle 400 at a given moment. When the deviation in the speed of the vehicle 400 is large, the range presumed to be the presence of vehicle 400 at a given moment will also increase. In other words, when the deviation in the speed of the vehicle 400 is large, the range 30 of the presence of vehicle 400 at a given moment will increase.

[0076] The parameters involved in changes to the state of the traffic infrastructure surrounding the vehicle 400 affect the uncertainty of the vehicle 400's range 30. These parameters include, for example, the timing of the traffic light 820 turning green and the number of seconds the traffic light 820 remains green. When the traffic light 820 turns green, the vehicle 400 begins to move. Therefore, when the traffic light 820 turns green, the range 30 of the vehicle 400 increases.

[0077] When multiple moving bodies 600 exist around the vehicle 400 being measured, the movement of these other moving bodies 600 around the vehicle 400 sometimes interferes with the movement of the vehicle 400 itself. Therefore, the processing device 110 expands the range 30 of the vehicle 400 being measured based on the number of other moving bodies 600 around it.

[0078] The processing device 110 uses sensors provided with the moving body 600 to calculate the presence range 30 of the moving body 600 itself, i.e., the first presence range 31. In addition, the processing device 110 uses sensors provided with the moving body 600 to calculate the presence range 30 of other moving bodies 600 in the vicinity, i.e., the second presence range 32. The method by which the processing device 110 calculates the first presence range 31 and the second presence range 32 will be described below.

[0079] <First Existence Scope 31>

[0080] When calculating the first existence range 31, the processing device 110 acquires multiple data points representing the position and behavior of the mobile body 600 from the mobile body 600 via the communication device 130, the external communication network 300, and the vehicle communication device 410. These data points are collected at multiple times by multiple sensors on the mobile body 600. The processing device 110 stores the multiple data points representing the position and behavior of the mobile body 600 in the storage device 120.

[0081] Reference Figure 6The method by which the processing device 110 calculates the first existence range 31 based on data collected by sensors on the vehicle 400 being measured will be described.

[0082] Data representing the position and behavior of the vehicle 400 being measured can include, for example, the following: The data representing the position and behavior of the vehicle 400 may include the speed of the vehicle 400 obtained from the vehicle speed sensor 421. The data representing the position and behavior of the vehicle 400 may include the acceleration of the vehicle 400 obtained from the acceleration sensor 424. The data representing the position and behavior of the vehicle 400 may include the steering angle of the vehicle 400 obtained from the steering sensor 427. The data representing the position and behavior of the vehicle 400 may include the position information of the vehicle 400 obtained from the position information acquisition system 426. The data representing the position and behavior of the vehicle 400 may include the speed and position information of the vehicle 400 collected by the information terminal 700 held by a passenger of the vehicle 400. The data representing the position and behavior of the vehicle 400 being measured can include information about the distance between the vehicle 400 and surrounding moving objects 600, obtained from the sonar 425 of the vehicle 400. The data representing the position and behavior of the vehicle 400 can also include images of the surroundings of the vehicle 400, obtained from the external camera 428 of the vehicle 400.

[0083] The processing device 110 calculates the presence range 30, or first presence range 31, of the vehicle 400 itself based on multiple data representing the position and behavior of the vehicle 400 being measured. The processing device 110 determines the presence range 30 of the vehicle 400 in the traffic digital twin 20 based on the first presence range 31. The processing device 110 reflects the determined presence range 30 in the traffic digital twin 20 constructed in virtual space. The processing device 110 causes the display device to display an image of the traffic digital twin 20 reflecting the presence range 30 of the vehicle 400 being measured.

[0084] <Second Existence Scope>

[0085] When calculating the second existence range 32, the processing device 110 obtains multiple data from the mobile body 600 via the communication device 130, which are collected at multiple times by multiple sensors of the mobile body 600, representing the position and behavior of other mobile bodies 600 located around the mobile body 600.

[0086] Figure 7 Vehicles 400_6 and 400_7 are shown as examples of moving body 600. Figure 7 An example is shown where the processing device 110 acquires data representing the position and behavior of the vehicle 400_7 via sensors on the vehicle 400_6, and calculates a second presence range 32 for the vehicle 400_7.

[0087] The processing device 110 is capable of acquiring multiple data points representing the position and behavior of the vehicle 400-7 from the vehicle 400-6. For example, the data that the processing device 110 can acquire includes the distance between the vehicle 400-7 and the vehicle 400-6, collected by the sonar 425 mounted on the vehicle 400-6. Figure 7 The detection range 425_1 shown is the range within which the sonar 425 of the vehicle 400_6 can detect a moving object 600.

[0088] The processing device 110 is capable of acquiring data representing the position and behavior of vehicle 400-7 based on data about the distance between vehicle 400-7 and vehicle 400-6 obtained from vehicle 400-6, and data representing the position and behavior of vehicle 400-6. The processing device 110 calculates a second presence range 32 of vehicle 400-7 based on the acquired data representing the position and behavior of vehicle 400-7. The processing device 110 determines the presence range 30 of vehicle 400-7 in the traffic digital twin 20 based on the second presence range 32. The processing device 110 causes the determined presence range 30 to be reflected in the traffic digital twin 20 constructed in virtual space. The processing device 110 causes the display device to display an image of the traffic digital twin 20 reflecting the presence range 30 of vehicle 400-7.

[0089] In this way, the processing device 110 can also calculate the presence range 30 of the vehicle 400-7 based on the data obtained from the vehicle 400-6. That is, the control device 100 can calculate the presence range 30 of the moving body 600 based on the data provided by the moving bodies around the moving body 600, which have never provided the control device 100 with data indicating the position and behavior.

[0090] The location and behavior data of vehicle 400-7 acquired by processing device 110 are collected by on-board sensors 420 of vehicle 400-6. Therefore, the second existence range 32 is affected not only by the measurement uncertainty caused by the on-board sensors 420 of vehicle 400-6, but also by the reliability of the location and behavior of vehicle 400-6 known to processing device 110.

[0091] <Calculations performed by the processing device 110 on the existence range 30 based on both the first existence range 31 and the second existence range 32>

[0092] The processing device 110 is capable of using the range based on both the first existence range 31 and the second existence range 32 as the existence range 30 of the moving body 600. That is, the processing device 110 calculates the first existence range 31 of the moving body 600 based on multiple data collected by multiple sensors of the moving body 600, representing the position and behavior of the moving body 600 itself. The processing device 110 calculates the second existence range 32 of the moving body 600 based on multiple data collected by multiple sensors of other moving bodies around the moving body 600, representing the position and behavior of the moving body 600. The processing device 110 uses the range based on both the calculated first existence range 31 and the second existence range 32 of the moving body 600 as the existence range 30 of the moving body 600. Two examples of methods for calculating the existence range 30 based on both the first existence range 31 and the second existence range 32 can be cited below.

[0093] like Figure 8 As shown, the processing device 110 can set the third existence range 33, which is the range after the first existence range 31 and the second existence range 32 are merged, as the existence range 30 of the moving body 600.

[0094] like Figure 9 As shown, the processing device 110 can set the fourth existence range 34, which is the range overlapping the first existence range 31 and the second existence range 32, as the existence range 30 of the moving body 600.

[0095] <Expansion of the first existence range 31 corresponding to the passage of time>

[0096] Taking the first existence range 31 as an example, the expansion of the existence range 30 will be explained. The processing device 110 periodically acquires data via the communication device 130. Based on the periodically acquired data, the processing device 110 periodically calculates the first existence range 31. However, during the period from when the processing device 110 calculates the first existence range 31 until the next calculation of the first existence range 31 is completed and updated, the mobile body 600 may move in the real world. During the period up to when the data is acquired, the processing device 110 cannot grasp the behavior of the mobile body 600. Therefore, the first existence range 31 calculated by the processing device 110 becomes increasingly uncertain as time goes by.

[0097] Therefore, during the period from the calculation of the first existence range 31 until the next calculation of the first existence range 31 ends and the first existence range 31 is updated, the processing device 110 expands the size of the first existence range 31 displayed on the display device as time passes from the calculation of the first existence range 31.

[0098] Figure 10This diagram illustrates the expansion of the first existence range 31, using the calculation of the first existence range 31 of vehicle 400_8 as an example. Figure 10 In the attached figure, the reference numerals for the first existence range 31 are marked "_N_M". "N" is a number indicating an increase in the number of calculations for the first existence range 31. "M" is a number indicating an increase in the number of expansions of the first existence range 31.

[0099] like Figure 10 As shown, after receiving data representing the position and behavior of vehicle 400_8, processing device 110 calculates a first presence range 31_1_1 as the presence range 30 of vehicle 400_8. Processing device 110 causes display device to display an image of traffic digital twin 20 reflecting the first presence range 31_1_1 of vehicle 400_8.

[0100] Subsequently, after a predetermined time has elapsed, the processing device 110 displays the area where the vehicle 400_8 is presumed to exist as a first existence range 31_1_2 on the display device. The first existence range 31_1_2 is an expanded existence range 30 compared to the first existence range 31_1_1.

[0101] If a predetermined time has elapsed, the processing device 110 displays the area where the vehicle 400_8 is presumed to exist as a first existence range 31_1_3 on the display device. The first existence range 31_1_3 is an expanded existence range 30 compared to the first existence range 31_1_2.

[0102] When the calculation of the presence range 30 of vehicle 400_8 is completed at the next calculation time, the processing device 110 updates the presence range 30 of vehicle 400_8. That is, after receiving data representing the position and behavior of vehicle 400_8, the processing device 110 calculates a first presence range 31_2_1 as the presence range 30 of vehicle 400_8. The processing device 110 causes the display device to display a traffic digital twin 20 reflecting the first presence range 31_2_1 of vehicle 400_8.

[0103] The first existence range 31_2_1 is the existence range 30 just calculated by the processing device 110. Therefore, the first existence range 31_2_1 is more likely to be smaller than the existence range 30 that has expanded over time since the calculation, namely the first existence range 31_1_2 and the first existence range 31_1_3.

[0104] <Expansion of the second existence range 32 corresponding to the passage of time>

[0105] The processing device 110 is the same as the first existence range 31, and expands the second existence range 32 according to the time elapsed since the calculation.

[0106] like Figure 7 As shown, the existence range 30 of vehicle 400_6 is the first existence range 31. The existence range 30 of vehicle 400_7 is the second existence range 32. Figure 7 The first existence range 31 and the second existence range 32 shown are the existence range 30 that has just been calculated by the processing device 110.

[0107] Figure 11 The image shows the position and existence range 30 of vehicles 400-6 and 400-7 after a constant time has elapsed since the first existence range 31 and the second existence range 32 were calculated by the processing device 110.

[0108] like Figure 11 As shown, the processing device 110 and Figure 7 Compared to the second existence range 32 shown, the second existence range 32 of vehicle 400_7 is expanded to show the second existence range 32 after a constant time has elapsed since the calculation of the first existence range 31 and the second existence range 32.

[0109] like Figure 11 As shown, the processing device 110 and Figure 7 Compared to the first existence range 31 shown, the first existence range 31 of vehicle 400_6 is expanded to show the first existence range 31 after a constant time has elapsed since the first existence range 31 and the second existence range 32 were calculated.

[0110] <Function of the First Embodiment>

[0111] The processing unit 110 in the control device 100 of the first embodiment calculates the range, i.e., the existence range 30, where the moving body 600 is presumed to exist. The processing unit 110 displays the existence range 30 of each of the multiple moving bodies 600 on the display device. In other words, the control device 100 causes the display device to display the position of each moving body 600 in the traffic digital twin 20, taking into account the discrepancy between the position of each moving body 600 in the real world and the position of each moving body 600 reproduced in the virtual space.

[0112] <Effects of the First Implementation>

[0113] (1) Even if the location of each moving body 600 reproduced in the traffic digital twin 20 cannot be uniquely determined as a point, the user of the traffic digital twin system 10 can easily identify the location of each moving body 600 in the traffic digital twin 20, which takes into account the deviation from the location in the real world.

[0114] (2) The processing device 110 of the control device 100 calculates the range 30 of the existence of the moving body 600 based on the measurement uncertainty of multiple data representing the position and behavior of the moving body 600.

[0115] The data representing the position and behavior of the moving body 600, acquired by the processing device 110 via the communication device 130 and collected by sensors, includes measurement uncertainty. Therefore, in addition to the acquired data representing the position and behavior of the moving body 600, the processing device 110 calculates the range 30 of the presence of the moving body 600 based on the measurement uncertainty of this data. Thus, the user of the traffic digital twin system 10 can identify the position of each moving body 600 in the traffic digital twin 20 based on the range 30 reflecting the measurement uncertainty.

[0116] (3) The processing device 110 of the control device 100 calculates the existence range 30 in such a way that the probability of the moving body 600 of the display object existing in the existence range 30 is a predetermined value.

[0117] The processing device 110 determines the size of each existence range 30 based on a constant reference. Therefore, the control device 100 can process the information shown by each existence range 30 in the traffic digital twin 20 under a unified concept. Thus, the control device 100 can calculate the existence range 30 that offers good usability.

[0118] (4) The processing device 110 of the control device 100 calculates the existence range 30 in such a way that the probability of the moving body 600 of the display object existing in the existence range 30 reaches a predetermined value of less than 100%.

[0119] The presence range 30 of the moving body 600 is affected by the measurement uncertainty in the data representing the position and behavior of the moving body 600. Therefore, the presence range 30 calculated in such a way that the probability of the moving body 600 being present within the presence range 30 is 100% may be an extremely large range. In contrast, the processing device 110 of the first embodiment calculates the presence range 30 in such a way that the probability of the moving body 600 being present within the presence range 30 is less than 100%. As a result, the control device 100 is able to calculate a presence range 30 that is convenient to use.

[0120] (5) In the control device 100, the processing device 110 periodically acquires multiple data via the communication device 130. Based on the periodically acquired multiple data, the processing device 110 periodically calculates the existence range 30 of the moving body 600. Whenever the existence range 30 is calculated, the processing device 110 updates the existence range 30. During the period from when the existence range 30 is calculated until the next calculation of the existence range 30 ends and the existence range 30 is updated, the processing device 110 increases the size of the existence range 30 of the moving body 600 displayed on the display device as time passes since the calculation began.

[0121] The longer the time elapsed since the calculation, the more uncertain the existence range 30 calculated by the processing device 110 becomes. Therefore, the longer the time elapsed since the calculation, the more the processing device 110 expands the size of the existence range 30. Thus, the control device 100 is able to realize a display that reflects the uncertainty of the existence range 30 as the time elapsed since the calculation.

[0122] (6) In the control device 100, the processing device 110 acquires multiple data representing the position and behavior of the mobile body 600 itself, collected at multiple times by multiple sensors of the mobile body 600, via the communication device 130. Based on the multiple data representing the position and behavior of the mobile body 600 itself, the processing device 110 calculates the existence range of the mobile body 600 itself, i.e., the first existence range 31. The processing device 110 acquires multiple data representing the position and behavior of other mobile bodies 600 around the mobile body 600, collected at multiple times by multiple sensors of the other mobile bodies 600, via the communication device 130. Based on the multiple data representing the position and behavior of the other mobile bodies 600, the processing device 110 calculates the existence range of the mobile bodies 600, i.e., the second existence range 32, based on the multiple data representing the position and behavior of the other mobile bodies 600, collected at multiple times by multiple sensors of the other mobile bodies 600. The processing device 110 determines the presence range 30 of the mobile body 600 in the traffic digital twin 20 based on the first presence range 31 and the second presence range 32 of the mobile body 600. The processing device 110 then displays the determined presence range 30 of the mobile body 600 on a display device.

[0123] The processing device 110 determines the presence range 30 of the moving body 600 based on the first presence range 31 and the second presence range 32. Based on the presence range 30 determined in this way, the processing device 110 causes the display device to display the presence range 30 of each of the multiple moving bodies 600. Thus, users of the traffic digital twin system 10 can identify the location and behavior of moving bodies 600 that are not communicating with the control device 100 of the traffic digital twin 20 within the traffic digital twin 20.

[0124] (7) The processing device 110 determines the presence range 30 of the moving body 600 based on the first presence range 31 and the second presence range 32. Therefore, users of the traffic digital twin system 10 can more accurately identify the location and behavior of the moving body 600 in the traffic digital twin 20.

[0125] (8) The processing device 110 determines the presence range 30 of the moving body 600 based on the second presence range 32. Therefore, the control device 100 can display the presence range 30 of vehicles 400, pedestrians 520, etc. that do not communicate with the control device 100 of the traffic digital twin 20 on the display device.

[0126] (9) The processing device 110 can display the presence range 30 of the moving body 600 on the display device more accurately than displaying the presence range 30 on the display device based solely on the first presence range 31 or solely on the second presence range 32.

[0127] (10) The control method executed by the control device 100 includes the following steps: The processing device 110 acquires multiple data points representing the position and behavior of a mobile body 600 existing in the real world, collected by multiple sensors at multiple times via the communication device 130, and associates the multiple data points with the time of acquisition of each data point (step S100). The control method executed by the control device 100 includes the following steps: The processing device 110 calculates the range in the traffic digital twin 20 where the mobile body 600 is presumed to exist, i.e., the existence range 30 (step S110). The control method executed by the control device 100 includes the following steps: The processing device 110 constructs a traffic digital twin 20 in virtual space that reproduces the position and behavior of multiple mobile bodies 600 based on the multiple data points after time synchronization (step S120). The control method executed by the control device 100 includes the following steps: The processing device 110 displays the existence range 30 in the traffic digital twin 20 on a display device (step S130).

[0128] By executing such a control method, the processing unit 110 of the control device 100 calculates the range, i.e., the existence range 30, whereby the moving body 600 is presumed to exist. The processing unit 110 then displays the existence range 30 of each of the multiple moving bodies 600 on a display device. In other words, the control device 100 causes the display device to display the positions of the moving bodies 600 in the traffic digital twin 20, taking into account the discrepancies between the positions of the moving bodies 600 in the real world and the positions of the moving bodies 600 reproduced in the virtual space.

[0129] Therefore, even if the location of each moving body 600 reproduced in the traffic digital twin 20 cannot be uniquely determined as a single point, the user of the traffic digital twin system 10 can easily identify the location of each moving body 600 in the traffic digital twin 20, which takes into account the deviation from the location in the real world.

[0130] (11) The storage device 120 of the control device 100 stores a control program that causes the processing device 110 to perform processing. This control program causes the processing device 110 of the control device 100 to acquire multiple data points representing the positions and behaviors of multiple mobile bodies 600 existing in the real world, collected by multiple sensors at multiple times, via the communication device 130, and to associate these multiple data points with the time at which each data point was acquired. Based on the time-synchronized multiple data points, the control program causes the processing device 110 to construct a traffic digital twin 20 in virtual space that reproduces the positions and behaviors of the multiple mobile bodies 600. The control program causes the processing device 110 to calculate the area in the traffic digital twin 20 where the mobile bodies 600 are presumed to exist, i.e., the presence range 30. The control program causes the processing device 110 to display the presence range 30 in the traffic digital twin 20 on a display device. That is, the control program causes the display device to display the following: considering the discrepancy between the positions of each moving body 600 in the real world and the positions of each moving body 600 in the traffic digital twin 20 reproduced in virtual space, the position of each moving body 600 in the traffic digital twin 20 is displayed.

[0131] Therefore, even if the location of each moving body 600 reproduced in the traffic digital twin 20 cannot be uniquely determined as a single point, the user of the traffic digital twin system 10 can easily identify the location of each moving body 600 in the traffic digital twin 20, which takes into account the deviation from the location in the real world.

[0132] <Example of a modification to the first embodiment>

[0133] The first embodiment can be modified as follows. The first embodiment and the following modifications can be combined and implemented together without technical inconsistencies.

[0134] The processing unit 110 of the control device 100 may also calculate only the first existence range 31 of the moving body 600. In this case, the existence range 30 of the moving body 600 is the first existence range 31.

[0135] The processing device 110 may also calculate only the second existence range 32 of the moving body 600. In this case, the existence range 30 of the moving body 600 is the second existence range 32.

[0136] The processing device 110 may also consider only the first existence range 31 as the existence range 30 of the mobile body 600 when calculating both the first existence range 31 and the second existence range 32 of the mobile body 600.

[0137] The processing device 110 may also consider only the second existence range 32 as the existence range 30 of the mobile body 600 when calculating both the first existence range 31 and the second existence range 32 of the mobile body 600.

[0138] If the processing device 110 is unable to calculate the first existence range 31 of the moving body 600, it may also regard the second existence range 32 as the existence range 30 of the moving body 600.

[0139] If the processing device 110 is unable to calculate the second existence range 32 of the moving body 600, it may also regard the first existence range 31 as the existence range 30 of the moving body 600.

[0140] For information indicating the position or behavior of the moving body 600, the processing device 110 may not acquire measurement uncertainty for each measurement result. For example, in this case, a coefficient reflecting the uncertainty of the information indicating the position or behavior is preset according to the measurement method. In addition to the information indicating the position or behavior of the moving body 600, the processing device 110 calculates the range 30 of the presence of the moving body 600 by reflecting the coefficient corresponding to the measurement method.

[0141] When calculating the probability that the moving body 600 exists within the range 30 of its presence, the processing device 110 may disregard the measurement uncertainty of each measurement result representing information about the position or behavior of the moving body 600. For example, in this case, a coefficient reflecting the uncertainty of information representing the position or behavior of the moving body 600 may be pre-set for each measurement method.

[0142] The processing device 110 may also expand the existence range 30 according to the passage of time, without updating the existence range 30 after the calculation of the existence range 30 and after the next calculation of the existence range 30. For example, the processing device 110 may also take into account the time before the next update of the existence range 30, and display the pre-expanded existence range 30 on the display device after the calculation of the existence range 30, until the time when the next update of the existence range 30 is about to be made. In other words, in this case, the expanded existence range 30 compared to the calculated existence range 30 is always displayed on the display device.

[0143] The processing device 110 may display the presence range 30 on the display device in a manner that is not the same as the probability of the presence of the moving object 600 in that presence range 30 across all displayed presence ranges 30. For example, it may display a certain presence range 30 with a probability of 60% for the presence of the moving object 600, and other presence ranges 30 with a probability of 80% for the presence of the moving object 600.

[0144] The processing device 110 may also display the existence range 30 in a manner that changes the color of the existence range 30 in stages according to the probability that the vehicle 400 exists within the existence range 30. For example, the processing device 110 may also display the existence range 30 in a manner that makes the color of the existence range 30 darker as the probability of the vehicle 400 being present increases.

[0145] The processing device 110 may also display the existence range 30 on the display device in a shape other than a circle. For example, the processing device 110 may display the existence range 30 as an ellipse adapted to the lane in which the vehicle 400 travels. For example, the processing device 110 may also display the existence range 30 as the area after removing the portion of the existence range 30 that is clearly impossible to have the moving body 600 based on map information. For example, the processing device 110 may also display the existence range 30 in a shape that takes into account the surrounding buildings, etc., of the vehicle 400.

[0146] The processing device 110 can also acquire information related to the length, height, and width of the vehicle 400. In this case, the processing device 110 can also consider the length, height, and width of the vehicle 400 to calculate the existence range 30.

[0147] (Second Implementation)

[0148] Next, refer to Figure 3 , Figures 12-14 The second embodiment will be described. The second embodiment will be described focusing on the differences from the first embodiment. In the second embodiment, the control device 100 controls multiple vehicles 400 based on information from the traffic digital twin system 10.

[0149] like Figure 3 As shown, the processing unit 110 of the control unit 100 controls the vehicle 400 by sending information to the devices provided in the vehicle 400 via the external communication network 300 and the vehicle communication device 410.

[0150] For example, the processing device 110 can cause the vehicle 400 to decelerate or stop by sending information to the braking system 430 of the vehicle 400. The processing device 110 can also perform steering control of the vehicle 400 by sending information to the steering system 432 of the vehicle 400.

[0151] <Control of vehicle 30 by processing device 110 corresponding to the size of the area 30 where vehicle 400 exists>

[0152] The processing device 110 changes the control content of the controlled vehicle 400 according to the size of the range 30 of the vehicle 400 in the traffic digital twin 20.

[0153] Figure 12 This diagram illustrates a series of processes performed by the processing unit 110 to control the vehicle 400. The storage device 120 of the control unit 100 stores a control program that causes the processing unit 110 to perform this series of processes. The processing unit 110 of the control unit 100 repeatedly executes this series of processes according to the control program stored in the storage device 120.

[0154] If this series of processes begins, then in the processing of step S300, the processing device 110, as in the first embodiment, calculates the existence range 30 of the vehicle 400 of the controlled object. That is, in the processing of step S300, the processing device 110 executes... Figure 4 The series of processes shown calculates the existence range 30 of the vehicle 400, which is the object of control. Next, in step S310, the processing device 110 determines whether control of the vehicle 400, the object of control, is required. For example, as... Figure 13 As shown, the situation in which the processing device 110 determines that the control of the vehicle 400 to be controlled (step S310: yes) refers to the situation in which the existence range 30-9 of the vehicle 400-9 to be controlled at least partially overlaps with the existence range 30-10 of other vehicles 400-10.

[0155] like Figure 12 As shown, when the processing device 110 determines that the vehicle 400 is the object to be controlled (step S310: Yes), the process proceeds to step S320.

[0156] In step S320, the processing device 110 controls the vehicle 400 corresponding to the size of the range 30 of the vehicle 400 being controlled.

[0157] Figure 14The sizes of the existence ranges 30-11 (for vehicle 400-11), 30-12, and 30-13 (for vehicle 400-12 and 400-13) are all set such that the probability of a vehicle 400 existing within the existence range 30 is 80%. Given the same probability of a vehicle 400 existing within the existence range 30, the smaller the existence range 30, the more accurately the processing device 110 can grasp the position and behavior of the controlled vehicle 400. Therefore, given the same probability of a vehicle 400 existing within the existence range 30, the smaller the existence range 30, the greater the degree of intervention the processing device 110 can exert on the controlled vehicle 400's movement.

[0158] exist Figure 14 Of the three existence ranges 30 shown, the largest existence range 30 is existence range 30_13. For a vehicle 400_13 presumed to exist within existence range 30_13, which is the larger existence range 30, the processing device 110 can implement control that intervenes in the movement of the vehicle 400 to a lesser extent. This lesser control of the movement of the vehicle 400 includes, for example, via... Figure 3 The warning is given to the driver by the display 434 or the speaker 435 shown.

[0159] exist Figure 14 Of the three existence ranges 30 shown, the smallest existence range 30 is existence range 30_11. For a vehicle 400_11 presumed to exist within existence range 30_11, which is the smaller existence range 30, the processing device 110 can implement control that intervenes in the movement of the vehicle 400 to a greater extent. This greater control of the movement of the vehicle 400 includes, for example, via... Figure 3 The steering system 432 of the vehicle 400 shown performs steering control. The processing unit 110 can also control the turn signal 433 simultaneously with the steering control.

[0160] exist Figure 14 Of the three existence ranges 30 shown, the existence range 30 of moderate size is existence range 30-12. For a vehicle 400-12 presumed to exist within existence range 30-12, which is considered a moderate existence range 30, the processing device 110 can implement moderate-level control over the movement of the vehicle 400. This moderate-level control over the movement of the vehicle 400 includes, for example, via... Figure 3 The braking system 430 of the vehicle 400 shown decelerates and stops the vehicle 400.

[0161] like Figure 12As shown, after the processing device 110 performs control corresponding to the size of the existence range 30 of the vehicle 400, the processing device 110 terminates the control of the vehicle 400.

[0162] If the processing device 110 determines that the vehicle 400 to be controlled does not need to be controlled (step S310: No), the processing device 110 does not execute the processing in step S320 and ends the series of processes.

[0163] <The Role of the Second Embodiment>

[0164] The processing unit 110 in the aforementioned control device 100 controls the vehicle 400 based on the size of the existence range 30 of the controlled vehicle 400. That is, the processing unit 110 controls each vehicle 400 on the traffic digital twin 20 taking into account the existence range 30, which is greater than the actual size of the vehicle 400 and is presumed to be the range where the vehicle 400 exists.

[0165] <Effects of the Second Implementation>

[0166] (1) The processing device 110 of the control device 100 of the second embodiment can safely control the vehicle 400 of the control object even when the position of each moving body 600 reproduced in the traffic digital twin 20 cannot be uniquely determined as a point.

[0167] (2) In the control device 100 of the second embodiment, the processing device 110 calculates the existence range 30 of the moving body 600 in such a way that the probability of the moving body 600 existing in the existence range 30 reaches a predetermined value. The processing device 110 controls the vehicle 400 to be controlled when the existence range 30 of the vehicle 400 to be controlled overlaps at least partially with the existence range 30 of other moving bodies 600.

[0168] The processing device 110 determines the size of the presence range 30 of multiple vehicles 400, including the vehicle 400 to be controlled, based on a constant reference. Therefore, the control device 100 is able to process the information shown by each presence range 30 in the traffic digital twin 20 under a unified concept. Thus, the control device 100 is able to calculate the presence range 30 with good usability in terms of controlling the vehicles 400.

[0169] (3) In the control device 100 of the second embodiment, the processing device 110 changes the content of the control of the vehicle 400 according to the size of the range 30 of the vehicle 400 to be controlled.

[0170] In the traffic digital twin 20, the size of the existence range 30, calculated by the probability that a vehicle 400 exists within the existence range 30 reaches a predetermined value, varies depending on the reliability of the position and behavior of the vehicle 400 estimated by the control device 100. A larger calculated existence range 30 means a lower reliability of the position and behavior of the vehicle 400 estimated by the control device 100. The control that the processing device 110 can perform also includes steering control, which can only be achieved if the position and behavior of the controlled vehicle 400 are accurately grasped. The processing device 110 changes the content of the control of the controlled vehicle 400 according to the size of the existence range 30. Thus, the processing device 110 can perform control corresponding to the reliability of the estimated position and behavior of the controlled vehicle 400.

[0171] (4) The control method executed by the control device 100 in the second embodiment includes the following steps: The processing device 110 acquires multiple data representing the position and behavior of a mobile body 600 existing in the real world, collected by multiple sensors at multiple times via the communication device 130, and establishes a correlation between the multiple data and the time of acquisition of each data (step S100). The control method executed by the control device 100 includes the following steps: The processing device 110 calculates the range in the traffic digital twin 20 where the mobile body 600 is presumed to exist, i.e., the existence range 30 (step S110). The control method executed by the control device 100 includes the following steps: The processing device 110 constructs a traffic digital twin 20 in virtual space that reproduces the position and behavior of multiple mobile bodies 600 based on the multiple data after time synchronization (step S120). The control method executed by the control device 100 includes the following steps: The processing device 110 controls the vehicle 400 via the communication device 130 based on the existence range 30 in the traffic digital twin 20 (step S320).

[0172] By implementing this control method, the control device 100 controls the vehicle 400 based on the presence range 30 of the moving bodies 600. That is, by implementing this control method, the control device 100, for each moving body 600 on the traffic digital twin 20, considers a range beyond the actual size of the moving body 600 and presumes the presence of that moving body 600 to control the vehicle 400. By implementing this control method, the control device 100 can safely control the vehicle 400.

[0173] (5) In the second embodiment, the storage device 120 of the control device 100 stores a control program that causes the processing device 110 to perform processing. This control program causes the processing device 110 of the control device 100 to acquire multiple data points representing the positions and behaviors of multiple mobile bodies 600 existing in the real world, collected by multiple sensors at multiple times, via the communication device 130, and to associate these multiple data points with the time of acquisition of each data point. The control program causes the processing device 110 to construct a traffic digital twin 20 in virtual space based on the multiple data points synchronized at the same time, reproducing the positions and behaviors of the multiple mobile bodies 600. The control program causes the processing device 110 to calculate the range in the traffic digital twin 20 where the mobile bodies 600 are presumed to exist, i.e., the existence range 30. The control program causes the processing device 110 to control the vehicle 400, the object of control, via the communication device 130, based on the existence range 30 of the multiple mobile bodies 600. The processing device 110 in the control device 100 controls the vehicle 400, the object of control, based on the existence range 30 of the mobile bodies 600. That is, the control program causes the control device 100 to perform control of the vehicle 400, which takes into account the size of each moving body 600 on the traffic digital twin 20, and is presumed to exist within the range of the moving body 600, exceeding the actual size of the moving body 600.

[0174] In other words, the control program enables the control device 100 to safely perform the control of the vehicle 400.

[0175] <Example of a modification to the second embodiment>

[0176] The second embodiment described above can be modified as follows. The second embodiment and the following modifications can be combined with each other without technical inconsistencies.

[0177] The processing device 110 can change the control content for the vehicle 400, the object of control, based on the probability that the vehicle 400 exists within the existence range 30. (See reference...) Figure 3 , Figure 13 , Figure 15 as well as Figure 16 Explanation of the change example.

[0178] Figure 15 This diagram illustrates a series of processes performed by the processing unit 110 to control the vehicle 400. The storage device 120 of the control unit 100 stores a control program that causes the processing unit 110 to perform this series of processes. The processing unit 110 repeatedly performs this series of processes according to the control program stored in the storage device 120.

[0179] like Figure 15As shown, if this series of processes begins, the processing device 110, in step S400, performs the same process as in step S300 of the second embodiment, calculating the existence range 30 of the vehicle 400 to be controlled. Next, in step S410, the processing device 110 determines whether control of the vehicle 400 to be controlled is required. For example, as... Figure 13 As shown, when the processing device 110 determines that the control of the vehicle 400 to be controlled is required (step S410: Yes), it means that the existence range 30-9 of the vehicle 400-9 to be controlled at least partially overlaps with the existence range 30-10 of other vehicles 400-10.

[0180] If the processing device 110 determines that the vehicle 400 is the object to be controlled (step S410: Yes), the process proceeds to step S420.

[0181] In step S420, the processing device 110 controls the vehicle 400 of the controlled object based on the probability that the vehicle 400 exists within the existence range 30.

[0182] Figure 16 This illustrates an example where the control device 100, within the traffic digital twin 20, displays a constant range of existence 30. For example... Figure 16 As shown, in this case, the existence range 30-14 of vehicle 400-14, the existence range 30-15 of vehicle 400-15, and the existence range 30-16 of vehicle 400-16 are of the same size. In this case, the control device 100 calculates the existence probability of each moving body 600 within its existence range 30.

[0183] For example, in Figure 16 In the example shown, the probability of vehicle 400_14 existing within the range 30-14 is 60%. That is, the probability of vehicle 400_14 existing within the range 30-14 is 60%. The probability of vehicle 400_15 existing within the range 30-15 is 80%. That is, the probability of vehicle 400_15 existing within the range 30-15 is 80%. The probability of vehicle 400_16 existing within the range 30-16 is 95%. That is, the probability of vehicle 400_16 existing within the range 30-16 is 95%.

[0184] Given a given range 30, the higher the probability that a vehicle 400 exists within the range 30, the more accurately the processing device 110 can determine the position and behavior of the controlled vehicle 400. Therefore, the higher the probability that a vehicle 400 exists within the range 30, the greater the degree of intervention the processing device 110 can exert on the controlled vehicle 400's movement.

[0185] For example, if the probability of the presence of vehicle 400-14 within the range 30-14 is 60%, the processing device 110 can implement less intervention control on vehicle 400-14. This less intervention control on vehicle 400 includes, for example, via... Figure 3 The warning is given to the driver by the display 434 or the speaker 435 shown.

[0186] For example, if the probability of the presence of vehicle 400-15 within the range 30-15 is 80%, the processing device 110 can implement moderate-level control over the driving of vehicle 400-15. Moderate-level control over the driving of vehicle 400 includes, for example, via... Figure 3 The braking system 430 of the vehicle 400 shown decelerates and stops the vehicle 400.

[0187] When the probability of the presence of vehicles 400-16 within the range 30-16 is 95%, the processing device 110 can implement a greater degree of intervention control over the driving of vehicles 400-16. This greater degree of intervention control over the driving of vehicles 400 includes, for example, via... Figure 3 The steering system 432 of the vehicle 400 shown performs steering control. The processing unit 110 can also control the turn signal 433 simultaneously with the steering control.

[0188] like Figure 15 As shown, after the processing device 110 performs control corresponding to the probability of the presence of vehicle 400 within the existence range 30, the processing device 110 terminates the control of the vehicle 400.

[0189] If the processing device 110 determines that the control of the vehicle 400 is not required (step S410: No), the processing device 110 terminates the control of the vehicle 400.

[0190] The control device 100 can also change the control content of the vehicle 400 based on the distance L between the center of the range 30 of other moving bodies 600 that at least partially overlap with the range 30 of the vehicle 400 and the range 30 of the vehicle 400.

[0191] In this case, the processing device 110 changes the control content of the controlled vehicle 400 based on the distance L between the existence range 30 of the other moving bodies 600 and the center of the existence range 30 of the controlled vehicle 400. (Refer to...) Figure 3 , Figures 17-20 This example of the change is explained.

[0192] Figure 17 This diagram illustrates a series of processes performed by the processing unit 110 to control the vehicle 400. The storage device 120 of the control unit 100 stores a control program that causes the processing unit 110 to perform this series of processes. The processing unit 110 repeatedly performs this series of processes according to the control program stored in the storage device 120.

[0193] like Figure 17 As shown, if this series of processes begins, the processing device 110, in step S500, performs the same process as in step S300 of the second embodiment, calculating the existence range 30 of the vehicle 400 to be controlled. Next, in step S510, the processing device 110 determines whether control of the vehicle 400 to be controlled is required. For example, as... Figure 18 As shown, the situation in which the processing device 110 determines that the control of the vehicle 400 to be controlled (step S510: yes) refers to the situation in which the existence range 30-17 of the vehicle 400-17 to be controlled at least partially overlaps with the existence range 30-18 of other vehicles 400-18.

[0194] If the processing device 110 determines that the vehicle 400 is the object to be controlled (step S510: Yes), the process proceeds to step S520.

[0195] In step S520, the processing device 110 controls the vehicle 400 based on the distance L between the center of the range 30 of the other moving body 600 and the range 30 of the vehicle 400 to be controlled.

[0196] The closer the other moving body 600 is to the center of the range 30 of the controlled vehicle 400, the higher the probability that the controlled vehicle 400 is present at that location. The higher the probability of the controlled vehicle 400 being present, the more accurately the processing device 110 can determine the position and behavior of the controlled vehicle 400. Therefore, the closer the range 30 of other moving bodies 600 is to the center of the range 30 of the controlled vehicle 400, the greater the degree of intervention the processing device 110 can exert on the controlled vehicle 400's movement.

[0197] Figure 18 This illustrates a situation where the distance L between the center of the range 30-18 of other vehicles 400-18 and the range 30-17 of the controlled vehicle 400-17 is greater than a predetermined middle distance L-2, but within a predetermined far distance L-1. In this case, the processing device 110 can perform less intervention control on the controlled vehicle 400-18. This less intervention control of the vehicle 400's movement includes, for example, via... Figure 3 The warning is given to the driver by the display 434 or the speaker 435 shown.

[0198] Figure 19 This illustrates a situation where the distance L between the center of the range 30-18 of other vehicles 400-18 and the range 30-17 of the controlled vehicle 400-17 is greater than a predetermined near distance L-3, but within a predetermined medium distance L-2. In this case, the processing device 110 can implement moderate-level intervention control on the controlled vehicle 400-17. Moderate-level intervention control of the vehicle 400's movement includes, for example, via... Figure 3 The braking system 430 of the vehicle 400 shown decelerates and stops the vehicle 400.

[0199] Figure 20 This illustrates a situation where the distance L between the center of the range 30-18 of other vehicles 400-18 and the range 30-17 of the controlled vehicle 400-17 is within a predetermined proximity distance L-3. In this case, the processing device 110 can implement more aggressive control over the controlled vehicle 400-17. Aggressive control over the movement of the controlled vehicle 400 includes, for example, via... Figure 3 Steering control is performed by the steering system 432 of the vehicle 400 shown.

[0200] If the processing device 110 determines that the vehicle 400 to be controlled does not need to be controlled (step S510: No), the processing device 110 ends the processing.

[0201] After the processing device 110 performs control corresponding to the distance L between the center of the existence range 30 of other moving bodies 600 and the existence range 30 of the controlled vehicle 400, the processing device 110 ends the processing.

[0202] The closer to the center of the range 30 of the controlled vehicle 400, the higher the probability that the controlled vehicle 400 exists at that location. The processing device 110 can perform control corresponding to the reliability of the estimated position and behavior of the controlled vehicle 400.

[0203] The control of vehicle 400 executed by the processing unit 110 can be applied to various advanced safety technologies. Advanced safety technologies include, for example, PCS (Pre-crash safety), ACC (Adaptive Cruise Control), LKA (Lane Keeping Assist), and LCA (Lane Change Assist).

[0204] <Other Change Examples>

[0205] In addition, the following elements can be modified together in the above embodiments. The following modification examples can be combined and implemented to a extent that is not technically contradictory.

[0206] The processing unit 110 of the control unit 100 may also not display the presence range 30 of the multiple moving bodies 600 in the traffic digital twin 20 on the display device. That is, the processing unit 110 may also control multiple vehicles 400 in the real world based on the presence range 30 of the multiple moving bodies 600 via the communication device 130 without performing a display to the display device. In this case, the processing unit 110 performs a reference... Figure 4 The process described excludes the process of S130 from the series of processes.

[0207] <Postscript>

[0208] The technical concepts that can be grasped based on the above-described embodiments and variations are described.

[0209] [Appendix 1] A control device includes: an acquisition unit configured to acquire data representing the positions of a plurality of mobile objects existing in the real world; and a display control unit configured to cause a display device to display the range, i.e. the existence range, of a virtual space presumed to be where each of the mobile objects exists, wherein the virtual space is constructed based on the data acquired by the acquisition unit and reproduces the positions of the plurality of mobile objects.

[0210] [Note 2] According to the control device described in [Note 1], the acquisition unit is configured to acquire the data collected by multiple sensors.

[0211] [Note 3] According to the control device described in [Note 1] or [Note 2], the acquisition unit is configured to acquire the data in a manner that establishes an association with information about the time when the data is acquired.

[0212] [Appendix 4] The control device described in any one of [Appendix 1] to [Appendix 3] further includes: a calculation unit configured to calculate the existence range of the moving bodies based on the accuracy of the positions of the plurality of moving bodies shown in the above data; and a display control unit configured to display the existence range calculated by the calculation unit on the display device.

[0213] [Appendix 5] According to the control device described in [Appendix 4], the above-mentioned calculation unit is configured to calculate the existence range in such a way that the probability of the moving body of the display object existing within the existence range reaches a predetermined value.

[0214] [Appendix 6] According to the control device described in [Appendix 4] or [Appendix 5], the display control unit is configured to expand the size of the existence range as time passes from the time it was calculated until the next calculation of the existence range ends, and display it on the display device.

[0215] [Appendix 7] According to any one of the control devices described in [Appendix 1] to [Appendix 6], the acquisition unit is configured to acquire at least the data representing the position of the mobile body itself collected by the sensors of the mobile body.

[0216] [Appendix 8] According to any one of the control devices described in [Appendix 1] to [Appendix 6], the acquisition unit is configured to acquire from the mobile body at least data collected by the sensors of the mobile body indicating the position of one or more other mobile bodies existing around the mobile body.

[0217] [Appendix 9] A control device includes: an acquisition unit configured to acquire data representing the positions of a plurality of mobile objects existing in the real world; a calculation unit configured to calculate the range in a virtual space presumed to be the existence range of each of the mobile objects, i.e., the existence range, wherein the virtual space is constructed based on the data acquired by the acquisition unit and reproduces the positions of the plurality of mobile objects; and a control unit configured to control a vehicle existing in the real world based on the existence range calculated by the calculation unit.

[0218] [Appendix 10] According to the control device described in [Appendix 9], the calculation unit is configured to calculate the existence range of the moving body in such a way that the probability of the moving body existing in the existence range reaches a predetermined value, and the control unit is configured to change the content of the control when the existence range of the vehicle of the controlled object at least partially overlaps with the existence range of other moving bodies.

[0219] [Appendix 11] According to the control device described in [Appendix 9] or [Appendix 10], the control unit is configured to change the content of the control for the vehicle to be controlled based on the size of the range of existence of the vehicle to be controlled.

[0220] [Appendix 12] According to any one of the control devices described in [Appendix 9] to [Appendix 11], the control unit is configured to change the control content for the vehicle of the controlled object based on the probability that the vehicle of the controlled object exists within the existence range of the vehicle of the controlled object in the virtual space when the existence range of the vehicle of the controlled object at least partially overlaps with the existence range of other moving bodies.

[0221] [Appendix 13] According to any one of the control devices described in [Appendix 9] to [Appendix 12], the control unit is configured to perform the following actions during the period from when the existence range is calculated by the calculation unit until the next calculation of the existence range ends: to increase the size of the existence range as time passes from when it is calculated, and to control the vehicle based on the increased existence range.

[0222] After the existence range is calculated based on the data representing the position and behavior of the moving entity acquired by the acquisition unit, the moving entity may move in the real world until the next existence range calculation is completed. During the period before new data is acquired, the calculation unit cannot grasp the behavior of the moving entity. Therefore, the longer the time elapsed since the calculation began, the more uncertain the existence range calculated by the calculation unit becomes.

[0223] Therefore, the longer the time elapsed since the calculation of the existence range, the larger the size of the existence range will be for the aforementioned control unit.

[0224] Therefore, the control device is able to control the vehicle in a way that reflects the uncertainty of the range that exists as time passes from the point of calculation.

[0225] [Appendix 14] According to any one of the control devices described in [Appendix 9] to [Appendix 13], the acquisition unit is configured to acquire at least the data representing the position of the mobile body itself collected by the sensors of the mobile body, and the calculation unit is configured to calculate at least the existence range of the vehicle based on the data representing the position of the mobile body itself.

[0226] [Appendix 15] According to any one of the control devices described in [Appendix 9] to [Appendix 13], the acquisition unit is configured to acquire, from the moving body at least, data collected by the sensors of the moving body indicating the positions of other moving bodies existing around the moving body, and the calculation unit is configured to calculate, at least based on the data indicating the positions of other moving bodies existing around the moving body, the existence range of the vehicle.

[0227] The aforementioned control unit is capable of controlling vehicles while taking into account the presence of vehicles that do not communicate with the traffic digital twin control device, as well as the range of pedestrians.

[0228] Therefore, the control device can take into account the presence range of moving bodies that do not communicate directly with the traffic digital twin in order to control the vehicle.

[0229] [Appendix 16] According to any one of the control devices described in [Appendix 9] to [Appendix 15], the calculation unit is configured to calculate the existence range of the moving body in such a way that the probability of the moving body existing in the existence range reaches a predetermined value, and the control unit is configured to control the vehicle of the controlled object when the existence range of the vehicle of the controlled object at least partially overlaps with the existence range of other moving bodies.

[0230] [Appendix 17] According to any one of the control devices described in [Appendix 9] to [Appendix 15], the calculation unit is configured to calculate the existence range of the moving body in such a way that the probability of the moving body existing in the existence range reaches a predetermined value, and the control unit is configured to control the vehicle of the controlled object when the existence range of the vehicle of the controlled object comes into contact with the existence range of other moving bodies.

[0231] When the range of the controlled vehicle is small, and the range of the controlled vehicle at least partially overlaps with the range of other moving bodies, it can be considered that the vehicle and the moving bodies are in contact in the real world. Therefore, the control unit described above controls the controlled vehicle before the range of the controlled vehicle overlaps with the range of other moving bodies. As a result, the control device can safely control the controlled vehicle.

[0232] [Appendix 18] According to any one of the control devices described in [Appendix 9] to [Appendix 15], the calculation unit is configured to calculate the existence range of the moving body in such a way that the probability of the moving body existing in the existence range reaches a predetermined value, and the control unit is configured to control the vehicle of the controlled object when the distance between the outer perimeter of the existence range of the vehicle of the controlled object and the outer perimeter of the existence range of other moving bodies is less than a predetermined distance.

[0233] When the range of the controlled vehicle is extremely small, it can be considered that the vehicle is in contact with another moving body in the real world when the range of the controlled vehicle comes into contact with the range of another moving body. Therefore, the control unit described above controls the controlled vehicle before the range of the controlled vehicle comes into contact with the range of another moving body. As a result, the control device can safely control the controlled vehicle.

[0234] [Appendix 19] According to any one of the control devices described in [Appendix 9] to [Appendix 18], the control unit is configured to change the control content for the vehicle to be controlled based on the probability that the vehicle to be controlled exists within the aforementioned range of the vehicle to be controlled.

[0235] [Appendix 20] According to any one of the control devices described in [Appendix 9] to [Appendix 18], the control unit is configured to change the control content for the vehicle to be controlled based on the distance between the existence range of the other moving body and the center of the existence range of the vehicle to be controlled.

[0236] [Appendix 21] According to any of the control devices described in [Appendix 9] to [Appendix 20], the control unit is configured such that the smaller the range of the vehicle to be controlled, the greater the degree of intervention in the driving of the vehicle to be controlled; and the larger the range of the vehicle to be controlled, the less the degree of intervention in the driving of the vehicle to be controlled.

[0237] [Appendix 22] According to any one of the control devices described in [Appendix 9] to [Appendix 20], the control unit is configured such that the higher the probability that the vehicle of the controlled object exists within the aforementioned range of the vehicle of the controlled object, the greater the degree of control that intervenes in the driving of the vehicle of the controlled object.

[0238] [Appendix 23] According to any of the control devices described in [Appendix 9] to [Appendix 20], the closer the distance between the existence range of the other moving body configured by the control unit and the center of the existence range of the vehicle to be controlled, the greater the degree of intervention in the driving of the vehicle to be controlled.

[0239] [Appendix 24] According to any one of the control devices described in [Appendix 21] to [Appendix 23], the control unit is configured to warn the driver in the vehicle to which the control is to be performed, as a control with a small degree of intervention in the driving of the vehicle.

[0240] [Appendix 25] According to any one of the control devices described in [Appendix 21] to [Appendix 23], the control unit is configured to decelerate the vehicle of the controlled object, and the degree of intervention in the vehicle's movement is moderate.

[0241] [Appendix 26] According to any one of the control devices described in [Appendix 21] to [Appendix 23], the control unit is configured to stop the vehicle of the controlled object, and the degree of intervention in the vehicle's movement is moderate.

[0242] [Appendix 27] According to any one of the control devices described in [Appendix 21] to [Appendix 23], the control unit is configured to perform steering control of the controlled object, and to provide control with a greater degree of intervention in vehicle movement.

[0243] [Appendix 28] A control method includes: an acquisition unit acquiring data representing the positions of multiple mobile objects existing in the real world; a calculation unit calculating the range in a virtual space presumed to be the existence range of each of the mobile objects, i.e., the existence range, wherein the virtual space is constructed based on the data acquired by the acquisition unit and reproduces the positions of the multiple mobile objects; and a control unit controlling a vehicle existing in the real world based on the existence range.

[0244] [Appendix 29] A control program is configured to cause an acquisition unit to acquire data representing the positions of multiple mobile objects existing in the real world, and to cause a calculation unit to calculate the range in a virtual space presumed to exist for each of the aforementioned mobile objects, i.e., the range of existence. The virtual space is constructed based on the data acquired by the acquisition unit, reproduces the positions of the multiple mobile objects, and causes the control unit to control vehicles existing in the real world based on the range of existence.

[0245] [Appendix 30] A control device includes: an acquisition unit configured to acquire data representing the positions of a plurality of mobile objects existing in the real world; a calculation unit configured to calculate a space presuming the range in which each of the mobile objects exists, i.e., the range of existence, wherein the space is constructed based on the data acquired by the acquisition unit and reproduces the positions of the plurality of mobile objects; a display control unit configured to display the range of existence on a display device; and a control unit configured to control a vehicle existing in the real world based on the range of existence.

[0246] [Appendix 31] According to the control device described in [Appendix 30], the display control unit is configured to display the above-mentioned existence range based on the content described in any one of [Appendix 1] to [Appendix 8], and the control unit is configured to control the vehicle based on the content described in any one of [Appendix 9] to [Appendix 27].

[0247] [Appendix 32] A control method includes: an acquisition unit acquiring data representing the positions of multiple mobile objects existing in the real world; a calculation unit calculating the range in a virtual space presumed to be the existence range of each of the mobile objects, i.e., the existence range, wherein the virtual space is constructed based on the data acquired by the acquisition unit and reproduces the positions of the multiple mobile objects; a display control unit causing a display device to display the existence range; and a control unit controlling a vehicle existing in the real world based on the existence range.

[0248] [Appendix 33] A control program is configured to cause an acquisition unit to acquire data representing the positions of multiple mobile objects existing in the real world, cause a calculation unit to calculate the range in a virtual space presumed to exist for each of the mobile objects, i.e., the range of existence, wherein the virtual space is constructed based on the data acquired by the acquisition unit and reproduces the positions of the multiple mobile objects, cause a display control unit to display the range of existence on a display device, and cause the control unit to control a vehicle existing in the real world based on the range of existence.

Claims

1. A control device, wherein, have: The acquisition unit is configured to acquire data representing the positions of multiple moving objects existing in the real world; and The display control unit is configured to enable the display device to display the range, or existence range, of the presumed moving objects in the virtual space, wherein the virtual space is constructed based on the data acquired by the acquisition unit and reproduces the positions of the multiple moving objects.

2. The control device according to claim 1, wherein, The acquisition unit is configured to acquire the data collected by multiple sensors.

3. The control device according to claim 1, wherein, The aforementioned acquisition unit is configured to acquire the aforementioned data in a manner that establishes an association with information about the time at which the aforementioned data is acquired.

4. The control device according to claim 1, wherein, It also has: The calculation unit is configured to calculate the range of existence of the moving objects based on the accuracy of the positions of the plurality of moving objects shown in the aforementioned data. The display control unit is configured to display the existence range calculated by the calculation unit on the display device.

5. The control device according to claim 4, wherein, The aforementioned calculation unit is configured to calculate the aforementioned existence range in such a way that the probability of the aforementioned moving object, which is a display object, existing within the aforementioned existence range reaches a predetermined value.

6. The control device according to claim 4, wherein, The display control unit is configured to expand the size of the existence range as time passes from the time it was calculated until the next calculation of the existence range ends, and then display it on the display device.

7. The control device according to claim 1, wherein, The acquisition unit is configured to acquire at least the position data of the mobile body itself, collected by the sensors of the mobile body.

8. The control device according to claim 1, wherein, The acquisition unit is configured to acquire data from the mobile body that represents the position of at least one other mobile body present in the vicinity of the mobile body, collected by sensors present in the mobile body.

9. A control method, wherein, Include: The acquisition unit acquires data representing the positions of multiple moving objects existing in the real world; and The display control unit causes the display device to display the range, or existence range, of the virtual space presumed to be where each of the aforementioned moving objects exists, wherein the virtual space is constructed based on the data acquired by the acquisition unit and reproduces the positions of the plurality of moving objects.

10. A control program, wherein, The composition is as follows: The acquisition unit performs the process of acquiring data representing the positions of multiple moving objects existing in the real world. The display control unit performs a process that presumes the range, or existence range, of each of the aforementioned moving objects in the virtual space displayed on the display device. This virtual space is constructed based on the data acquired by the acquisition unit and reproduces the positions of the multiple moving objects.

11. A control device, wherein, have: The acquisition unit is configured to acquire data representing the positions of multiple moving objects existing in the real world; The computing unit is configured to calculate the presumed range, or existence range, of each of the aforementioned moving objects in a virtual space, wherein the virtual space is constructed based on the data acquired by the acquisition unit and reproduces the positions of the plurality of moving objects; and The control unit is configured to control vehicles existing in the real world based on the aforementioned existence range calculated by the calculation unit.

12. The control device according to claim 11, wherein, The aforementioned calculation unit is configured to calculate the range of existence of the moving object based on a predetermined value for the probability that the moving object exists within the aforementioned range. The control unit is configured to control the vehicle when the range of existence of the controlled object vehicle at least partially overlaps with the range of existence of other moving bodies.

13. The control device according to claim 12, wherein, The control unit is configured to change the content of the control for the vehicle based on the size of the range of the vehicle to be controlled.

14. The control device according to claim 11, wherein, The control unit is configured to, when the existence range of the controlled vehicle at least partially overlaps with the existence range of other moving bodies, change the control content for the controlled vehicle based on the probability that the controlled vehicle exists within the existence range of the controlled vehicle in the virtual space.

15. The control device according to claim 11, wherein, The aforementioned control unit is configured to change the control content for the vehicle being controlled based on the distance between the center of the existence range of other moving bodies that at least partially overlap with the existence range of the vehicle being controlled and the existence range of the vehicle being controlled.

16. The control device according to claim 11, wherein, The smaller the range of the vehicle that the control unit is configured to control, the greater the degree of intervention in the vehicle's driving process.

17. The control device according to claim 11, wherein, The control unit is configured such that the higher the probability that the vehicle to be controlled exists within the aforementioned range of the vehicle to be controlled, the greater the degree of control that intervenes in the driving of the vehicle to be controlled.

18. The control device according to claim 11, wherein, The closer the distance between the existence range of the aforementioned control unit, which is configured as another moving body, and the center of the existence range of the vehicle to be controlled, the greater the degree of intervention in the vehicle's driving is achieved.

19. The control device according to any one of claims 16 to 18, wherein, The aforementioned control unit is configured to warn the driver within the vehicle being controlled, as a form of control that involves minimal intervention in the vehicle's movement.

20. The control device according to any one of claims 16 to 18, wherein, The aforementioned control unit is configured to decelerate the vehicle being controlled, and the degree of intervention in the vehicle's movement is moderate.

21. The control device according to any one of claims 16 to 18, wherein, The aforementioned control unit is configured to stop the vehicle of the controlled object, and the degree of intervention in the vehicle's movement is moderate.

22. The control device according to any one of claims 16 to 18, wherein, The aforementioned control unit is configured to perform steering control of the vehicle to which the aforementioned control object is located, and is a control that intervenes to a greater extent in the movement of the vehicle.

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