Risk area information transmitting device, risk area information transmitting method, and program

Abstract

To reduce a load of processing performed on a vehicle in improving safety in the vehicle.SOLUTION: A risk area information transmitting device and risk area information transmitting method comprise: means for storing position information of a plurality of risk areas which may pose a risk for a vehicle to travel; means for rearranging the plurality of risk areas in order of proximity to a vehicle which is a transmission destination of the plurality of risk areas; and transmitting means for transmitting the position information of the plurality of risk areas rearranged by rearrangement means to the vehicle.SELECTED DRAWING: Figure 11

Description

[Technical field]

[0001] The present invention relates to a risk area information transmission device, a risk area information transmission method, and a program. [Background technology]

[0002] Patent Document 1 describes a system in which a MEC server manages risk areas and provides information about the risk areas to each vehicle. [Prior art document] [Patent documents] Patent Document 1: JP 2021-140470 A Summary of the Invention [Problem to be solved by the invention]

[0003] However, in order to improve the safety of a vehicle, it is necessary to reduce the processing load executed in the vehicle. In order to solve the above problem, the present application aims to improve the safety of a vehicle. In addition, the present application aims to further improve traffic safety and contribute to the development of a sustainable transportation system. [Means for solving the problem]

[0004] In a first aspect of the present invention, there is provided a risk area information transmission device. The risk area information transmission device includes a storage unit that stores position information of a plurality of risk areas that may be a risk in the traveling of a vehicle. The risk area information transmission device includes a sorting unit that sorts the plurality of risk areas in order of proximity to a destination vehicle of the plurality of risk areas. The risk area information transmission device includes a transmission unit that transmits the position information of the plurality of risk areas sorted by the sorting unit to the destination vehicle.

[0005] In the risk area information transmission device, the rearrangement unit may rearrange the multiple risk areas in order of proximity to the destination vehicle to generate transmission data including location information of the multiple risk areas. The transmission unit may transmit the transmission data generated by the rearrangement unit to the destination vehicle.

[0006] In any of the risk area information transmission devices described above, the rearrangement unit may rearrange the multiple risk areas in order of proximity to the destination vehicle along a traveling direction of the destination vehicle.

[0007] In any of the risk area information transmission devices described above, the storage unit may store position information of the plurality of risk areas in further association with coordinate information of an intersection of a perpendicular line from a predetermined point specifying the position of each of the plurality of risk areas to a link on which a vehicle travels and the link. The sorting unit may sort the plurality of risk areas in order of proximity to the destination vehicle along the traveling direction of the destination vehicle based on the coordinate information of the intersection of the perpendicular line and the link.

[0008] Any of the risk area information transmission devices described above may further include a receiving unit that receives request information requesting location information of a risk area from a vehicle. The sorting unit may sort the multiple risk areas in order of proximity to a vehicle that has transmitted the request information. The transmitting unit may transmit information indicating the multiple risk areas sorted by the sorting unit to the vehicle that has transmitted the request information.

[0009] Any of the risk area information transmission devices described above may further include a selection unit that selects a plurality of risk areas within a predetermined distance from the location of the destination vehicle from among a plurality of risk areas whose location information is stored in the storage unit. The sorting unit may sort the plurality of risk areas selected by the selection unit in order of proximity to the destination vehicle.

[0010] In any of the above-mentioned risk area information transmission devices, when the number of risk areas whose location information is stored in the memory unit exceeds a predetermined threshold value that the transmission unit is allowed to transmit at one time, the selection unit may select a number of risk areas whose location information is stored in the memory unit to be transmitted to the destination, with the predetermined threshold value as an upper limit.

[0011] Any of the risk area information transmitting devices described above may further include a receiving unit that receives inquiry information from a vehicle to which the multiple risk areas are transmitted, as to whether or not a moving object is present in a risk area. The inquiry information may include designation information that designates the risk area. The risk area information transmitting device may further include a presence determination unit that determines whether or not a predetermined object is present within an area determined from the position information of a risk area designated by the designation information, among the multiple risk areas whose position information is stored in the storage unit. The transmitting unit may further transmit warning information when the presence determination unit determines that a predetermined object is present within an area determined from the position information of a risk area identified from the designation information.

[0012] In any of the above risk area information transmission devices, the risk area information transmission device may be a mobile edge computing (MEC) server.

[0013] In a second aspect of the present invention, there is provided a risk area information transmission method. The risk area information transmission method includes a step of storing position information of a plurality of risk areas that may be a risk in a vehicle's travel. The risk area information transmission method includes a step of sorting the plurality of risk areas in order of proximity to a vehicle to which the plurality of risk areas are to be transmitted. The risk area information transmission method includes a step of transmitting the position information of the plurality of risk areas sorted by the sorting unit to the vehicle.

[0014] In a third aspect of the present invention, there is provided a program that causes a computer to function as any one of the risk area information transmission devices described above.

[0015] The above summary of the invention does not list all of the features of the present invention. In addition, subcombinations of these features may also be inventions. [Brief description of the drawings]

[0016] [Figure 1] 1 illustrates a schematic diagram of a scenario in which the system 10 is used. [Diagram 2] 1 shows a situation in which an information processing device 64 provided in a vehicle 60 requests position information of a risk area. [Diagram 3] 13 shows a situation where the information processing device 64 makes an inquiry regarding a risk area. [Figure 4] 2 shows a system configuration of a vehicle 20. [Diagram 5] 2 shows the system configuration of the server 52. [Figure 6A] 2 shows a schematic diagram of a risk area identified by a risk area identifying unit 220 in a vehicle 20. [Figure 6B] 6B is a diagram for explaining the processing of the server 52 when the areas 620 and 630 in FIG. 6A exist on a link different from the link 600 to which the area 110 belongs. [Figure 7] 13 shows a data structure of risk area information stored in a storage unit 380 of a server 52. [Figure 8] 13 shows a data structure of risk area information transmitted to the information processing device 64 as response information to request information from the information processing device 64. [Figure 9] FIG. 13 is a diagram for explaining the range of a risk area to which the server 52 transmits one piece of transmission data. [Figure 10] 13 shows a schematic flow of a process relating to an information processing method executed by the vehicle 20 and the server 52. [Figure 11]13 shows an outline of a process flow relating to an information processing method executed by a server 52, a vehicle 60, and a terminal 82. [Figure 12] An example of a computer 2000 is shown. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] The present invention will be described below through embodiments of the invention, but the following embodiments do not limit the scope of the invention according to the claims. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0018] 1 is a schematic diagram showing a usage scenario of a system 10. The system 10 includes a vehicle 20, a vehicle 60, a terminal 82, a base station 50, and a server 52.

[0019] Vehicle 20 and vehicle 60 are vehicles that travel on a road 70. Vehicle 20 is equipped with an information processing device 24 and a sensor 29. The sensor 29 is configured to include a camera. The information processing device 24 has a function of processing information acquired by the sensor 29 and a function of communicating with a server 52 outside the vehicle 60. Vehicle 20 is, for example, a vehicle equipped with an advanced driver assistance system (ADAS) function. Vehicle 60 is equipped with an information processing device 64. The information processing device 64 has a function of communicating with the server 52. Vehicle 60 is, for example, a vehicle that does not have an ADAS function.

[0020] The terminal 82 is a terminal carried by the person 80. The terminal 82 is, for example, a mobile terminal such as a smartphone. The base station 50 is a base station for mobile communication. The server 52 is a server connected to the base station 50. The server 52 may include an edge computing server such as a mobile edge computing (MEC) server. The server 52 continuously manages the location information of the terminal 82. For example, the server 52 manages the latest location information transmitted from the terminal 82. Although one server 52 is illustrated in FIG. 1, the server 52 may be configured by a plurality of servers each connected to a plurality of base stations. The information processing device 24 may communicate with a server in the vicinity of the vehicle 20 among the plurality of servers constituting the server 52, and the information processing device 64 may communicate with a server in the vicinity of the vehicle 60 among the plurality of servers constituting the server 52.

[0021] 1, vehicle 20 and vehicle 60 are vehicles traveling along a road 70. Vehicle 90 is a vehicle parked on the road 70. Vehicle 60 is traveling behind vehicle 20 in the same traveling direction as vehicle 20.

[0022] For the vehicle 20, the area 110 on the side of the parked vehicle 90 in the traveling direction of the vehicle 20 is an area that is difficult to see from the position of the vehicle 20. The information processing device 24 identifies the area 110 that is not visible from the vehicle 20, based on information such as an image in the traveling direction acquired by the sensor 29, as a risk area.

[0023] For example, the information processing device 24 determines four vertices 111, 112, 113, and 114 of a rectangular area 110 including the position of the vehicle 90, based on the recognition information of the image acquired by the sensor 29. The vertex 113 is a point separated in the traveling direction of the vehicle 20 by a distance L1 from the vertex 111 determined based on the recognition information of the image. The vertex 114 is a point separated in the traveling direction of the vehicle 20 by a distance L1 from the vertex 112 determined based on the recognition information of the image. L1 is a distance determined according to the vehicle speed of the vehicle 20.

[0024] The information processing device 24 transmits risk area information including the four vertices 111, 112, 113, and 114 to the server 52 in order to inquire of the server 52 as to whether or not the terminal 82 exists within the area 110. In the example of Fig. 1, since the terminal 82 does not exist within the area 110 defined by the four vertices 111, 112, 113, and 114, the server 52 either discards the inquiry information or transmits response information to the vehicle 20 indicating that the terminal 82 does not exist.

[0025] The server 52 stores the coordinate information of the two vertices 111 and 112 that are located closer to the vehicle 20 out of the four vertices 111, 112, 113 and 114 contained in the risk area information received from the information processing device 24, and provides the coordinate information to other vehicles including the vehicle 60 following the vehicle 20.

[0026] 2 shows a situation in which the information processing device 64 included in the vehicle 60 requests position information of a risk area. When the information processing device 64 is present in an area in which it can communicate with the server 52, it transmits risk area request information to the server 52. The server 52 transmits risk area information including stored coordinate information of the vertices 111 and 112 of the area 110 and identification information of the risk area to the information processing device 64. The information processing device 64 stores the information received from the server 52.

[0027] 3 shows a situation in which the information processing device 64 makes an inquiry about a risk area. The information processing device 64 transmits inquiry information to the server 52 when the distance of the vehicle 20 to a position indicated by the coordinate information of at least one of the vertices 111 and 112 becomes less than a predetermined distance. The inquiry information includes the identification information of the risk area received from the server 52.

[0028] The server 52 determines vertices 113' and 114' by extending the distance L2 from the two vertices 111 and 112 of the risk area identified by the identification information of the risk area included in the inquiry information received from the information processing device 64 in the traveling direction of the vehicle 60. The distance L2 may be set according to the vehicle speed of the vehicle 60. When the location information of the terminal 82 managed by the server 52 is included in the area 110' defined by the vertices 111, 112, 113', and 114', the server 52 transmits warning information to the information processing device 64 and the terminal 82. When the information processing device 64 receives the warning information from the server 52, it outputs a warning to the passenger of the vehicle 60. For example, the information processing device 64 outputs a warning to the passenger through an HMI (Human Machine Interface) function of the vehicle 20. As a result, the information processing device 64 can output a warning using the risk area received from the server 52 by the wireless communication function, even if the information processing device 64 itself does not have a function of recognizing the risk area by a sensing means such as a camera. Furthermore, when the terminal 82 receives warning information from the server 52, the terminal 82 outputs a warning to the person 80. For example, the terminal 82 outputs a warning to the person 80 through an HMI function that the terminal 82 has.

[0029] 4 shows a system configuration of the vehicle 20. The vehicle 20 includes a sensor 29, an information processing device 24, a communication device 48, and an information output device 40.

[0030] The sensor 29 includes a radar 21, a camera 22, a GNSS receiver 25, and a vehicle speed sensor 26. The radar 21 may be a LiDAR or a millimeter wave radar. The GNSS receiver 25 receives radio waves transmitted from a GNSS (Global Navigation Satellite System) satellite. The GNSS receiver 25 generates information indicating the current position of the vehicle 20 based on a signal received from the GNSS satellite. The camera 22 is an example of an imaging device mounted on the vehicle 20. The camera 22 captures an image of the periphery of the vehicle 20 to generate image information. For example, the camera 22 captures an image in the traveling direction of the vehicle 20 to generate image information. The camera 22 may be a monocular camera. The camera 22 may be a compound eye camera that can acquire distance information to an object. The camera 22 recognizes an object based on an image acquired by an imaging function, and outputs position information of the recognized object. The vehicle speed sensor 26 detects the vehicle speed of the vehicle 20. The sensor 29 may include a position sensor such as an odometer, and an IMU (inertial measurement unit) such as an acceleration sensor or an attitude sensor.

[0031] The vehicle 20 may include a driving assistance control device that uses information detected by the sensor 29 to assist in driving the vehicle 20. The driving assistance control device may be realized by an ECU that provides an ADAS function.

[0032] The communication device 48 is responsible for communication with the server 52. The communication device 48 may communicate with the server 52 by mobile communication. The communication device 48 may be capable of communicating through, for example, a mobile base station via communication (Uu) interface for vehicle-to-vehicle communication.

[0033] The information output device 40 is a device that outputs warning information. The information output device 40 may have an HMI function. The information output device 40 may include a head-up display or a navigation system. The information output device 40 may be a mobile terminal carried by an occupant of the vehicle 20. The information output device 40 may include an audio output device that outputs warning information by voice.

[0034] The information processing device 24 includes a control unit 200 and a storage unit 280. The control unit 200 is realized by a circuit such as an arithmetic processing device including a processor. The storage unit 280 is realized by including a non-volatile storage medium. The control unit 200 performs processing using information stored in the storage unit 280. The control unit 200 may be realized by an ECU (Electronic Control Unit) including a microcomputer including a CPU, a ROM, a RAM, an I / O, a bus, etc.

[0035] The control unit 200 includes a coordinate information acquisition unit 210, a risk area identification unit 220, and a control unit 208. A configuration may be adopted in which the control unit 200 does not have some of the functions of the functional blocks shown in Fig. 4. For example, a configuration may be adopted in which only some of the functions are implemented in the control unit 200, and the other functions are implemented as functions of other circuits such as the sensor 29.

[0036] The risk area identification unit 220 identifies a risk area outside the vehicle 20. The communication device 48 transmits risk area information indicating the risk area identified by the risk area identification unit 220 to a server that holds information about the risk area. The risk area identification unit 220 may identify an area defined by a plurality of points as a risk area, and the communication device 48 may transmit coordinate information of the plurality of points as the risk area information to the server 52. The plurality of points defining the risk area may be a plurality of vertices defining the area identified as the risk area. The plurality of points defining the risk area may be a plurality of vertices defining a polygonal area identified as the risk area.

[0037] The risk area may be an area outside the vehicle 20 that is a risk to the travel of the vehicle 20. The risk area may be an area that is out of sight from the position of the vehicle 20 due to an object outside the vehicle 20. The out-of-sight area is, for example, position information of an area where occlusion occurs due to being blocked by a three-dimensional object such as another vehicle, a building, or a roadside tree when viewed from the position of the vehicle 20.

[0038] The coordinate information acquisition unit 210 acquires coordinate information of an object recognized from an image of the outside of the vehicle 20 captured by the camera 22 mounted on the vehicle 20. The risk area identification unit 220 may identify a risk area based on the coordinate information of an object recognized from the image of the outside of the vehicle 20 captured by the camera 22.

[0039] The control unit 208 may control the execution of driving assistance for the vehicle 20 or a warning to the occupants of the vehicle 20. For example, when the information output device 40 includes a head-up display, the control unit 208 may cause the head-up display of the vehicle 20 to output light for forming a mark as warning information indicating that a pedestrian is present in the risk area. The control unit 208 also causes the head-up display to output light for forming a mark in a display area corresponding to the position of the risk area where the pedestrian is present. The control unit 208 may project light for forming a mark toward a reflective member provided on the windshield of the vehicle 20. The control unit 208 may output warning information by voice or text. The control unit 208 may also control the running of the vehicle 20 through a driving assistance control device provided in the vehicle 20.

[0040] 5 shows a system configuration of the server 52. The server 52 includes a communication device 390, a control unit 300, and a storage unit 380.

[0041] The control unit 300 controls the communication device 390. The communication device 390 is responsible for communication between the terminal 82 and the information processing device 24. The communication device 390 includes a receiving unit 392 and a transmitting unit 394. The control unit 200 is realized by a circuit such as an arithmetic processing device including a processor. The storage unit 380 is realized by including a non-volatile storage medium. The control unit 300 performs processing using information stored in the storage unit 380. The control unit 300 may be realized by a microcomputer including a CPU, ROM, RAM, I / O, a bus, etc.

[0042] The control unit 300 includes a selection unit 310, a presence determination unit 320, and a rearrangement unit 330. A configuration may be adopted in which the control unit 300 does not have some of the functions of the functional blocks shown in FIG.

[0043] The receiving unit 392 receives risk area information indicating a risk area outside the vehicle 20 identified by the vehicle 20.

[0044] The storage unit 380 stores position information of multiple risk areas that may be risks in the traveling of the vehicle. The sorting unit 330 sorts the multiple risk areas in order of proximity to the vehicle to which the multiple risk areas are to be transmitted. The transmission unit 394 transmits the position information of the multiple risk areas sorted by the sorting unit 330 to the vehicle.

[0045] The sorting unit 330 sorts the multiple risk areas in order of proximity to the destination vehicle, and generates transmission data including the location information of the multiple risk areas. The transmission unit 394 transmits the transmission data generated by the sorting unit 330 to the destination vehicle.

[0046] The sorting unit 330 may sort the multiple risk areas in order of proximity to the destination vehicle along the driving direction of the destination vehicle. The storage unit 380 may further store the position information of the multiple risk areas in association with coordinate information of an intersection of a perpendicular line from a predetermined point that identifies the position of each of the multiple risk areas to the link on which the vehicle travels and the link. The sorting unit 330 may sort the multiple risk areas in order of proximity to the destination vehicle along the driving direction of the destination vehicle based on the coordinate information of the intersection of the perpendicular line and the link.

[0047] The receiving unit 392 receives request information requesting location information of the risk areas from the vehicle. The sorting unit 330 sorts the multiple risk areas in order of proximity to the vehicle that transmitted the request information, and the transmitting unit 394 transmits information indicating the multiple risk areas sorted by the sorting unit 330 to the vehicle that transmitted the request information.

[0048] The selection unit 310 selects multiple risk areas within a predetermined distance from the location of the destination vehicle from among multiple risk areas whose location information is stored in the storage unit 380. The sorting unit 330 sorts the multiple risk areas selected by the selection unit 310 in order of proximity to the destination vehicle.

[0049] When the number of risk areas whose location information is stored in the memory unit 380 exceeds a predetermined threshold value that is permitted to be transmitted to the destination vehicle at one time, the selection unit 310 selects multiple risk areas whose location information is stored in the memory unit 380 to be transmitted to the destination vehicle, up to an upper limit of the predetermined threshold value.

[0050] The receiving unit 392 periodically receives the position information of a plurality of terminals including the terminal 82. The server 52 stores the position information of the plurality of terminals received by the receiving unit 392 in the storage unit 380, thereby managing the position information of each of the plurality of terminals.

[0051] The receiving unit 392 receives inquiry information from a vehicle to which multiple risk areas are transmitted, as to whether or not a moving object exists in the risk area. The inquiry information includes designation information that designates the risk area. The designation information may include identification information of the risk area, and may include location information of the risk area. The presence determination unit 320 determines whether or not a predetermined object exists in an area determined by the location information of a risk area designated by the designation information, among multiple risk areas whose location information is stored in the storage unit 380. The predetermined object is, for example, a pedestrian or a terminal 82 carried by the pedestrian. The presence determination unit 320 determines whether or not any terminal exists in a risk area designated by the designation information included in the inquiry information, based on the location information of multiple terminals managed by the server 52.

[0052] When the presence determination unit 320 determines that a predetermined object exists within an area determined from the position information of a risk area designated by the risk area designation information, the transmission unit 394 transmits warning information. The transmission unit 394 may transmit the warning information to the vehicle 60, or may transmit the warning information to the terminal 82 that exists within the risk area.

[0053] Fig. 6A shows a schematic diagram of a risk area identified by the risk area identifying unit 220. Fig. 6A shows an example of identifying a rectangular area as the risk area.

[0054] In the example shown in FIG. 6A, the risk area identification unit 220 sets an area 110 surrounding the position where the vehicle 90 exists based on the coordinate information indicating the presence range of the vehicle 90 recognized by the coordinate information acquisition unit 210 from the information detected by the sensor 29, and identifies the area 110 as a first risk area. The area 110 is a rectangular area defined by connecting a vertex 111, a vertex 112, a vertex 114, and a vertex 113. Each vertex is set so that the line segment connecting the vertex 111 and the vertex 112 and the line segment connecting the vertex 113 and the vertex 114 are perpendicular to the running direction of the vehicle 20, and the line segment connecting the vertex 111 and the vertex 113 and the line segment connecting the vertex 112 and the vertex 114 are parallel to the running direction of the vehicle 20. The vertex 113 is determined to be at a position away from the vertex 111 by a distance L1 in the traveling direction of the vehicle 20, and the vertex 114 is determined to be at a position away from the vertex 112 by a distance L1 in the traveling direction of the vehicle 20. L1 may be determined according to the speed of the vehicle 20. L1 may be determined to be longer as the speed of the vehicle 20 increases.

[0055] Similarly, the risk area specification unit 220 sets an area 620 surrounding the position where the vehicle 92 exists based on the coordinate information indicating the existence range of the vehicle 92 recognized by the coordinate information acquisition unit 210 from the information detected by the sensor 29, and specifies the area 620 as a second risk area. The area 620 is a rectangular area defined by connecting a vertex 621, a vertex 622, a vertex 624, and a vertex 623. Each vertex is set so that the line segment connecting the vertex 621 and the vertex 622 and the line segment connecting the vertex 623 and the vertex 624 are perpendicular to the running direction of the vehicle 20, and the line segment connecting the vertex 621 and the vertex 623 and the line segment connecting the vertex 622 and the vertex 624 are parallel to the running direction of the vehicle 20. The vertex 623 is determined to be at a position away from the vertex 621 by a distance L1 in the traveling direction of the vehicle 20, and the vertex 624 is determined to be at a position away from the vertex 112 by a distance L1 in the traveling direction of the vehicle 20.

[0056] Similarly, the risk area identification unit 220 sets an area 630 surrounding the position where the vehicle 93 exists based on the coordinate information indicating the presence range of the vehicle 93 recognized by the coordinate information acquisition unit 210 from the information detected by the sensor 29, and identifies the area 630 as a third risk area. The area 630 is a rectangular area defined by connecting a vertex 631, a vertex 632, a vertex 634, and a vertex 633. Each vertex is set so that the line segment connecting the vertex 631 and the vertex 632 and the line segment connecting the vertex 633 and the vertex 634 are perpendicular to the running direction of the vehicle 20, and the line segment connecting the vertex 631 and the vertex 633 and the line segment connecting the vertex 632 and the vertex 634 are parallel to the running direction of the vehicle 20. The vertex 633 is determined to be at a position away from the vertex 631 by a distance L1 in the traveling direction of the vehicle 20, and the vertex 634 is determined to be at a position away from the vertex 632 by a distance L1 in the traveling direction of the vehicle 20.

[0057] In this embodiment, it is assumed that the information processing device 24 of the vehicle 20 recognizes the vehicle 90, the vehicle 92, and the vehicle 93 as predetermined target objects in this order. As a result, it is assumed that the risk area identification unit 220 identifies the area 110, the area 620, and the area 630 as risk areas in this order, and transmits risk area information regarding each risk area to the server 52. In this embodiment, the risk area information of the area 110 includes the coordinates of two vertices 111 and 112 of the area 110 that are closer to the vehicle 20, the time when the vehicle 20 detected the area 110, information indicating a risk factor, current position information of the vehicle 20, and the traveling direction of the vehicle 20. The risk factor is, for example, information indicating "out of line of sight" or the like indicating that the area is out of line of sight from the vehicle 20.

[0058] When the server 52 receives the risk area information of the area 110, it identifies an intersection 601 between the link 600 and a perpendicular line from a vertex 111 close to the center of the road 70 in a direction perpendicular to the traveling direction of the vehicle 20 to the link 600, and stores the coordinates of the identified intersection 601 in the storage unit 380 together with the coordinates of the vertices of the area 110. Similarly, when the server 52 receives the risk area information of the area 620, it identifies an intersection 602 between the link 600 and a perpendicular line from a vertex 622 close to the center of the road 70 in a direction perpendicular to the traveling direction of the vehicle 20 to the link 600, and stores the coordinates of the identified intersection 602 in the storage unit 380 together with the coordinates of the vertices of the area 620. Similarly, when the server 52 receives risk area information for area 630, it identifies an intersection 603 between the link 600 and a perpendicular line from a vertex 631 near the center of the road 70 in a direction perpendicular to the direction of travel of the vehicle 20, and stores the coordinates of the identified intersection 603 in the memory unit 380 together with the coordinates of the vertices of area 630.

[0059] Fig. 6B is a diagram for explaining the processing of the server 52 in the case where the areas 620 and 630 in Fig. 6A are present in a link different from the link 600 to which the area 110 belongs. The processing in the information processing device 24 of the vehicle 20 is the same as the processing explained in relation to Fig. 6A, and therefore will not be explained.

[0060] 6B, it is assumed that link 600 is a link whose end point is node 609. Similar to the case of FIG. 6A, when server 52 receives risk area information of area 110, server 52 identifies intersection 601 between link 600 and a perpendicular line from vertex 111 to link 600 on which vehicle 20 is traveling, and stores the coordinates of identified intersection 601 in storage unit 380 together with the coordinates of two vertices 111 and 112 of area 110.

[0061] When the server 52 receives risk area information of the area 620 not belonging to the link 600, the server 52 sets an extension line 650 of the link 600. The extension line 650 is, for example, a straight line obtained by extending a tangent line at a node 609 of the link 600. The server 52 identifies an intersection 652 between the link 600 and a perpendicular line from a vertex 622 to the extension line 650, and the perpendicular line from the vertex 622 to the extension line 650, and stores the coordinates of the identified intersection 652 in the storage unit 380 together with the coordinates of the two vertices 621 and 622 of the area 620. When the server 52 receives risk area information of the area 630 not belonging to the link 600, the server 52 identifies an intersection 653 between the link 600 and a perpendicular line from a vertex 631 to the extension line 650, and the perpendicular line from the vertex 631 to the extension line 650, and stores the coordinates of the identified intersection 653 in the storage unit 380 together with the coordinates of the two vertices 631 and 632 of the area 630.

[0062] 7 shows the data structure of risk area information stored in the storage unit 380 of the server 52. The data stored as risk area information in the storage unit 380 includes, as data items, a risk area ID, detection time, storage time, risk factor, risk area coordinates, link ID, link intersection, and direction. The storage unit 380 stores one piece of data having these data items for each risk area.

[0063] The risk area ID is identification information of a plurality of risk areas stored as risk area information in the storage unit 380. The risk area ID is identification information that is assigned by the server 52 when the server 52 registers data of one of the risk areas.

[0064] The detection time is the time when the risk area is detected in the vehicle 20. The detection time is included in the risk area information transmitted from the information processing device 24.

[0065] The storage time is the time when the record of the risk area is stored in the storage unit 380 of the server 52.

[0066] The risk factor is information for identifying the cause of a risk. The risk factor is included in the risk area information transmitted from the information processing device 24.

[0067] The risk area coordinates indicate two geographic coordinates for identifying a risk area. The risk area coordinates are the coordinates of two vertices included in the risk area information transmitted from the information processing device 24.

[0068] The link ID is identification information of a link associated with a risk area. The link associated with a risk area may be, for example, a link on which the vehicle 20 is traveling, which is identified by map matching from the current position of the vehicle 20 and map information stored in the server 52. In another embodiment, the link associated with a risk area may be, for example, a link corresponding to the positions of two vertices, which is identified by map matching from the coordinates of two vertices included in the risk area information and map information. The server 52 may store in advance map information including the positions of nodes indicating points on the road on which the vehicle is traveling, and links connecting a plurality of nodes.

[0069] The link intersection is the coordinates of the intersection between the perpendicular lines from two vertices included in the risk area information to the link identified by the link ID and the link. For example, the link intersection stores the coordinates of the intersection between the perpendicular line from the vertex 111 of the area 110 to the link 600 and the link 600.

[0070] The direction is direction information associated with the risk area. The direction information may be information based on the direction in which the vehicle 20 travels. The server 52 may identify the direction in which the vehicle 20 travels from the traveling direction of the vehicle 20 included in the risk area information. The server 52 may set the direction associated with the link on which the vehicle 20 travels as the direction information. The server 52 may set information indicating whether the direction is uphill or downhill with respect to the direction associated with the link on which the vehicle 20 travels as the direction information.

[0071] 7, when the information processing device 24 of the vehicle 20 detects areas 110, 620, and 630 in this order, the risk area data is also added in this order to the memory unit 380. That is, the risk area ID "1110001" is the identification information for area 110, the risk area ID "1210002" is the identification information for area 620, and the risk area ID "1310003" is the identification information for area 630.

[0072] As described in relation to FIG. 6A, FIG. 6B, FIG. 7, etc., the server 52 stores in the storage unit 380 information corresponding to the link 600 on which the vehicle 20 was traveling when the vehicle 20 detected the risk area. Specifically, the server 52 stores in the storage unit 380 risk area coordinates in association with the link intersection and link ID calculated based on the link 600. In this way, when the selection unit 310 of the server 52 receives request information transmitted from the vehicle 60 while the vehicle 60 is traveling on the link 600, the selection unit 310 can select the risk area associated with the link 600 on which the vehicle 60 is traveling with a small amount of calculation. Furthermore, from the coordinates of the link intersection stored in the storage unit 380, position information close to the vehicle 60 in the direction along the link 600 can be obtained with a small amount of calculation.

[0073] Fig. 8 shows the data structure of risk area information transmitted to the information processing device 64 as response information to request information from the information processing device 64. The data structure shown in Fig. 8 is particularly the data structure of the data portion of the risk area data included in the risk area information transmitted to the information processing device 64. The example of Fig. 8 shows a case where information on three risk areas, area 110, area 620, and area 630, is included in the risk area data. The data with the data structure shown in Fig. 8 is generated by the sorting unit 330 sorting the data stored in the memory unit 380 in order of proximity to the position of the vehicle 60.

[0074] The risk area data includes, in that order, a data number section 801, a first risk area ID section 802, a first coordinate data section 803, a second risk area ID section 804, a second coordinate data section 805, a third risk area ID section 806, and a third coordinate data section 807. A value indicating the number of risk areas is stored in the data number section 801. When transmitting risk area data including information on the three risk areas shown in FIG. 6A or 6B, "3" is stored in the data number section 801.

[0075] The first risk area ID section 802 stores the risk area ID of the risk area closest to the vehicle 60. The first coordinate data section 803 stores coordinate information of two vertices of the risk area closest to the vehicle 60. In this embodiment, the first risk area ID section 802 and the first coordinate data section 803 store information of the area 110.

[0076] The second risk area ID section 804 stores the risk area ID of the risk area second closest to the vehicle 60. The second coordinate data section 805 stores coordinate information of two vertices of the risk area second closest to the vehicle 60. In this embodiment, the second risk area ID section 804 and the second coordinate data section 805 store information of the area 630.

[0077] The third risk area ID section 806 stores the risk area ID of the risk area third closest to the vehicle 60. The third coordinate data section 807 stores coordinate information of two vertices of the risk area third closest to the vehicle 60. In this embodiment, the third risk area ID section 806 and the third coordinate data section 807 store information of the area 620.

[0078] The sorting unit 330 generates risk area data by sorting the risk area data stored in the storage unit 380 in order of proximity to the current position of the vehicle 60 based on the current position of the vehicle 60 included in the request information and the coordinates of the link intersections included in the risk area information stored in the storage unit 380. In this way, the risk area data is generated by sorting the data in order of proximity to the link intersections from the current position of the vehicle 60, so that the risk areas can be sorted in order of proximity to the vehicle 60 along the traveling direction of the vehicle 60. As a result, the information processing device 64 can obtain pairs of risk area IDs and coordinate data in order of proximity to the vehicle 60 along the traveling direction of the vehicle 60 by reading the risk area data in order from the top. Therefore, the information processing device 64 does not need to sort the data in order along the links based on the coordinate data. In addition, the server 52 sorts the data in order in the direction along the links based on the coordinates of the link intersections, so that the information processing device 64 can obtain data in the correct order along the links along which the vehicle 60 travels with a small amount of calculation.

[0079] FIG. 9 is a diagram for explaining the range of risk areas transmitted by the server 52 in one transmission data. When the selection unit 310 receives request information from the information processing device 64, it selects risk areas whose distance from the current position of the vehicle 60 in the direction along the traveling direction of the vehicle 60 is equal to or less than a predetermined distance threshold and equal to or less than a predetermined number threshold. The distance threshold may be, for example, on the order of hundreds of meters or on the order of kilometers. The number threshold has an upper limit determined by the data length determined from the data format of the risk area data transmitted to the information processing device 64. The number threshold may be a value of about 10. At least one of the distance threshold and the number threshold may be specified by the information processing device 64.

[0080] Figure 9 shows a case where eleven risk areas, namely risk area 901, risk area 902, risk area 903, risk area 904, risk area 905, risk area 906, risk area 907, risk area 908, risk area 909, risk area 910 and risk area 911, are stored in memory unit 380 as risk area information, and the targets to which the risk area information is transmitted are limited by a distance threshold.

[0081] The selection unit 310 selects eight risk areas 901, 902, 903, 904, 905, 906, 907, and 908, in which the distance from the current position of the vehicle 60 to the link intersection of the risk area is equal to or less than a predetermined distance threshold. At this time, the selection unit 310 may select a risk area regardless of whether it is associated with the same link as the link on which the vehicle 60 is currently traveling. However, when a plurality of links are connected beyond the link on which the vehicle 60 is traveling and the future traveling route of the vehicle 60 is unknown, the selection unit 310 may select only the risk area associated with the link on which the vehicle 60 is predicted to travel.

[0082] The rearrangement unit 330 rearranges the risk areas selected by the selection unit 310 in the order of risk area 901, risk area 902, risk area 907, risk area 903, risk area 904, risk area 908, risk area 905 and risk area 906, and generates risk area data including the number of data items, risk area IDs and coordinate data. The transmission unit 394 transmits risk area information including the transmission data generated by the rearrangement unit 330 to the information processing device 64.

[0083] When the number of risk areas in which the distance from the current position of the vehicle 60 to the link intersection of the risk area is equal to or less than the distance threshold exceeds a predetermined number threshold, the selection unit 310 selects risk areas with the number threshold as the upper limit.

[0084] 10 shows a schematic flow of a process related to an information processing method executed by the vehicle 20 and the server 52. In S1002, the risk area identification unit 220 of the vehicle 20 identifies a risk area based on information recognized by the sensor 29. For example, the risk area identification unit 220 determines four vertices that define the risk area 110 based on coordinate information of the stopped vehicle 90 output by the sensor 29 acquired by the coordinate information acquisition unit 210.

[0085] In S1004, the communication device 48 transmits risk area information inquiring as to whether or not a predetermined target is present within the risk area to the server 52. When the server 52 receives the risk area information transmitted from the vehicle 20, in S1006, the storage unit 380 registers, as risk area coordinates, the coordinate information of two vertices that are closer to the vehicle 20 among the coordinates of the vertices included in the risk area information received from the information processing device 24.

[0086] In S1008, the presence determination unit 320 determines whether or not the terminal 82 is present within the area defined by the four vertices included in the risk area information received from the vehicle 20. For example, in the situation shown in Fig. 1, the presence determination unit 320 determines that the terminal 82 is not present within the area 110 defined by the four vertices included in the risk area information. In this case, the transmission unit 394 does not transmit response information to the risk area information to the vehicle 20. If the terminal 82 is not present within the area defined by the four vertices included in the risk area information, the transmission unit 394 may transmit response information to the vehicle 20 indicating that no target is present within the risk area.

[0087] In S1012, the risk area identification unit 220 of the vehicle 20 identifies a risk area based on information recognized by the sensor 29. For example, the risk area identification unit 220 determines four vertices that define the risk area 620 based on the coordinate information of the stopped vehicle 92 output by the sensor 29 acquired by the coordinate information acquisition unit 210.

[0088] In S1014, the communication device 48 transmits risk area information inquiring as to whether or not a predetermined target is present within the risk area to the server 52. When the server 52 receives the risk area information transmitted from the vehicle 20, in S1016, the storage unit 380 registers, as risk area coordinates, the coordinate information of two vertices that are closer to the vehicle 20 among the coordinates of the vertices included in the risk area information received from the information processing device 24.

[0089] In S1018, the presence determination unit 320 determines whether or not the terminal 82 is present within the area defined by the four vertices included in the risk area information received from the vehicle 20. In this flowchart, the presence determination unit 320 determines that the terminal 82 is not present within the area defined by the four vertices included in the risk area information. Therefore, in this flowchart, the transmission unit 394 does not transmit response information to the risk area information to the vehicle 20.

[0090] In S1022, the risk area identification unit 220 of the vehicle 20 identifies a risk area based on information recognized by the sensor 29. For example, the risk area identification unit 220 determines four vertices that define the risk area 630 based on the coordinate information of the stopped vehicle 93 output by the sensor 29 acquired by the coordinate information acquisition unit 210.

[0091] In S1024, the communication device 48 transmits risk area information inquiring as to whether or not a predetermined target exists within the risk area to the server 52. When the server 52 receives the risk area information transmitted from the vehicle 20, in S1026, the storage unit 380 registers, as risk area coordinates, the coordinate information of two vertices that are closer to the vehicle 20 among the coordinates of the vertices included in the risk area information received from the information processing device 24.

[0092] In S1028, the presence determination unit 320 determines whether or not the terminal 82 is present within the area defined by the four vertices included in the risk area information received from the vehicle 20. As described above, in this flowchart, it is determined that the terminal 82 is not present within the area defined by the four vertices included in the risk area information, and no response information to the risk area information is transmitted to the vehicle 20.

[0093] In this flowchart, an example is shown in which the server 52 registers the position information of a risk area detected by the vehicle 20, but the server 52 can register risk areas detected by a plurality of vehicles.

[0094] 11 is a schematic diagram showing a process flow relating to an information processing method executed by the server 52, the vehicle 60, and the terminal 82. The process in FIG. 11 is executed after the process in FIG.

[0095] In S1122, the information processing device 64 of the vehicle 60 transmits request information requesting position information of the risk area to the server 52. The request information may include information indicating the position of the vehicle 60 and the traveling direction of the vehicle 60. When the server 52 receives the request information, in S1112, the selection unit 310 selects the risk area to be transmitted, and the rearrangement unit 330 rearranges the information of the risk area. In S1114, the communication device 390 transmits risk area information to the vehicle 60 as response information to the request information. The risk area transmitted to the vehicle 60 in S1114 includes, as transmission data, the coordinate information of the two vertices of the risk area rearranged by the rearrangement unit 330 and the risk area ID.

[0096] In S1124, when the information processing device 64 determines that the vehicle 60 is approaching the position indicated by the coordinate information of the vertex based on the current position of the vehicle 60 and the coordinate information of the vertex received from the server 52, it transmits inquiry information to the server 52. The inquiry information includes a risk area ID of the risk area closest to the vehicle 60 among the risk areas in the traveling direction of the vehicle 60. The inquiry information may include information indicating the current position, traveling direction, and vehicle speed of the vehicle 60.

[0097] When the server 52 receives the inquiry information transmitted from the vehicle 60, in S1116, the presence determination unit 320 determines whether or not the terminal 82 exists within the area defined by the two vertices of the risk area coordinates associated with the risk area ID included in the inquiry information received from the vehicle 60. For example, in the situation shown in FIG. 3, the presence determination unit 320 identifies the vertices 113' and 114' from the two vertices 111 and 112 associated with the risk area ID included in the inquiry information, and determines that the terminal 82 exists within the area 110 defined by the four vertices. In this case, in S1118, the transmission unit 394 transmits, as response information to the inquiry information, warning information to the vehicle 60 indicating that the terminal 82 exists within the area. The transmission unit 394 also transmits warning information to the terminal 82 indicating that a vehicle is approaching.

[0098] When the information processing device 64 receives the warning information from the server 52, in S1128, the information processing device 64 outputs a warning to the passengers of the vehicle 60 by the HMI function of the information output device 40. Also, when the terminal 82 receives the warning information from the server 52, in S1138, the terminal 82 outputs a warning to the person 80 by the HMI function of the terminal 82.

[0099] The communication between the information processing device 24 and the information processing device 64 and the server 52 may be performed in a communication method conforming to Cellular-V2X. The Cellular-V2X includes communication methods such as LTE-V2X PC5 and 5G-V2X PC5. In another embodiment, the communication between the information processing device 24 and the information processing device 64 and the server 52 may adopt a form using Wi-Fi (registered trademark) or DSRC (Dedicated Short Range Communications). The communication between the information processing device 24 and the information processing device 64 and the server 52 may adopt any communication method such as Bluetooth (registered trademark) in addition to Cellular-V2X and DSRC (registered trademark). The information processing device 24 and the information processing device 64 may communicate with the server 52 using a communication infrastructure provided by ITS (Intelligent Transport Systems).

[0100] The vehicle 20 and the vehicle 60 may be examples of transportation equipment. The transportation equipment may include automobiles such as passenger cars and buses, saddle-type vehicles, bicycles, and the like. In the above-described embodiment, the system 10 functions as a system for issuing a warning when the terminal 82 is present within the risk area, but may also function as a system for issuing a warning when there is any communication device other than the terminal 82 that can manage location information of the server 52. Such a communication device may be provided in any vehicle such as an automobile, a saddle-type vehicle, or a bicycle.

[0101] According to the system 10 described above, the server 52 can rearrange information on a plurality of risk areas according to the distance from the vehicle 60 and transmit the information to the vehicle 60. Therefore, the vehicle 60 does not need to rearrange the risk areas received from the server 52, which reduces the processing load on the vehicle 60. Furthermore, the server 52 stores the risk areas in association with the links on which the vehicle 60 is traveling, so that in response to a request from the vehicle 60 traveling on the link, it is possible to quickly select information on appropriate risk areas according to the link on which the vehicle 60 is traveling.

[0102] 12 shows an example of a computer 2000 in which multiple embodiments of the present invention may be embodied in whole or in part. A program installed in the computer 2000 can cause the computer 2000 to function as an apparatus such as the information processing device 24 according to an embodiment or each part of the apparatus, or as a server such as the server 52 according to an embodiment or each part of the server, execute operations associated with the apparatus, each part of the apparatus, the server, or each part of the server, and / or execute a process or steps of the process according to an embodiment. Such a program may be executed by the CPU 2012 to cause the computer 2000 to execute specific operations associated with some or all of the blocks of the processing procedures and block diagrams described herein.

[0103] The computer 2000 according to this embodiment includes a CPU 2012 and a RAM 2014, which are connected to each other by a host controller 2010. The computer 2000 also includes a ROM 2026, a flash memory 2024, a communication interface 2022, and an input / output chip 2040. The ROM 2026, the flash memory 2024, the communication interface 2022, and the input / output chip 2040 are connected to the host controller 2010 via the input / output controller 2020.

[0104] The CPU 2012 operates according to the programs stored in the ROM 2026 and RAM 2014, thereby controlling each unit.

[0105] The communication interface 2022 communicates with other electronic devices via a network. The flash memory 2024 stores programs and data used by the CPU 2012 in the computer 2000. The ROM 2026 stores a boot program and the like executed by the computer 2000 upon activation, and / or a program that depends on the hardware of the computer 2000. The input / output chip 2040 may also connect various input / output units, such as a keyboard, mouse, and monitor, to the input / output controller 2020 via input / output ports, such as a serial port, a parallel port, a keyboard port, a mouse port, a monitor port, a USB port, an HDMI port, and the like.

[0106] The programs are provided via a computer-readable storage medium such as a CD-ROM, a DVD-ROM, or a memory card, or a network. The RAM 2014, the ROM 2026, or the flash memory 2024 are examples of computer-readable storage media. The programs are installed in the flash memory 2024, the RAM 2014, or the ROM 2026, and executed by the CPU 2012. Information processing described in these programs is read by the computer 2000, and brings about cooperation between the programs and the various types of hardware resources described above. An apparatus or method may be constructed by implementing an operation or processing of information according to the use of the computer 2000.

[0107] For example, when communication is performed between the computer 2000 and an external device, the CPU 2012 may execute a communication program loaded in the RAM 2014 and instruct the communication interface 2022 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 2012, the communication interface 2022 reads transmission data stored in a transmission buffer processing area provided in a recording medium such as the RAM 2014 and the flash memory 2024, transmits the read transmission data to a network, and writes reception data received from the network to a reception buffer processing area or the like provided on the recording medium.

[0108] Furthermore, the CPU 2012 may cause all or a necessary portion of a file or database stored on a recording medium such as the flash memory 2024 to be read into the RAM 2014, and perform various types of processing on the data on the RAM 2014. The CPU 2012 then writes back the processed data to the recording medium.

[0109] Various types of information, such as various types of programs, data, tables, and databases, may be stored in the recording medium and subjected to information processing. The CPU 2012 may execute various types of processing, including various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information search / replacement, etc., described herein and specified by the instruction sequence of the program, on the data read from the RAM 2014, and write back the results to the RAM 2014. The CPU 2012 may also search for information in a file, database, etc. in the recording medium. For example, when a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored in the recording medium, the CPU 2012 may search for an entry that matches a condition in which an attribute value of the first attribute is specified from among the plurality of entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0110] The above-described programs or software modules may be stored in a computer-readable storage medium on the computer 2000 or in the vicinity of the computer 2000. A recording medium such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet can be used as the computer-readable storage medium. The programs stored in the computer-readable storage medium may be provided to the computer 2000 via a network.

[0111] A program installed in computer 2000 and causing computer 2000 to function as server 52 may act on CPU 2012, etc., to cause computer 2000 to function as each part of server 52. When information processing described in these programs is read into computer 2000, it functions as each part of server 52, which is a specific means in which software and the above-mentioned various hardware resources work together. Then, by implementing calculation or processing of information according to the intended use of computer 2000 in this embodiment by these specific means, a specific server 52 according to the intended use is constructed.

[0112] A program installed in the computer 2000 and causing the computer 2000 to function as the information processing device 24 may act on the CPU 2012, etc., to cause the computer 2000 to function as each part of the information processing device 24. When the information processing described in these programs is read into the computer 2000, it functions as each part of the information processing device 24, which is a specific means in which the software and the above-mentioned various hardware resources work together. Then, by implementing calculation or processing of information according to the intended use of the computer 2000 in this embodiment by these specific means, a specific information processing device 24 according to the intended use is constructed.

[0113] Various embodiments have been described with reference to block diagrams or the like. In the block diagrams, each block may represent (1) a stage of a process where an operation is performed or (2) a portion of an apparatus responsible for performing an operation. Particular stages and portions may be implemented by dedicated circuitry, programmable circuitry provided with computer-readable instructions stored on a computer-readable storage medium, and / or a processor provided with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuitry may include digital and / or analog hardware circuitry and may include integrated circuits (ICs) and / or discrete circuits. The programmable circuitry may include reconfigurable hardware circuitry including logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, memory elements such as flip-flops, registers, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like.

[0114] A computer-readable storage medium may include any tangible device capable of storing instructions that are executed by a suitable device, such that a computer-readable storage medium having instructions stored thereon constitutes at least a portion of a product that includes instructions that can be executed to provide a means for performing the operations specified in a process or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), electrically erasable programmable read-only memories (EEPROMs), static random access memories (SRAMs), compact disk read-only memories (CD-ROMs), digital versatile disks (DVDs), Blu-ray (RTM) disks, memory sticks, integrated circuit cards, etc.

[0115] The computer readable instructions may include either assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, JAVA®, C++, etc., and conventional procedural programming languages ​​such as the “C” programming language or similar programming languages.

[0116] The computer readable instructions may be provided to a processor or programmable circuitry of a general purpose computer, special purpose computer, or other programmable data processing apparatus, either locally or over a wide area network (WAN) such as a local area network (LAN), the Internet, etc., to cause the computer readable instructions to execute means for performing operations specified in the process steps or block diagrams described. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0117] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is clear to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the description of the claims that such modifications and improvements can also be included in the technical scope of the present invention.

[0118] It should be noted that the order of execution of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically indicated as "before," "prior to," etc., and may be realized in any order unless the output of a previous process is used in a subsequent process. Even if the operational flow in the claims, specifications, and drawings is described using "first," "next," etc. for convenience, it does not mean that it is essential to perform the process in this order. [Explanation of symbols]

[0119] 10. System 20 Vehicles 21 Radar 22 Camera 24 Information processing equipment 25 GNSS receiver 26 Vehicle speed sensor 29 Sensors 40 Information output device 48 Communication Equipment 50 base stations 52 Server 60 vehicles 64 Information processing equipment 70 road 80 people 82 Terminals 90 vehicles 92 vehicles 93 vehicles 110 Area 111 Vertex 112 Vertex 113 Vertex 114 Vertex 200 Control section 208 Control Unit 210 Coordinate information acquisition unit 220 Risk Area Identification Department 280 Storage section 300 Control section 310 Selection section 320 Existence judgment part 330 Sorting Section 380 Storage section 390 Communication Equipment 392 Receiving section 394 Transmitter 600 Links 601 intersection 602 intersection 603 intersection 609 nodes 620 Area 621 Vertex 622 Vertex 623 Vertex 624 Vertex 630 Area 631 Vertex 632 Vertex 633 Vertex 634 Vertex 650 extension line 652 intersection 653 intersection 801 Data Count Section 802 First Risk Area ID Division 803 First coordinate data section 804 Second Risk Area ID Division 805 Second coordinate data section 806 Third Risk Area ID Division 807 Third coordinate data section 901 Risk Area 902 Risk Area 903 Risk Area 904 Risk Area 905 Risk Area 906 Risk Area 907 Risk Area 908 Risk Area 909 Risk Area 910 Risk Area 911 Risk Area 2000 Computer 2010 Host Controller 2012 CPU 2014 RAM 2020 Input / Output Controller 2022 Communication Interface 2024 Flash Memory 2026 ROM 2040 Input / Output Chip

Claims

1. A storage unit that stores position information of a plurality of risk areas that may be a risk during vehicle travel; A sorting unit that sorts the plurality of risk areas in order of proximity to a destination vehicle of the plurality of risk areas; a transmission unit that transmits the position information of the plurality of risk areas rearranged by the rearrangement unit to the destination vehicle; A risk area information transmitting device comprising:

2. The rearrangement unit rearranges the plurality of risk areas in order of proximity to the destination vehicle to generate transmission data including position information of the plurality of risk areas; The transmission unit transmits the transmission data generated by the rearrangement unit to the destination vehicle. The risk area information transmitting device according to claim 1 .

3. The sorting unit sorts the plurality of risk areas in order of proximity to the destination vehicle along a traveling direction of the destination vehicle. The risk area information transmitting device according to claim 1 or 2.

4. the storage unit stores position information of the plurality of risk areas in association with coordinate information of an intersection between a perpendicular line from a predetermined point specifying the position of each of the plurality of risk areas to a link on which the vehicle travels and the link; The sorting unit sorts the plurality of risk areas in order of proximity to the destination vehicle along a traveling direction of the destination vehicle based on coordinate information of an intersection between the perpendicular line and the link. The risk area information transmitting device according to claim 1 or 2.

5. A receiving unit that receives request information requesting location information of the risk area from the vehicle. Further equipped with The sorting unit sorts the plurality of risk areas in order of proximity to a vehicle that is a source of the request information, The transmission unit transmits information indicating the plurality of risk areas rearranged by the rearrangement unit to a vehicle that is a source of the request information. The risk area information transmitting device according to claim 1 or 2.

6. A selection unit that selects a plurality of risk areas that are within a predetermined distance from the location of the destination vehicle from among a plurality of risk areas whose location information is stored in the storage unit. Further equipped with The sorting unit sorts the plurality of risk areas selected by the selection unit in order of proximity to the destination vehicle. The risk area information transmitting device according to claim 1 or 2.

7. When the number of risk areas whose location information is stored in the storage unit exceeds a predetermined threshold value that allows the transmission unit to transmit at one time, the selection unit selects the plurality of risk areas whose location information is stored in the storage unit to be transmitted to the transmission destination with the predetermined threshold value as an upper limit, from among the risk areas whose location information is stored in the storage unit. The risk area information transmitting device according to claim 6.

8. a receiving section for receiving inquiry information on whether or not a moving object is present in the risk area from a vehicle to which the plurality of risk areas are transmitted; Further equipped with The inquiry information includes designation information for designating the risk area, The risk area information transmission device, a presence determination unit that determines whether or not a predetermined object exists within an area determined from the position information of a risk area designated by the designation information, among a plurality of risk areas whose position information is stored in the storage unit; Further equipped with The transmitting unit further transmits warning information when the presence determining unit determines that a predetermined object exists within an area determined from position information of a risk area specified from the designation information. The risk area information transmitting device according to claim 1 or 2.

9. The risk area information transmitting device is a Mobile Edge Computing (MEC) server. The risk area information transmitting device according to claim 1 or 2.

10. storing position information of a plurality of risk areas that may be a risk in the running of a vehicle; sorting the plurality of risk areas in order of proximity to a destination vehicle of the plurality of risk areas; transmitting the position information of the plurality of risk areas rearranged by the rearrangement unit to the vehicle; A risk area information transmitting method comprising:

11. A program for causing a computer to function as the risk area information transmission device according to claim 1 or 2.

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