Position calculation device, support control device, position calculation method, and program

Abstract

To provide a position calculation device that properly calculates a position of a moving object.SOLUTION: A position calculation device comprises: an acquisition unit that acquires positional information of each of a plurality of moving objects and acquired time information of each of the positional information; a calculation unit that calculates a position of each of the plurality of moving objects at a future time based on the positional information and the acquired time information; and a setting unit that sets the future time in consideration of at least a calculation starting time that is a time at which the calculation unit starts calculating the position of each of the plurality of moving objects, and a first required time that is a time required to calculate a position of each of the plurality of moving objects.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a position calculation device, an assistance control device, a position calculation method, and a program. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable people among transportation participants have been gaining momentum. To achieve this, we are focusing on research and development to further improve the safety and convenience of transportation through research and development of preventive safety technology. Patent documents 1-3 describe technology related to calculating vehicle positions. [Prior art document] [Patent documents] Patent Document 1: JP 2020-91717 A Patent Document 2: JP 2007-280060 A Patent Document 3: JP 2009-222438 A Summary of the Invention [Problem to be solved by the invention]

[0003] However, in preventive safety technology, the calculation of the position of a moving object is an issue. The present application aims to solve the above issue by appropriately calculating the position of a moving object, and ultimately to 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 position calculation device. The position calculation device includes an acquisition unit that acquires position information of each of a plurality of moving bodies and acquisition time information of the respective position information. The position calculation device includes a calculation unit that calculates a position of each of the plurality of moving bodies at a future time based on the position information and the acquisition time information. The position calculation device includes a setting unit that sets the future time in consideration of at least a calculation start time, which is a time at which the calculation unit starts calculating the position of each of the plurality of moving bodies, and a first required time, which is a time required to calculate the position of each of the plurality of moving bodies.

[0005] In the position calculation device, the setting section may set the future time based on a time obtained by adding the first required time to the calculation start time.

[0006] In any of the above-mentioned position calculation devices, the calculation unit may calculate, for each of the multiple moving bodies, a time difference between the future time and the acquisition time of the latest position of each moving body, and calculate the position of each moving body at the future time based on the latest position of each moving body, the moving speed of each moving body, and the time difference.

[0007] In any of the position calculation devices described above, the setting unit may measure a time required by the calculation unit to calculate the position of each of the plurality of moving bodies, and set the first required time to be used for setting the future time based on the measured time.

[0008] In any of the position calculation devices described above, the setting section may set the first required time based on the number of the plurality of moving objects.

[0009] In any of the position calculation devices described above, the setting section may set the first required time based on a current processing load in the position calculation device.

[0010] In any of the position calculation devices described above, the plurality of moving bodies may include vehicles.

[0011] In any of the position calculation devices described above, the plurality of moving bodies may include vehicles and pedestrians.

[0012] In a second aspect of the present invention, there is provided an assistance control device comprising any one of the position calculation devices described above. The assistance device further comprises an assistance control unit that performs control regarding traffic assistance for the plurality of moving objects based on the positions of the plurality of moving objects calculated by the calculation unit.

[0013] In the above-mentioned assistance control device, the setting unit may set the future time based on a time obtained by adding together the calculation start time, the first required time, and a second required time, which is the time required for the assistance control unit to perform processing for control related to the traffic assistance.

[0014] In a third aspect of the present invention, there is provided a position calculation method. The position calculation method includes a step of acquiring position information of each of a plurality of moving bodies and acquisition time information of each of the position information. The position calculation method includes a step of calculating a position of each of the plurality of moving bodies at a future time based on the position information and the acquisition time information. The position calculation method includes a step of setting the future time in consideration of at least a calculation start time, which is a time at which calculation of the position of each of the plurality of moving bodies starts in the position calculation step, and a first required time, which is a time required to calculate the position of each of the plurality of moving bodies.

[0015] In a fourth aspect of the present invention, there is provided a program for causing a computer to function as any one of the position calculation devices described above.

[0016] The above summary of the invention does not list all of the features of the present invention. Also, subcombinations of these features may also be inventions. [Brief description of the drawings]

[0017] [Figure 1] 1 illustrates a schematic diagram of a scenario in which the support system 10 is used. [Diagram 2] 2 shows the functional configuration of the support device 60. [Diagram 3] 11 is a diagram for explaining an example of a process for determining the time at which the positions of the vehicle 20 and the user terminal 82 are to be calculated. FIG. [Figure 4] FIG. 13 is a diagram for explaining another example of the process for determining the time at which the positions of the vehicle 20 and the user terminal 82 are to be calculated. [Diagram 5] An example of an execution sequence of processing by the user terminal 82, the on-board processing device 40 provided in the vehicle 20, and the assistance device 60 is shown. [Figure 6] 1 shows an example of a flowchart relating to an assistance control method executed by the assistance device 60. [Figure 7] An example of a computer 2000 is shown. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] 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.

[0019] 1 is a schematic diagram showing a usage scenario of the assistance system 10. The assistance system 10 includes a vehicle 20a, a vehicle 20b, and a vehicle 20c, a user terminal 82a and a user terminal 82b, and an assistance device 60.

[0020] Vehicle 20a is equipped with an on-vehicle processing device 40a, vehicle 20b is equipped with an on-vehicle processing device 40b, and vehicle 20c is equipped with an on-vehicle processing device 40c. Vehicles 20a and 20b are moving vehicles, and vehicle 20c is a stopped vehicle. User terminal 82a is a terminal carried by user 80a, and user terminal 82b is a terminal carried by user 80b. In this embodiment, user 80a and user 80b are pedestrians.

[0021] In this embodiment, vehicle 20a, vehicle 20b, and vehicle 20c may be collectively referred to as "vehicle 20". On-board processing devices 40a, 40b, and 40c may be collectively referred to as "on-board processing devices 40". User terminal 82a and user terminal 82b may be collectively referred to as "user terminal 82". User 80a and user 80b may be collectively referred to as "user 80".

[0022] The vehicle 20 is a vehicle that travels on a road 90. The vehicle 20 is an example of a moving body. The on-board processing device 40 includes a camera, a position sensor including a Global Navigation Satellite System (GNSS) receiver, and a speed sensor such as a vehicle speed sensor. The on-board processing device 40 has a function of processing information acquired by various sensors and a function of communicating with the assistance device 60. The on-board processing device 40 provides an advanced driver assistance system (ADAS) function that the vehicle 20 is equipped with.

[0023] The user terminal 82 is, for example, a mobile terminal such as a smartphone. The user terminal 82 is an example of a moving body. The user terminal 82 periodically transmits current position information of the user terminal 82 detected by a position sensor including a GNSS receiver to the assistance device 60.

[0024] The assistance device 60 receives, via mobile communication, information transmitted from the in-vehicle processing device 40 and the user terminal 82. The assistance device 60 may receive information transmitted from the in-vehicle processing device 40 and the user terminal 82 via mobile communication and a communication line such as the Internet or a dedicated line.

[0025] The assistance device 60 provides traffic assistance to the vehicle 20 based on information received from the on-board processing device 40 and the user terminal 82. For example, when the assistance device 60 predicts that the user 80 and the vehicle 20 will approach each other within a predetermined time based on the history of position information and speed information of the vehicle 20a received from the on-board processing device 40a and the history of position information of the user terminal 82, the assistance device 60 determines to provide traffic assistance to the vehicle 20 and the user 80, and instructs the on-board processing device 40a and the user terminal 82a to output an alert.

[0026] The assistance device 60 determines whether the user 80 and the vehicle 20 will approach each other within a predetermined time by calculating the respective positions of the vehicle 20a and the user terminal 82a at a time point a predetermined time after the present. At this time, the assistance device 60 determines at what time the positions are to be calculated, taking into consideration a first required time required to calculate the respective positions of the vehicle 20a and the user terminal 82a. For example, when the assistance device 60 calculates the positions of the vehicle 20a and the user terminal 82a 5 seconds later to determine whether the user 80 and the vehicle 20 will approach each other in 5 seconds, the assistance device 60 determines the time point when the first required time has elapsed from 5 seconds as the time point for calculating the positions of the vehicle 20a and the user terminal 82a. As a result, when the calculation of the positions is completed, it is possible to accurately determine whether the user 80 and the vehicle 20 will approach each other in 5 seconds.

[0027] 2 shows the functional configuration of the assistance device 60. The assistance device 60 includes an assistance control device 200, a communication device 290, and a storage device 280. The assistance control device 200 includes a position calculation device 202 and an assistance control unit 260.

[0028] The communication device 290 is responsible for communication between the in-vehicle processing device 40 and the user terminal 82, and the assistance device 60. The assistance control unit 260 and the position calculation device 202 are realized by including circuits such as an arithmetic processing device including a processor. The assistance control unit 260 and the position calculation device 202 may be realized by a microcomputer including a CPU, ROM, RAM, I / O, buses, etc. The storage device 280 is realized by including a non-volatile storage medium. The assistance control unit 260 and the position calculation device 202 perform processing using information stored in the storage device 280.

[0029] The position calculation device 202 includes an acquisition unit 210, a calculation unit 220, and a setting unit 240. Note that the support device 60 may not have some of the functions of the functional configuration shown in FIG.

[0030] The acquisition unit 210 acquires position information of each of the multiple vehicles 20 and / or user terminals 82 and acquisition time information of the respective position information. The calculation unit 220 calculates the position of each of the multiple vehicles 20 and / or user terminals 82 at a future time based on the position information and the acquisition time information. The setting unit 240 sets the future time by taking into consideration at least a calculation start time, which is the time at which the calculation unit 220 starts calculating the position of each of the multiple vehicles 20 and / or user terminals 82, and a first required time, which is the time required to calculate the position of each of the multiple vehicles 20 and / or user terminals 82.

[0031] As an example, the setting section 240 may set a future time based on a time obtained by adding the first required time to the calculation start time.

[0032] The calculation unit 220 may calculate the time difference between a future time and the time at which the latest position of each vehicle 20 and / or user terminal 82 was obtained for each of the multiple vehicles 20 and / or user terminals 82, and calculate the position of each vehicle 20 and / or user terminal 82 at a future time based on the latest position of each vehicle 20 and / or user terminal 82 and the moving speed and time difference of each vehicle 20 and / or user terminal 82.

[0033] The setting unit 240 may measure the time taken by the calculation unit 220 to calculate the positions of each of the multiple vehicles 20 and / or user terminals 82, and set a first required time used to set a future time based on the measured time. The setting unit 240 may set the first required time based on the number of the multiple vehicles 20 and / or user terminals 82. The setting unit 240 may set the first required time based on the current processing load in the position calculation device.

[0034] FIG. 3 is a diagram for explaining an example of a process for determining the time at which the positions of the vehicle 20 and the user terminal 82 are to be calculated.

[0035] Each of the vehicle 20 and the user terminal 82 periodically transmits position information indicating the acquired current position and information on the acquisition time of the position to the assistance device 60. The acquisition unit 210 of the assistance device 60 acquires the position information and acquisition time information transmitted from each of the vehicle 20 and the user terminal 82. Fig. 3 shows a state in which the acquisition unit 210 has received the positions of the vehicle 20a at times t1 and t5, the position of the vehicle 20b at times t2 and t6, the position of the user terminal 82a at times t3 and t7, and the position of the user terminal 82b at times t0 and t4.

[0036] Since the timing at which the vehicle 20 and the user terminal 82 acquire their current positions is not synchronized, there may be a difference in the time at which the positions are acquired, as shown in the figure. Therefore, the calculation unit 220 of the assistance device 60 calculates a position at a specific time point in the present or future based on the position information and time information acquired separately by the vehicle 20 and the user terminal 82. The assistance control unit 260 performs control regarding traffic assistance for the vehicle 20 and the user 80 based on the positions of the vehicle 20 and the user terminal 82 at the specific time point.

[0037] As a first example, the assistance control unit 260 provides traffic assistance such as notifying the vehicle 20 and the user 80 that there is a possibility of approaching another moving object when it is determined that the vehicle 20 and the user terminal 82 will approach within a predetermined distance 5 seconds from now, and / or when it is determined that the vehicle 20 and another vehicle 20 will approach within a predetermined distance 5 seconds from now.

[0038] However, it takes time to calculate the positions of the vehicle 20 and the user terminal 82. Therefore, if the positions of the vehicle 20 and the user terminal 82 5 seconds from now are calculated and traffic support control is performed based on the calculated positions, and the first required time required to calculate the positions of the vehicle 20 and the user terminal 82 is T1 seconds, the control of traffic support will be performed based on the positions at 5-T1 seconds from the time when control of traffic support is started.

[0039] As a second example, when control over traffic assistance is performed based on the current positions of vehicle 20 and user terminal 82, if the current positions of vehicle 20 and user terminal 82 are calculated, then from the point in time when control over traffic assistance is started, control over traffic assistance will be performed based on the positions T1 seconds ago.

[0040] Therefore, when the position correction time, which is the time to calculate the positions of the vehicle 20 and the user terminal 82, is determined, the calculation unit 220 calculates the positions at a point in time at least the first required time T1 after the position correction time. Here, the position correction time is a time 5 seconds after the present in the first example described above, and is the present time in the second example.

[0041] 3, when the position correction time t10 is determined, the calculation unit 220 determines the time obtained by adding the required time T1 to the position correction time t10 as the position calculation target time, and the calculation unit 220 calculates the positions of the vehicle 20 and the user terminal 82 at the time t10+T1. For example, the calculation unit 220 calculates the position of the vehicle 20a at the time t10+T1 based on the positions of the vehicle 20a at the times t1 and t5 and the times t1 and t5. Specifically, the calculation unit 220 calculates the speed of the vehicle 20 from the position of the vehicle 20a at t5 and the position of the vehicle 20a at t1, and calculates the position of the vehicle 20a at the time t10+T1 based on the calculated speed, the travel time (t10+T1-t5) from the time t5 to the time t10+T1, and the position of the vehicle 20a at the time t5. If the information transmitted from vehicle 20a includes speed information of vehicle 20a, the calculation unit 220 may calculate the position of vehicle 20a at time t10+T1 using the speed and traveling time (t10+T1-t5) indicated by the speed information and the position of vehicle 20a at time t5.

[0042] As a result, when the assistance control unit 260 performs control related to traffic assistance, the position at the time t10+T1 has been calculated, so that the assistance control unit 260 can appropriately perform control related to traffic assistance. For example, when it is determined that the vehicle 20a and the user 80a are likely to approach each other in 5 seconds, the assistance control unit 260 can output an appropriate warning to the passengers and the user 80a by transmitting an instruction to the on-vehicle processing device 40a and the user terminal 82a to output a warning indicating that the vehicle 20a and the user 80a are likely to approach each other in 5 seconds.

[0043] Fig. 4 is a diagram for explaining another example of the process for determining the time for calculating the positions of the vehicle 20 and the user terminal 82. Here, differences from the example in Fig. 3 will be mainly explained with reference to Fig. 4.

[0044] 4 differs from the example of Fig. 3 in that the position calculation target time of the vehicle 20 and the user terminal 82 is determined in consideration of a second required time T2, which is the time required for the assistance control unit 260 to perform processing for determining the approach of the vehicle 20 and the user terminal 82. Specifically, the calculation unit 220 calculates the positions of the vehicle 20 and the user terminal 82 using time t10+T1+T2 as the position calculation target time.

[0045] The second required time T2 is a time required for the assistance control unit 260 to determine whether the vehicle 20 and the user terminal 82 are approaching within a predetermined distance and / or whether the vehicle 20 and another vehicle 20 are approaching within a predetermined distance based on the position calculated by the calculation unit 220. According to the example of FIG. 4, the calculation unit 220 calculates the positions of the vehicle 20 and the user terminal 82 at time t10+T1+T2, and the assistance control unit 260 can determine the approach of the vehicle 20 and the user terminal 82 based on the calculated positions. As a result, for example, if the position correction time t10 is a point in time 5 seconds from the present, the approach determination is performed at a point in time 5 seconds from the point in time when the approach determination process by the assistance control unit 260 is completed. Therefore, an appropriate warning can be output to the passenger and the user 80a.

[0046] The first required time T1 and / or the second required time T2 may be a predetermined fixed value. The first required time T1 and / or the second required time T2 may be dynamically set by the setting unit 240. The setting unit 240 may measure the time required for the calculation unit 220 to calculate the positions of the vehicle 20 and the user terminal 82 multiple times, and set the first required time T1 based on the average value of the multiple measured times. The setting unit 240 may measure the time required for the above-mentioned approach judgment process by the assistance control unit 260 multiple times, and set the second required time T2 based on the average value of the multiple measured times.

[0047] The setting unit 240 may set the first required time T1 and / or the second required time T2 based on the number of vehicles 20 and user terminals 82 whose positions are to be calculated by the calculation unit 220. The setting unit 240 may set the first required time T1 and / or the second required time T2 longer as the number of vehicles 20 and user terminals 82 whose positions are to be calculated by the calculation unit 220 increases. The setting unit 240 may set the first required time T1 by multiplying the number of vehicles 20 and user terminals 82 whose positions are to be calculated by the calculation unit 220 by a predetermined time. The setting unit 240 may set the second required time T2 longer as the number of combinations of vehicles 20 and user terminals 82 whose positions are to be determined by the assistance control unit 260 increases. The setting unit 240 may set the second required time T2 by multiplying the number of combinations of vehicles 20 and user terminals 82 whose positions are to be determined by the assistance control unit 260 by a predetermined time.

[0048] FIG. 5 shows an example of an execution sequence of the processes of the user terminal 82, the in-vehicle processing device 40 provided in the vehicle 20, and the assistance device 60.

[0049] In S402, the user terminal 82a transmits location information indicating the current location of the user terminal 82a based on a signal received from a GNSS satellite and acquisition time information indicating the time when the current location was acquired to the support device 60. The location information and the acquisition time information are transmitted from the user terminal 82a to the support device 60 periodically.

[0050] In S404, the user terminal 82b transmits location information indicating the current location of the user terminal 82b based on the signal received from the GNSS satellite and acquisition time information indicating the time when the current location was acquired to the support device 60. The location information and the acquisition time information are transmitted from the user terminal 82b to the support device 60 periodically.

[0051] In S412, the in-vehicle processing device 40a transmits position information indicating the current position of the vehicle 20a based on the signal received from the GNSS satellite, acquisition time information indicating the time when the current position was acquired, and speed information indicating the speed of the vehicle 20a detected by the speed sensor to the assistance device 60. The in-vehicle processing device 40a periodically transmits the position information, acquisition time information, and speed information to the assistance device 60.

[0052] In S414, the in-vehicle processing device 40b transmits position information indicating the current position of the vehicle 20b based on the signal received from the GNSS satellite, acquisition time information indicating the time when the current position was acquired, and speed information indicating the speed of the vehicle 20b detected by the speed sensor to the assistance device 60. The position information, acquisition time information, and speed information are transmitted from the in-vehicle processing device 40b to the assistance device 60 periodically.

[0053] In S430, the assistance control unit 260 of the assistance device 60 judges whether or not to provide traffic assistance to the vehicle 20 and the user terminal 82 based on the information received in S402, S404, S412, and S414. For example, as described in relation to FIG. 3 and FIG. 4, the calculation unit 220 calculates the positions of the vehicle 20 and the user terminal 82 at a specific time point in the future based on the history of the position information and speed information of the vehicle 20 and the history of the position information of the user terminal 82, and the assistance control unit 260 performs an approach judgment to judge whether or not the vehicle 20 and the user terminal 82 are approaching within a predetermined distance and / or whether or not the vehicle 20 and another vehicle 20 are approaching within a predetermined distance at a specific time point in the future based on the calculated positions. The assistance control unit 260 judges to provide traffic assistance when the vehicle 20 and the user terminal 82 are approaching within a predetermined distance and / or when the vehicle 20 and another vehicle 20 are approaching within a predetermined distance at a specific time point in the future.

[0054] In this embodiment, the assistance control unit 260 determines that the user terminal 82a and the vehicle 20a will approach within a predetermined distance at a specific time point in the future, and determines that the user terminal 82b and the vehicle 20b will approach within a predetermined distance. As a result, in S432, the assistance control unit 260 controls the communication device 290 to transmit assistance information instructing the in-vehicle processing device 40a and the user terminal 82a to output an alarm to each of the in-vehicle processing device 40a and the user terminal 82a. Furthermore, in S434, the assistance control unit 260 controls the communication device 290 to transmit assistance information instructing the in-vehicle processing device 40b and the user terminal 82b to output an alarm to each of the in-vehicle processing device 40b and the user terminal 82b.

[0055] When the user terminal 82a receives the assistance information from the assistance device 60, in S406, the user terminal 82a notifies the user 80a that there is a vehicle 20 approaching the user 80a by an HMI (Human Machine Interface) function of the user terminal 82a. The user terminal 82a may notify the user 80a by voice that there is a vehicle approaching the user 80a. The user terminal 82a may notify the user 80a that there is a vehicle approaching the user 80a within a predetermined time (for example, within 5 seconds) in response to the assistance information.

[0056] When the in-vehicle processing device 40a receives the support information from the support device 60, in S416, the in-vehicle processing device 40a notifies the passenger of the vehicle 20a that there is a user approaching the vehicle 20a by using an HMI function of the in-vehicle processing device 40a. The in-vehicle processing device 40a may notify the passenger of the vehicle 20a that there is a vehicle approaching the vehicle 20a by voice and by displaying the information on a display device provided in the vehicle 20a. The in-vehicle processing device 40a may notify the passenger of the presence of a user approaching within a predetermined time (for example, within 5 seconds) in accordance with the support information.

[0057] When the user terminal 82b receives the assistance information from the assistance device 60, in S408, the user terminal 82b notifies the user 80b that there is a vehicle approaching the user 80b by an HMI function of the user terminal 82b. The user terminal 82b may notify the user 80b that there is a vehicle approaching the user 80b by voice. The user terminal 82b may notify the user 80b that there is a vehicle approaching the user 80b within a predetermined time (for example, within 5 seconds) in response to the assistance information.

[0058] When the in-vehicle processing device 40b receives the assistance information from the assistance device 60b, in S418, the in-vehicle processing device 40b notifies the occupant of the vehicle 20b that there is a vehicle approaching the vehicle 20b by using an HMI function of the in-vehicle processing device 40b. The in-vehicle processing device 40b may notify the occupant of the vehicle 20b that there is a vehicle approaching the vehicle 20b by voice and by displaying the information on a display device provided in the vehicle 20b. The in-vehicle processing device 40b may notify the occupant of the vehicle 20b that there is a user approaching within a predetermined time (for example, within 5 seconds) in accordance with the assistance information.

[0059] 6 shows an example of a flowchart relating to the assistance control method executed by the assistance device 60. The process of this flowchart may be executed periodically.

[0060] In S600, the acquisition unit 210 acquires information transmitted from the vehicle 20 and the user terminal 82. For example, the acquisition unit 210 acquires position information, acquisition time information, and speed information transmitted from the in-vehicle processing device 40 of the vehicle 20, and acquires position information and acquisition time information transmitted from the user terminal 82.

[0061] In S602, the calculation unit 220 determines the position correction time described with reference to Figures 3 and 4, etc. The position correction time determines the time at which the calculation unit 220 acquires the position information of the vehicle 20 and the user terminal 82. For example, the position correction time is a time such as 5 seconds from the present, as described with reference to Figures 3 and 4, etc.

[0062] In S604, the calculation section 220 determines the first required time T1 and the second required time T2. The calculation section 220 may determine the times set by the setting section 240 as the first required time T1 and the second required time T2.

[0063] In S606, the calculation unit 220 determines the time for which the positions are to be calculated based on the information determined in S602 and S604, and calculates the positions of the vehicle 20 and the user terminal 82 at that time based on the information acquired in S600.

[0064] In S606, the assistance control unit 260 performs the above-mentioned approach judgment based on the position calculated in S606, and judges whether or not to provide traffic assistance to the vehicle 20 and the user terminal 82. If it is judged that traffic assistance should be provided to the vehicle 20 and the user terminal 82, in S608, control related to the traffic assistance is performed.

[0065] In S610, the setting unit 240 updates the first required time based on the time required for calculating the position in S606, and updates the second required time based on the time required for the approach determination process in S608.

[0066] According to the assistance system 10 described above, the assistance device 60 determines the time at which the positions of the vehicle 20 and the user terminal 82 are to be calculated, taking into consideration at least the first required time required to calculate the positions of the vehicle 20 and the user terminal 82. This makes it possible to accurately determine whether the user terminal 82 and the vehicle 20 are approaching each other at a desired time when the position calculation is completed.

[0067] 7 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 may cause the computer 2000 to function as an apparatus such as the support device 60 according to an embodiment or each part of the apparatus, to execute operations associated with the apparatus or each part of the apparatus, and / or to 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 process steps and block diagrams described herein.

[0068] 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.

[0069] The CPU 2012 operates according to the programs stored in the ROM 2026 and RAM 2014, thereby controlling each unit.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] A program installed in the computer 2000 and causing the computer 2000 to function as the support device 60 may act on the CPU 2012, etc., to cause the computer 2000 to function as each part of the support device 60 (e.g., the position calculation device 202, the support control device 200, etc.). When the information processing described in these programs is read into the computer 2000, it functions as each part of the support device 60, 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 concrete means, a specific support device 60 according to the intended use is constructed.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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]

[0083] 10 Support System 20 Vehicles 40 On-board processing device 60 Support equipment 80 users 82 User terminal 90 road 200 Assistance control device 202 Position calculation device 210 Acquisition Department 220 Calculation Unit 240 Setting section 260 Support control section 280 Storage device 290 Communication Equipment 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. an acquisition unit that acquires location information of each of a plurality of moving objects and acquisition time information of each of the location information; a calculation unit that calculates a position of each of the plurality of moving objects at a future time based on the position information and the acquired time information; a setting unit that sets the future time in consideration of at least a calculation start time, which is a time when the calculation unit starts calculating the position of each of the plurality of moving objects, and a first required time, which is a time required to calculate the position of each of the plurality of moving objects; A position calculation device comprising:

2. The setting unit sets the future time based on a time obtained by adding the first required time to the calculation start time. The position calculation device according to claim 1 .

3. The calculation unit, for each of the plurality of moving bodies, Calculating a time difference between the future time and the latest acquisition time of the position of each moving object; Calculating the position of each of the moving bodies at the future time based on the latest position of each of the moving bodies, the moving speed of each of the moving bodies, and the time difference. The position calculation device according to claim 2 .

4. The setting unit measures a time required for the calculation unit to calculate the position of each of the plurality of moving objects, and sets the first required time used to set the future time based on the measured time. The position calculation device according to claim 1 .

5. The setting unit sets the first required time based on the number of the plurality of moving objects. The position calculation device according to claim 1 .

6. The setting unit sets the first required time based on a current processing load in the position calculation device. The position calculation device according to claim 1 .

7. The plurality of moving bodies includes a vehicle. The position calculation device according to claim 1 .

8. The plurality of moving bodies includes vehicles and pedestrians. The position calculation device according to claim 1 .

9. A position calculation device according to any one of claims 1 to 3, an assistance control unit that performs control regarding traffic assistance for the plurality of moving objects based on the positions of the plurality of moving objects calculated by the calculation unit; An assistance control device comprising:

10. The setting unit sets the future time based on a time obtained by adding together the calculation start time, the first required time, and a second required time that is a time required for the assistance control unit to perform a process related to the traffic assistance. The assistance control device according to claim 9.

11. acquiring location information of each of a plurality of moving objects and acquisition time information of each of the location information; calculating a position of each of the plurality of moving objects at a future time based on the position information and the acquired time information; setting the future time in consideration of at least a calculation start time, which is a time at which calculation of the positions of each of the plurality of moving bodies is started in the position calculation step, and a first required time, which is a time required to calculate the positions of each of the plurality of moving bodies; A position calculation method comprising:

12. A program for causing a computer to function as the position calculation device according to any one of claims 1 to 3.

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