Server, system, method, and program

Abstract

SOLUTION: A system comprises: a risk area specifying unit that specifies a risk area outside a moving object; a holding control unit for controlling the holding of positional information of two points of the risk area; and a determination unit that determines whether a first area determined from positional information of the two points already held by the control of the holding control unit and a second area determined from positional information of two points of a new risk area are coincident with each other when the new risk area is specified by the risk area specifying unit, wherein the holding control unit performs control to update the positional information of the two points already held with the positional information of the two points in the new risk area when the determination unit determines that the first area and the second area are coincident with each other.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a server, a system, a 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

[0003] In a first aspect of the present invention, a system is provided. The system includes a risk area identification unit that identifies a risk area outside a moving object. The system includes a retention control unit that performs control to retain position information of two points in the risk area. When a new risk area is identified by the risk area identification unit, the system includes a determination unit that determines whether a first area identified from the position information of the two points already retained under the control of the retention control unit matches a second area identified from the position information of the two points in the new risk area. When it is determined by the determination unit that the first area and the second area match, the retention control unit performs control to update the position information of the two points already retained with the position information of the two points in the new risk area.

[0004] In a second aspect of the present invention, a system is provided. The system includes a risk area identification unit that identifies a risk area outside a moving object. The system includes a retention control unit that performs control to retain position information of two points of the risk area. The system includes a determination unit that, when a new risk area is identified by the risk area identification unit, determines whether a first area identified from the position information of the two points already retained under the control of the retention control unit matches a second area identified from the position information of the two points of the new risk area. When the determination unit determines that the first area and the second area do not match, the retention control unit performs control to newly retain position information of the two points of the new risk area.

[0005] In any of the above systems, the retention control unit may perform control to newly retain location information of two points in the new risk area when the judgment unit determines that the first area and the second area do not match.

[0006] In any of the above systems, when a new risk area is identified by the risk area identification unit, the retention control unit may determine location information of a first plurality of points defining the first area based on the location information of the two points already retained, and determine location information of a second plurality of points defining the second area based on the location information of the two points of the risk area indicated by the new risk area information, and the judgment unit may determine whether the first area and the second area coincide based on the degree of overlap between the first area defined by the first plurality of points and the second area defined by the second plurality of points.

[0007] In any of the above systems, the determination unit may determine whether or not the first area and the second area coincide with each other based on an overlapping area between the first area and the second area.

[0008] In any of the above systems, the determination unit may determine whether the first area and the second area coincide with each other based on an area ratio between at least one of the first area and the second area and a partial area where the first area and the second area overlap.

[0009] In any of the above systems, the determination unit may determine whether the first area and the second area coincide with each other based on the amount of deviation between the center of gravity of the first area and the center of gravity of the second area.

[0010] In any of the above systems, the judgment unit may judge whether the first area and the second area coincide with each other based on the amount of deviation between a plurality of points defining the first area and a plurality of points defining the second area.

[0011] In any of the above systems, the judgment unit may judge whether the first area and the second area coincide with each other based on at least one of an average value, a maximum value, and a minimum value of a deviation amount between a plurality of points defining the first area and a plurality of points defining the second area.

[0012] Any of the above systems may further comprise a transmission control unit that performs control for transmitting the position information of the two points held by the holding control unit to another moving body.

[0013] Any of the above systems may include the mobile object and a server external to the mobile object. The server may include the storage control unit. The mobile object may include the risk area identification unit, a location information receiving unit that receives the location information stored by the storage control unit from the server, and the determination unit.

[0014] Any of the above systems may include the mobile body and a server outside the mobile body. The mobile body may include the risk area identification unit. The server may include the storage control unit, a reception control unit that controls reception of risk area information indicating a risk area outside the mobile body identified by the mobile body, and the determination unit.

[0015] In any of the above systems, the server may be a Mobile Edge Computing (MEC) server.

[0016] In any of the above systems, the moving object may be a vehicle.

[0017] In a third aspect of the present invention, a method is provided. The method includes a step of identifying a risk area outside a moving object. The method includes a step of performing control for retaining location information of two points of the risk area. The method includes a step of identifying new risk area information. The method includes a step of determining whether or not a first area identified from the location information of the two points already retained matches a second area identified from the location information of two points of the risk area indicated by the new risk area information. The method includes a step of performing control for updating the location information of the two points already retained with the location information of two points of the new risk area when it is determined that the first area and the second area match.

[0018] In a fourth aspect of the present invention, a method is provided. The method includes a step of identifying a risk area outside a moving object. The method includes a step of performing control to hold position information of two points of the risk area. The method includes a step of identifying new risk area information. The method includes a step of determining whether or not a first area identified from the position information of the two points already held matches a second area identified from the position information of two points of the risk area indicated by the new risk area information. The method includes a step of performing control to newly hold position information of two points of the new risk area when it is determined that the first area and the second area do not match.

[0019] In a fifth aspect of the present invention, a program is provided. The program causes a computer to function as a risk area identification unit that identifies a risk area outside a moving object. The program causes the computer to function as a retention control unit that performs control to retain position information of two points in the risk area. When a new risk area is identified by the risk area identification unit, the program causes the computer to function as a determination unit that determines whether a first area identified from the position information of the two points already retained under the control of the retention control unit matches a second area identified from the position information of the two points in the new risk area. When the determination unit determines that the first area and the second area match, the retention control unit performs control to update the position information of the two points already retained with the position information of the two points in the new risk area.

[0020] In a sixth aspect of the present invention, a program is provided. The program causes a computer to function as a risk area identification unit that identifies a risk area outside a moving object. The program causes the computer to function as a retention control unit that performs control to retain position information of two points in the risk area. When a new risk area is identified by the risk area identification unit, the program causes the computer to function as a determination unit that determines whether a first area identified from the position information of the two points already retained under the control of the retention control unit matches a second area identified from the position information of the two points in the new risk area. When the determination unit determines that the first area and the second area do not match, the retention control unit performs control to newly retain position information of the two points in the new risk area.

[0021] The above summary of the invention does not list all of the necessary features of the present invention. Also, subcombinations of these features may also be inventions. [Brief description of the drawings]

[0022] [Figure 1] 1 illustrates a schematic diagram of a scenario in which the system 10 is used. [Diagram 2] 13 shows a situation in which an information processing device 24b provided in a vehicle 20b transmits risk area information. [Diagram 3] 1 shows a situation in which an information processing device 64 provided in a vehicle 60 requests position information of a risk area. [Figure 4] 13 shows a situation where the information processing device 64 makes an inquiry regarding a risk area. [Diagram 5] The system configurations of vehicles 20a and 20b are shown. [Figure 6] 2 shows the system configuration of the server 52. [Figure 7] 2 shows a schematic diagram of a risk area identified by a risk area identifying unit 220a in a vehicle 20a. [Figure 8]13A and 13B show schematic diagrams of other examples of risk areas identified by the risk area identifying unit 220a. [Figure 9] FIG. 8 is a diagram for explaining a process for determining whether a first area 810 and a second area 820 indicate the same area. [Figure 10] FIG. 13 is a diagram for explaining another process for determining whether a first area 810 and a second area 820 indicate the same area. [Figure 11] FIG. 13 is a diagram for explaining another process for determining whether a first area 810 and a second area 820 indicate the same area. [Figure 12] 13 shows a schematic flow of a process relating to an information processing method executed by the vehicle 20a, the vehicle 20b, and the server 52. [Figure 13] 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 14] An example of a computer 2000 is shown. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] 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.

[0024] 1 is a schematic diagram showing a usage scenario of a system 10. The system 10 includes a vehicle 20a, a vehicle 20b, a vehicle 60, a terminal 82, a base station 50, and a server 52.

[0025] The vehicle 20a, the vehicle 20b, and the vehicle 60 are vehicles that run on a road 70. The vehicle 20a, the vehicle 20b, and the vehicle 60 are examples of moving bodies. The vehicle 20a includes an information processing device 24a and a sensor 29a. The sensor 29a includes a camera. The information processing device 24a includes a function of processing information acquired by the sensor 29a and a function of communicating with a server 52 outside the vehicle 60. The sensor 29b includes a camera. The information processing device 24b includes a function of processing information acquired by the sensor 29b and a function of communicating with the server 52. The vehicle 20a and the vehicle 20b are vehicles that include, for example, an advanced driver assistance system (ADAS) function. The vehicle 20b includes an information processing device 24b and a sensor 29b. In this embodiment, the vehicle 20a and the vehicle 20b may be collectively referred to as "vehicle 20". The vehicle 60 includes an information processing device 64. The information processing device 64 includes a function of communicating with the server 52. The vehicle 60 is, for example, a vehicle that does not have an ADAS function.

[0026] 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. 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 24a may communicate with a server in the vicinity of the vehicle 20a among the plurality of servers constituting the server 52, the information processing device 24b may communicate with a server in the vicinity of the vehicle 20b 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.

[0027] 1, vehicles 20a, 20b, and 60 are vehicles traveling along a road 70. Vehicle 90 is a vehicle parked on the road 70. Vehicle 20b is traveling behind vehicle 20a in the same traveling direction as vehicle 20a. Vehicle 60 is traveling behind vehicle 20b in the same traveling direction as vehicle 20b.

[0028] For the vehicle 20a, the area 110 on the traveling direction side of the parked vehicle 90 is an area that is difficult to see from the position of the vehicle 20a. The information processing device 24a identifies the area 110 that is not visible from the vehicle 20a as a risk area based on information such as an image in the traveling direction acquired by the sensor 29a.

[0029] For example, the information processing device 24a determines four vertices 111, 112, 113, and 114 of a rectangular area 110 including the position of the vehicle 90 based on the image recognition information acquired by the sensor 29a. The vertex 113 is a point separated by a distance L1 in the traveling direction of the vehicle 20a from the vertex 111 determined based on the image recognition information. The vertex 114 is a point separated by a distance L1 in the traveling direction of the vehicle 20a from the vertex 112 determined based on the image recognition information. L1 is a distance determined according to the vehicle speed of the vehicle 20a.

[0030] The information processing device 24a 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 20a indicating that the terminal 82 does not exist.

[0031] The server 52 stores the coordinate information of vertices 111 and 112, which are located closer to vehicle 20a, of the four vertices 111, 112, 113, and 114 contained in the risk area information received from the information processing device 24a, and provides the coordinate information to vehicle 20b following vehicle 20a or other vehicles including vehicle 60.

[0032] 2 shows a situation in which the information processing device 24b included in the vehicle 20b transmits risk area information. Like the vehicle 20a, the vehicle 20b identifies a risk area 110' when the sensor 29b recognizes the vehicle 90, and transmits risk area information including the four vertices 111', 112', 113', and 114' of the identified risk area to the server 52. The server 52 determines whether the risk area identified by the vehicle 20b is the same area as the risk area previously identified by the vehicle 20a, based on the coordinate information of the vertices 111 and 112 that have already been stored and the coordinate information of the two vertices 111' and 112' included in the risk area information received from the vehicle 20b. When the server 52 determines that the risk area identified by the vehicle 20b is the same as the risk area previously identified by the vehicle 20a, the server 52 updates the coordinate information of the vertices 111 and 112 identified by the vehicle 20a with the coordinate information of the vertices 111' and 112' identified by the vehicle 20b. When the server 52 determines that the risk area identified by the vehicle 20b is not the same as the risk area previously identified by the vehicle 20a, the server 52 adds the coordinate information of the two vertices of the risk area 110' on the vehicle 20b side based on the information of the risk area 110' identified by the vehicle 20b.

[0033] In general, even when the same risk area is recognized, there may be a difference in the coordinate information recognized as the risk area due to a difference in the equipment performance of the vehicles 20a and 20b that recognize the risk area, or due to a difference in the driving environment between the vehicles 20a and 20b. According to the system 10 of the present embodiment, it is possible to appropriately determine whether the risk areas transmitted from the vehicles 20a and 20b are the same, and to update or add the coordinate information of the risk area.

[0034] 3 shows a situation in which the information processing device 64 provided 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 a risk area request to the server 52. The server 52 transmits the stored coordinate information of the vertices 111' and 112' of the area 110 to the information processing device 64. The information processing device 64 stores the coordinate information of the vertices 111' and 112' received from the server 52.

[0035] 4 shows a situation where the information processing device 64 makes an inquiry about a risk area. 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 information processing device 64 sets the area 120 defined by the vertices 111', 112', 123, and 124 as a risk area for the vehicle 60. For example, the information processing device 64 determines a point that is distant from the vertex 111' in the traveling direction of the vehicle 60 by a distance L2 determined according to the vehicle speed of the vehicle 60 as the vertex 123, and a point that is distant from the vertex 112' in the traveling direction of the vehicle 60 by the distance L2 as the vertex 124.

[0036] The information processing device 64 transmits risk area information including coordinate information of the vertices 111', 112', 123, and 124 of the area 120 set as the risk area to the server 52. When the location information of the terminal 82 managed by the server 52 is included in the area 120 surrounded by the vertices included in the risk area information, the server 52 transmits warning information to the information processing device 64 and the terminal 82. When 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 through a 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, it outputs a warning to the person 80. For example, the terminal 82 outputs a warning to the person 80 through an HMI function of the terminal 82.

[0037] Fig. 5 shows the system configuration of vehicle 20a and vehicle 20b. Here, vehicle 20a and vehicle 20b are collectively referred to as "vehicle 20". Vehicle 20 includes a sensor 29, an information processing device 24, a communication device 48, and an information output device 40. In Fig. 6 and subsequent figures, the components of information processing device 24a included in vehicle 20a are distinguished by adding "a" to the end, and the components of information processing device 24b included in vehicle 20b are distinguished by adding "b" to the end.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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 portable 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.

[0042] 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.

[0043] The control unit 200 includes a coordinate information acquisition unit 210, a risk area identification unit 220, a control unit 208, a transmission control unit 250, and a reception control unit 260. Note that 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. 5. 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.

[0044] The risk area identification unit 220 identifies a risk area outside the vehicle 20. The transmission control unit 250 performs control for transmitting risk area information indicating the risk area identified by the risk area identification unit 220 to a server that holds information on 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 transmission control unit 250 may perform control for transmitting coordinate information of the plurality of points as risk area information to the server 52. The plurality of points 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.

[0045] The risk area may be an area outside the vehicle 20 that is a risk to the movement 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.

[0046] 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.

[0047] The coordinate information may include, as the coordinates of each of a plurality of points defining the position of the object, a first relative coordinate in a first direction along the traveling direction of the vehicle 20 and a second relative coordinate in a second direction intersecting the first direction. The second direction may be a direction perpendicular to the first direction. The number of the above-mentioned plurality of points may be three or more. Based on the coordinate information of an object recognized from an image outside the vehicle 20, the risk area identification unit 220 may identify an area defined by three or more points included in the coordinate information as a risk area.

[0048] 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.

[0049] 6 shows a system configuration of the server 52. The server 52 includes a communication device 348, a control unit 300, and a storage unit 380.

[0050] The control unit 300 controls the communication device 348. The communication device 348 is responsible for communication between the terminal 82 and the information processing device 24. 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.

[0051] The control unit 300 includes a retention control unit 310, a presence determination unit 320, a determination unit 330, a transmission control unit 350, and a reception control unit 360. Note that the control unit 300 may not have some of the functions of the functional blocks shown in FIG.

[0052] The reception control unit 360 performs control for receiving risk area information indicating a risk area outside the vehicle 20 identified by the vehicle 20. The retention control unit 310 performs control for retaining position information of two points of the risk area. For example, the retention control unit 310 causes the storage unit 380 to store the position information of the two points of the risk area indicated by the risk area information. The risk area information may include a plurality of points that define the risk area. The retention control unit 310 causes the storage unit 380 to store the position information of two points of the multiple points of the risk area indicated by the risk area information.

[0053] When a new risk area is identified by the risk area identification unit 220, the determination unit 330 determines whether or not a first area identified from the position information of two points already held under the control of the holding control unit 310 matches a second area identified from the position information of two points of the new risk area. When the determination unit 330 determines that the first area and the second area match, the holding control unit 310 controls to update the position information of the two points already held with the position information of the two points of the new risk area.

[0054] The retention control unit 310 performs control to newly retain position information of two points in the new risk area when the determination unit 330 determines that the first area and the second area do not match. The retention control unit 310 may perform control to newly retain position information of two points in the risk area indicated by the new risk area information, without updating the position information of the two points retained under the control of the retention control unit 310, when the determination unit 330 determines that the first area and the second area do not match.

[0055] When a new risk area is identified by the risk area identification unit 220, the storage control unit 310 determines the position information of a first plurality of points defining the first area based on the position information of two points already stored, and determines the position information of a second plurality of points defining the second area based on the position information of two points of the risk area indicated by the new risk area information. The determination unit 330 determines whether the first area and the second area match based on the degree of overlap between the first area defined by the first plurality of points and the second area defined by the second plurality of points.

[0056] The determination unit 330 may determine whether the first area and the second area match based on the area of ​​overlap between the first area and the second area. The determination unit 330 may determine whether the first area and the second area match based on the area ratio between at least one of the first area and the second area and a partial area where the first area and the second area overlap. The determination unit 330 may determine whether the first area and the second area match based on the amount of deviation between the center of gravity of the first area and the center of gravity of the second area.

[0057] The determination unit 330 may determine whether the first area and the second area match based on the amount of deviation between the multiple points defining the first area and the multiple points defining the second area. For example, the determination unit 330 may determine whether the first area and the second area match based on at least one of an average value, a maximum value, and a minimum value of the amount of deviation between the multiple points defining the first area and the multiple points defining the second area.

[0058] The transmission control unit 350 performs control for transmitting the position information of the two points held by the holding control unit 310 to another vehicle 20.

[0059] The reception control unit 360 performs control for periodically receiving the location information of a plurality of terminals including the terminal 82. The server 52 manages the location information of each of the plurality of terminals by storing the location information of the plurality of terminals received under the control of the reception control unit 360 in the storage unit 380.

[0060] The reception control unit 360 receives risk area information from the vehicle 20 or the vehicle 60. The risk area information is information transmitted from the vehicle 20 or the vehicle 60, and is information for inquiring whether any of the terminals whose location information the server 52 manages is present within the risk area. The risk area information may include all coordinates of a plurality of vertices that define the risk area. The presence determination unit 320 determines whether any of the terminals is present within the risk area defined by the plurality of vertices included in the risk area information, based on the location information managed by the server 52. When it is determined that any of the terminals is present within the risk area, the transmission control unit 250 performs control to transmit response information indicating that the terminal is present to the vehicle 20 or the vehicle 60 that transmitted the risk area information.

[0061] Fig. 7 shows a schematic diagram of a risk area identified by the risk area identifying unit 220a in the vehicle 20a. Fig. 7 shows an example in which a rectangular area is identified as the risk area.

[0062] The sensor 29a outputs coordinate information indicating the position where the object recognized by the sensor 29a exists. For example, the sensor 29a outputs coordinate information of the position where the object exists in a coordinate system in which the traveling direction of the vehicle 20a is the x-axis plus direction, and the y-axis direction is parallel to a plane parallel to the road surface on which the vehicle 20a runs and perpendicular to the x-axis. The origin O of the coordinate system is set at a position set in advance in the vehicle 20a. For example, in the example shown in FIG. 7, the sensor 29a outputs coordinate information including the coordinates of a position 601, a position 602, and a position 603. The position 601 is the position on the most negative side of the y-axis where the sensor 29a recognizes the object, the position 602 is the position on the most positive side of the y-axis where the sensor 29a recognizes the object, and the position 603 is the position on the most negative side of the x-axis where the sensor 29a recognizes the object. In other words, the position 603 is the position closest to the vehicle 20 where the sensor 29a recognizes the object.

[0063] The risk area identification unit 220a identifies the area 110 as a risk area based on the coordinate information acquired by the coordinate information acquisition unit 210a. The area 110 is a rectangular area defined by connecting vertices 111, 112, 114, and 113. One side of the area 110 on the vehicle 20a side is a side that includes the position 603 and is parallel to the y-axis. One side of the area 110 on the vehicle 20a side is defined by the vertices 111 and 112. The vertex 111 is determined to be at a position equal to the position 601 in the negative y-axis direction or a position that exceeds the position 601 by a predetermined amount. The vertex 112 is determined to be at a position equal to the position 602 in the positive y-axis direction or a position that exceeds the position 602 by a predetermined amount. 7, vertex 111 is determined to be at a position that is a predetermined amount beyond position 601 in the negative y-axis direction, and vertex 112 is determined to be at a position that is a predetermined amount beyond position 602 in the positive y-axis direction. Vertex 113 is determined to be at a position that is a distance L1 away from vertex 111 in the positive x-axis direction. Vertex 114 is determined to be at a position that is a distance L1 away from vertex 112 in the positive x-axis direction. L1 is determined in accordance with the speed of vehicle 20. L1 is determined to be longer as the speed of vehicle 20 is higher.

[0064] Fig. 8 shows another example of a risk area identified by the risk area identifying unit 220a. Fig. 8 shows another example of a rectangular area identified as a risk area.

[0065] 8, the sensor 29a outputs coordinate information including the coordinates of a position 701, a position 702, and a position 703. The position 701 is the position on the most negative side of the y direction where the sensor 29a recognizes an object, the position 702 is the position on the most positive side of the y direction where the sensor 29a recognizes an object, and the position 703 is the position on the most negative side of the x direction where the sensor 29a recognizes an object. The position 703 is the position closest to the vehicle 20 where the sensor 29a recognizes an object.

[0066] The risk area identification unit 220a identifies the area 710 as a risk area based on the coordinate information acquired by the coordinate information acquisition unit 210a. The area 710 is a rectangular area defined by connecting the vertices 711, 712, 714, and 713. One side of the area 710 on the vehicle 20a side is a side that includes the position 703 and is parallel to the y-axis. One side of the area 710 on the vehicle 20a side is defined by the vertices 711 and 712. The vertex 711 is determined to be at least equal to the position 701 in the negative y-axis direction or a position that exceeds the position 701 by a predetermined amount. The vertex 711 is determined to be at least equal to the position 702 in the positive y-axis direction or a position that exceeds the position 702 by a predetermined amount. In the example of FIG. 8, the vertex 711 is determined to be at the same position as the position 701 in the negative y-axis direction, and the vertex 712 is determined to be at the same position as the position 702 in the positive y-axis direction. The vertex 713 is determined to be at a position distance L1 away from the vertex 711 in the positive x-axis direction. The vertex 714 is determined to be at a position distance L1 away from the vertex 712 in the positive x-axis direction.

[0067] As shown in Fig. 7 and Fig. 8, the risk area identifying unit 220a identifies an area including at least the position of the vehicle 90 recognized by the sensor 29a as a risk area. Fig. 7 and Fig. 8 show an example in which the risk area identifying unit 220a identifies a rectangular area as a risk area. However, the area set by the risk area identifying unit 220a as a risk area may be a quadrangular area including a parallelogram or the like. The area set by the risk area identifying unit 220a as a risk area may be a polygonal area.

[0068] 9 is a diagram for explaining a process of determining whether the first area 810 and the second area 820 indicate the same area. The first area 810 is an area defined by connecting vertex 811, vertex 812, vertex 814, vertex 813, and vertex 811 in this order. The second area 820 is an area defined by connecting vertex 821, vertex 822, vertex 824, vertex 823, and vertex 821 in this order. The vertices 811 and 812 of the first area 810 are coordinate information included in the risk area transmitted from the vehicle 20a, and the vertices 821 and 822 of the second area 820 are coordinate information included in the risk area transmitted from the vehicle 20b.

[0069] The determination unit 330 determines vertex 813 and vertex 814. The retention control unit 310 sets a point that is a preset distance L away from the position of vertex 811 in a direction along the road 70 as vertex 813. The determination unit 330 sets a point that is a preset distance L away from the position of vertex 812 in a direction along the road 70 as vertex 814. In this way, a first area 810 and a second area 820 are defined.

[0070] The determination unit 330 calculates the area of ​​the first area 810 and the area S3 of the area where the first area 810 and the second area 820 overlap. The determination unit 330 calculates the degree of overlap between the first area 810 and the second area 830 based on the ratio between the area S1 of the first area 810 and the area S3 of the area 830 where the first area 810 and the second area 820 overlap, and determines whether the first area 810 and the second area 820 are the same area based on the calculated degree of overlap. For example, the determination unit 330 calculates the ratio of the area S3 to the area S1, and determines that the first area 810 and the second area 820 are the same area when the ratio of the area S3 to the area S1 is equal to or greater than a predetermined threshold value. On the other hand, when the ratio of area S3 to area S1 is less than the predetermined threshold, determination unit 330 determines that first area 810 and second area 820 are not the same area.

[0071] The determination unit 330 calculates the area S2 of the second area 820, calculates the degree of overlap between the first area 810 and the second area 820 based on the ratio between the area S2 of the second area 820 and the area S3 of the area 830, and determines whether the first area 810 and the second area 820 are the same area based on the calculated degree of overlap. For example, the determination unit 330 calculates the ratio of the area S3 to the area S2, and determines that the first area 810 and the second area 820 are the same area when the ratio of the area S3 to the area S2 is equal to or greater than a predetermined threshold. On the other hand, the determination unit 330 determines that the first area 810 and the second area 820 are not the same area when the ratio of the area S3 to the area S2 is less than a predetermined threshold.

[0072] 10 is a diagram for explaining another process for determining whether the first area 810 and the second area 820 indicate the same area. The determination unit 330 sets the vertices 813, 814, 823, and 824 in the same manner as the method described in relation to FIG.

[0073] The determination unit 330 calculates a center of gravity position 815 based on coordinate information of vertices 811, 812, 813, and 814 of the first area 810, and calculates a center of gravity position 825 based on coordinate information of vertices 821, 822, 823, and 824 of the second area 820. The determination unit 330 calculates the amount of deviation between the center of gravity position 815 of the first area 810 and the center of gravity position 825 of the second area 820. If the calculated amount of deviation of the center of gravity position is less than a predetermined threshold, the determination unit 330 determines that the first area 810 and the second area 820 are the same area. On the other hand, if the amount of deviation of the center of gravity position is equal to or greater than the predetermined threshold, the determination unit 330 determines that the first area 810 and the second area 820 are not the same area.

[0074] 11 is a diagram for explaining another process for determining whether the first area 810 and the second area 820 indicate the same area. The determination unit 330 sets the vertices 813, 814, 823, and 824 in the same manner as the method described in relation to FIG.

[0075] The determination unit 330 calculates a deviation 1001 between the vertex 811 of the first area 810 and the vertex 821 of the second area 820, a deviation 1002 between the vertex 812 of the first area 810 and the vertex 822 of the second area 820, a deviation 1003 between the vertex 813 of the first area 810 and the vertex 823 of the second area 820, and a deviation 1004 between the vertex 814 of the first area 810 and the vertex 824 of the second area 820. When the average value of the deviation 1001, the deviation 1002, the deviation 1003, and the deviation 1004 is less than a predetermined threshold, the determination unit 330 determines that the first area 810 and the second area 820 are the same area. On the other hand, when the average value of the shift amount 1001, the shift amount 1002, the shift amount 1003, and the shift amount 1004 is equal to or greater than a predetermined threshold value, the determination unit 330 determines that the first area 810 and the second area 820 are not the same area.

[0076] The determination unit 330 may determine that the first area 810 and the second area 820 are not the same area when the maximum value of the shift amount 1001, the shift amount 1002, the shift amount 1003, and the shift amount 1004 is equal to or greater than a predetermined threshold. The determination unit 330 may determine that the first area 810 and the second area 820 are the same area when the minimum value of the shift amount 1001, the shift amount 1002, the shift amount 1003, and the shift amount 1004 is less than a predetermined threshold. As described in relation to FIG. 11, the determination unit 330 may determine whether the first area 810 and the second area 820 are the same area based on the shift amount of the positions of one or more corresponding points between the first area 810 and the second area 820.

[0077] 9 to 11, an example of a method for determining whether the first area 810 and the second area 820 are the same area by calculating the degree of overlap between the first area 810 and the second area 820 using the four vertices of each of the first area 810 and the second area 820 has been described. Note that the determination unit 330 may determine whether the first area 810 and the second area 820 are the same area based on the two vertices 811 and 812 stored in the storage unit 380 and the two vertices 821 and 822 included in the newly received risk area information, without calculating the four vertices of each of the first area 810 and the second area 820. The determination unit 330 may determine whether the first area 810 and the second area 820 are the same area based on the amount of deviation between the center of gravity of the vertices 811 and 812 and the center of gravity of the two vertices 821 and 822. The determination unit 330 may determine whether the first area 810 and the second area 820 are the same area based on at least one of the average, maximum, and minimum values ​​of the amount of positional deviation between the vertices 811 and 821 and the amount of positional deviation between the vertices 812 and 822.

[0078] 12 is a schematic diagram showing a process flow relating to an information processing method executed by the vehicle 20a, the vehicle 20b, and the server 52. In S1202, the risk area identification unit 220a of the vehicle 20a identifies a risk area based on information recognized by the sensor 29a. For example, the risk area identification unit 220a determines four vertices that define the risk area 110 based on coordinate information output by the sensor 29a and acquired by the coordinate information acquisition unit 210a. For example, the risk area identification unit 220a identifies the risk area by determining the four vertices by the method described in relation to FIG. 7, FIG. 8, and the like.

[0079] In S1208, the transmission control unit 250a transmits risk area information inquiring whether or not a predetermined target exists within the risk area to the server 52. The risk area information includes coordinate information of four vertices that define the risk area identified in S1202. The risk area information may include geographic coordinate information represented by the latitude and longitude of the four vertices that define the risk area. The risk area information may include information indicating the current position of the vehicle 20a or the traveling direction of the vehicle 20a.

[0080] When the server 52 receives the risk area information transmitted from the vehicle 20a, in S1210, the holding control unit 310 selects two vertices that satisfy a predetermined condition from among the four vertices included in the risk area information based on the risk area information received under the control of the reception control unit 360. For example, the holding control unit 310 selects the two vertices closest to the vehicle 20a from among the four vertices. Specifically, the holding control unit 310 may select the vertices 111 and 112 shown in FIG. 7 from among the four vertices, or may select the vertices 711 and 712 shown in FIG. 8.

[0081] In S1212, the holding control unit 310 registers the coordinate information of the two vertices selected in S1210 as vertex information of the risk area. For example, the holding control unit 310 stores the coordinate information of the two vertices selected in S1210 in the storage unit 380 as vertex information of the risk area.

[0082] Also, in S1214, 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 20a. 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 control unit 350 does not need to transmit response information to the risk area information to the vehicle 20a. Note that, if the terminal 82 is not present within the area defined by the four vertices included in the risk area information, the transmission control unit 350 may transmit response information to the vehicle 20a indicating that no target is present within the risk area.

[0083] Thereafter, in S1222, the risk area identification unit 220b of the vehicle 20b identifies a risk area based on information recognized by the sensor 29b. For example, the risk area identification unit 220b determines four vertices that define the risk area 110' based on coordinate information output by the sensor 29b acquired by the coordinate information acquisition unit 210b. The method of determining the vertices of the risk area can be the same as the method described in relation to Figures 7 and 8, etc.

[0084] In S1228, the transmission control unit 250b transmits risk area information inquiring whether or not a predetermined target exists within the risk area to the server 52. The risk area information includes coordinate information of four vertices that define the risk area identified in S1222. The risk area information may include geographic coordinate information represented by the latitude and longitude of the four vertices that define the risk area. The risk area information may include information indicating the current position of the vehicle 20b or the traveling direction of the vehicle 20b.

[0085] When the server 52 receives new risk area information transmitted from the vehicle 20b, in S1230, the determination unit 330 selects two vertices that satisfy a predetermined condition from among the four vertices included in the risk area information, based on the risk area information received under the control of the reception control unit 360. For example, the determination unit 330 selects the two vertices closest to the vehicle 20b from among the four vertices.

[0086] In S1231, the determination unit 330 selects vertex information that is closest to the positions of the two vertices selected in S1230 from among the vertex information already stored in the storage unit 380. For example, the determination unit 330 selects vertex information in which the distance between the line segment connecting the two vertices of the vertex information already stored in the storage unit 380 and the line segment connecting the two vertices selected in S1230 is the shortest.

[0087] In S1232, the determination unit 330 calculates the degree of overlap between a first area based on the coordinate information of the two vertices of the vertex information selected in S1231 and a second area based on the coordinate information of the two vertices selected in S1230. For example, the determination unit 330 may calculate the degree of overlap by the method described in relation to Figures 9 to 11. In S1233, the retention control unit 310 updates the vertex information already stored with the vertex information of the two vertices selected in S1230, or adds new vertex information of the two vertices selected in S1230, according to the degree of overlap calculated by the determination unit 330.

[0088] In S1234, 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 20b. For example, in the situation shown in FIG. 2, the presence determination unit 320 determines that the terminal 82 is not present within the area 120 defined by the four vertices included in the risk area information. In this case, the transmission control unit 350 does not need to transmit response information to the risk area information to the vehicle 20b. Note that, if the terminal 82 is not present within the area defined by the four vertices included in the risk area information, the transmission control unit 350 may transmit response information to the vehicle 20b indicating that no target is present within the risk area.

[0089] 13 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. 13 is a process carried out following the process in FIG.

[0090] At S1322, the information processing device 64 of the vehicle 60 transmits a risk area request requesting position information of the risk area to the server 52. The risk area request may include information indicating the position of the vehicle 60 and the traveling direction of the vehicle 60. At S1314, the transmission control unit 350 causes the vehicle 60 to transmit, based on the risk area request, vertex information of risk areas present ahead in the traveling direction of the vehicle 60, from among the vertex information of risk areas stored in the storage unit 380.

[0091] In S1324, when the information processing device 64 determines that the vehicle 60 has approached the position indicated by the vertex information based on the current position of the vehicle 60 and the vertex information received from the server 52, the information processing device 64 sets a risk area based on the two vertices indicated by the vertex information and the vehicle speed of the vehicle 60. For example, as described in relation to Fig. 4, the information processing device 64 determines the vertices 123 and 124 based on the coordinates of the two vertices 111' and 112' and the distance L2, and sets the area 120 defined by the vertices 111', 112', 123, and 124 as the risk area. In S1325, the information processing device 64 transmits risk area information including the four vertices of the risk area set in S1324 to the server 52.

[0092] When the server 52 receives the risk area information transmitted from the vehicle 60, in S1315, 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 60. For example, in the situation shown in FIG. 4, the presence determination unit 320 determines that the terminal 82 is present within the area 120 defined by the four vertices included in the risk area information. In this case, in S1318, the transmission control unit 350 causes the vehicle 60 to transmit, via the communication device 348, warning information indicating that the terminal 82 is present within the area as response information to the inquiry information. In addition, the transmission control unit 350 causes the terminal 82 to transmit, via the communication device 348, warning information indicating that a vehicle is approaching.

[0093] When the information processing device 64 receives the warning information from the server 52, in S1328, 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 S1338, the terminal 82 outputs a warning to the person 80 by the HMI function of the terminal 82.

[0094] The communication between the information processing device 24 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 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 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 may communicate with the server 52 using a communication infrastructure provided by an ITS (Intelligent Transport Systems).

[0095] 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 whose location information the server 52 can manage. Such a communication device may be provided in any moving object such as an automobile, a saddle-type vehicle, or a bicycle.

[0096] As a modified example of the above-described system 10, the function of the determination unit 330 of the server 52 may be provided in the information processing device 24 of the vehicle 20. For example, the transmission control unit 350 of the server 52 controls the communication device 348 to transmit the position information of the two points of the risk area held in the storage unit 380 by the holding control unit 310 to the vehicle 20. In the information processing device 24 of the vehicle 20, the communication device 48 may receive the position information transmitted from the server 52 and determine whether or not a first area, among one or more areas identified from the position information received by the communication device 48, that is closest to the new risk area identified by the risk area identification unit 220 matches with a second area identified from the position information of the two points of the new risk area.

[0097] When the information processing device 24 determines that the first area and the second area match, the transmission control unit 250 of the information processing device 24 may transmit risk area update information including the position information of two points in the first area and the position information of two points in the new risk area identified by the risk area identification unit 220 to the server 52. When the communication device 348 of the server 52 receives the risk area update information, the retention control unit 310 of the server 52 may perform control to update, among the position information stored in the storage unit 380, the position information of the two points in the first area included in the risk area update information with the position information of the two points in the new risk area included in the risk area update information.

[0098] When the information processing device 24 determines that the first area and the second area do not match, the transmission control unit 250 of the information processing device 24 may cause the server 52 to transmit risk area addition information including position information of two points of the new risk area identified by the risk area identification unit 220. When the communication device 348 of the server 52 receives the risk area addition information, the retention control unit 310 of the server 52 may perform control to newly retain the position information of the two points of the new risk area included in the risk area addition information.

[0099] As described above, there are circumstances in which, even when the same risk area is recognized, differences occur in the coordinate information recognized as the risk area due to differences in the equipment performance of the vehicles 20a and 20b that recognize the risk area, or due to differences in the driving environment of the vehicle 20a and the driving environment of the vehicle 20b. This embodiment has been constructed in consideration of such circumstances, and the purpose of this embodiment is to suppress a decrease in the smoothness of traffic while improving traffic safety. Specifically, according to the system 10 of this embodiment, it is possible to appropriately determine whether the risk areas transmitted from the vehicle 20a and the vehicle 20b are the same, and to update or add the coordinate information of the risk area, so that it is possible to suppress a decrease in the smoothness of traffic while improving traffic safety.

[0100] 14 shows an example of a computer 2000 in which multiple embodiments of the present invention can 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 and the server 52 according to an embodiment or each part of the apparatus, or as a system such as the system 10 according to an embodiment or each part of the system, execute operations associated with the apparatus, each part of the apparatus, the system, or each part of the system, and / or execute a process or steps of the process according to an embodiment. Such a program can 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.

[0101] 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.

[0102] The CPU 2012 operates according to the programs stored in the ROM 2026 and RAM 2014, thereby controlling each unit.

[0103] 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.

[0104] The programs are provided via a computer-readable 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 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] The above-described programs or software modules may be stored in a computer-readable 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 medium. The programs stored in the computer-readable medium may be provided to the computer 2000 via a network.

[0109] When computer 2000 is made to function as control unit 200, a program installed in computer 2000 and making computer 2000 function as control unit 200 may act on CPU 2012 or the like to make computer 2000 function as each unit of control unit 200. When information processing described in these programs is read into computer 2000, it functions as each unit of control unit 200, 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 control unit 200 according to the intended use is constructed.

[0110] When computer 2000 is made to function as control unit 300, a program installed in computer 2000 and making computer 2000 function as control unit 300 may act on CPU 2012 or the like to make computer 2000 function as each unit of control unit 300. When information processing described in these programs is read into computer 2000, it functions as each unit of control unit 300, 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 control unit 300 according to the intended use is constructed.

[0111] Various embodiments have been described with reference to block diagrams, etc. 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 medium, and / or a processor provided with computer readable instructions stored on a computer readable 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), etc.

[0112] A computer-readable medium may include any tangible device capable of storing instructions that are executed by a suitable device, such that the computer-readable medium having instructions stored thereon constitutes at least a portion of an article of manufacture 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 media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer-readable 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, and the like.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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 stated as "before," "prior to," etc., and may be realized in any order unless the output of a previous process is used in a later process. Even if the operational flow in the claims, specifications, and drawings is explained using "first," "next," etc. for convenience, it does not mean that it is essential to perform the process in this order. [Explanation of symbols]

[0117] 10. System 20, 60, 90 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 64 Information processing equipment 70 road 80 people 82 Terminals 110, 120 Area 111, 112, 113, 114, 123, 124 Vertices 200 Control section 208 Control Unit 210 Coordinate information acquisition unit 220 Risk Area Identification Department 250 Transmission control section 260 Reception control section 280 Storage section 300 Control section 310 Holding control section 320 Existence judgment part 330 Judgment Department 348 Communication Equipment 350 Transmission control section 360 Reception control section 380 Storage section 601, 602, 603, 701, 702, 703 position 710 Area 711, 712, 713, 714 Vertex 810 First Area 820 Second Area 830 Area 811, 812, 813, 814 Vertices 821, 822, 823, 824 Vertices 815, 825 Center of gravity position 1001, 1002, 1003, 1004 Misalignment 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 risk area identification unit that identifies a risk area outside the moving object; A storage control unit that performs control to store position information of the two points of the risk area; a determination unit that, when a new risk area is identified by the risk area identification unit, determines whether or not a first area identified from the position information of the two points already stored under the control of the storage control unit matches a second area identified from the position information of the two points of the new risk area; Equipped with The storage control unit performs control to update the already stored position information of the two points with position information of the two points of the new risk area when the determination unit determines that the first area and the second area match. system.

2. A risk area identification unit that identifies a risk area outside the moving object; A storage control unit that performs control to store position information of the two points of the risk area; a determination unit that, when a new risk area is identified by the risk area identification unit, determines whether or not a first area identified from the position information of the two points already stored under the control of the storage control unit matches a second area identified from the position information of the two points of the new risk area; Equipped with The storage control unit performs control to newly store position information of two points of the new risk area when the determination unit determines that the first area and the second area do not match. system.

3. The storage control unit performs control to newly store position information of two points of the new risk area when the determination unit determines that the first area and the second area do not match. The system of claim 1 .

4. When a new risk area is identified by the risk area identification unit, The storage control unit determines position information of a first plurality of points defining the first area based on the position information of the two points already stored, and determines position information of a second plurality of points defining the second area based on the position information of two points of the risk area indicated by the new risk area information; The determination unit determines whether the first area and the second area coincide with each other based on a degree of overlap between the first area defined by the first plurality of points and the second area defined by the second plurality of points. A system according to any one of claims 1 to 3.

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

6. The determination unit determines whether the first area and the second area coincide with each other based on an area ratio between at least one of the first area and the second area and a partial area where the first area and the second area overlap. The system of claim 5.

7. The determination unit determines whether the first area and the second area coincide with each other based on an amount of deviation between a center of gravity of the first area and a center of gravity of the second area. A system according to any one of claims 1 to 3.

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

9. The determination unit determines whether the first area and the second area match based on at least one of an average value, a maximum value, and a minimum value of an amount of deviation between a plurality of points defining the first area and a plurality of points defining the second area. The system of claim 8.

10. A transmission control unit that controls the transmission of the position information of the two points held by the holding control unit to another moving body. The system of claim 1 , further comprising:

11. The system includes the mobile unit and a server external to the mobile unit; The server includes the retention control unit, The mobile object includes the risk area identification unit, a location information receiving unit that receives the location information stored by the storage control unit from the server, and the determination unit. A system according to any one of claims 1 to 3.

12. The system includes the mobile unit and a server external to the mobile unit; The moving object includes the risk area identification unit, The server includes the storage control unit, a reception control unit that controls reception of risk area information indicating a risk area outside the moving body identified by the moving body, and the determination unit. A system according to any one of claims 1 to 3.

13. The server is a Mobile Edge Computing (MEC) server. The system of claim 12.

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

15. identifying a risk area outside the mobile object; performing a control for maintaining position information of two points of the risk area; identifying new risk area information; A step of determining whether or not a first area specified from the position information of the two points already held matches a second area specified from the position information of two points of the risk area indicated by the new risk area information; performing control for updating the already stored position information of the two points with position information of the two points of the new risk area when it is determined that the first area and the second area coincide with each other; A method for providing the above.

16. identifying a risk area outside the mobile object; performing a control for maintaining position information of two points of the risk area; identifying new risk area information; A step of determining whether or not a first area specified from the position information of the two points already held matches a second area specified from the position information of two points of the risk area indicated by the new risk area information; performing control for newly storing position information of two points of the new risk area when it is determined that the first area and the second area do not match; A method for providing the above.

17. A program for causing a computer to A risk area identification unit that identifies a risk area outside the moving object; A storage control unit that performs control to store position information of the two points of the risk area; and a determination unit that, when a new risk area is identified by the risk area identification unit, determines whether or not a first area identified from the position information of the two points already stored under the control of the storage control unit matches a second area identified from the position information of the two points of the new risk area. Function as a The storage control unit performs control to update the already stored position information of the two points with position information of the two points of the new risk area when the determination unit determines that the first area and the second area match. program.

18. A program for causing a computer to A risk area identification unit that identifies a risk area outside the moving object; A storage control unit that performs control to store position information of the two points of the risk area; and a determination unit that, when a new risk area is identified by the risk area identification unit, determines whether or not a first area identified from the position information of the two points already stored under the control of the storage control unit matches a second area identified from the position information of the two points of the new risk area. Function as a The storage control unit performs control to newly store position information of two points of the new risk area when the determination unit determines that the first area and the second area do not match. program.

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