Assistance control device, assistance control method, and program

Abstract

To identify the position of a moving object with high accuracy in preventive safety technology.SOLUTION: An assistance control device includes a first acquisition unit that acquires position information on a vehicle detected by the vehicle and information indicating a lane in which the vehicle is traveling that is detected by analyzing an image captured by an imaging device provided on the vehicle, a position determination unit that determines the position of the vehicle on a map based on the position information on the vehicle and the information indicating the lane in which the vehicle is traveling that are acquired by the first acquisition unit, and an assistance control unit that performs control for traffic assistance to the vehicle based on the position determined by the position determination unit.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an assistance control device, an assistance control 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 for processing information transmitted from vehicles. [Prior art document] [Patent documents] Patent Document 1: JP 2009-145167 A Patent Document 2: International Publication No. 2020 / 012208 Patent Document 3: JP 2021-111331 A Summary of the Invention [Problem to be solved by the invention]

[0003] However, in preventive safety technology, it is important to determine the location of a moving object with high accuracy. In order to solve the above problem, the present application aims to determine the location of a moving object with high accuracy. This application also aims 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 an assistance control device. The assistance control device includes a first acquisition unit that acquires position information of the vehicle detected by the vehicle and information indicating the lane in which the vehicle is traveling that is detected by analyzing an image captured by an imaging device provided in the vehicle. The assistance control device includes a position determination unit that determines a position of the vehicle on a map based on the position information of the vehicle and the information indicating the lane in which the vehicle is traveling that are acquired by the first acquisition unit. The assistance control device includes an assistance control unit that performs control for traffic assistance for the vehicle based on the position determined by the position determination unit.

[0005] The assistance control device may further include a second acquisition unit that acquires position information of the other vehicle detected by the other vehicle other than the vehicle, information indicating the driving lane of the other vehicle detected by analyzing an image captured by an imaging device provided in the other vehicle, and information indicating the driving lane of the vehicle detected by analyzing an image captured by an imaging device provided in the other vehicle. The position determination unit may determine a position of the vehicle on a map based on the position information of the vehicle and the information indicating the driving lane of the vehicle acquired by the first acquisition unit, and the position information of the other vehicle, the information indicating the driving lane of the other vehicle, and the information indicating the driving lane of the vehicle acquired by the second acquisition unit.

[0006] In any of the above-mentioned assistance control devices, when the imaging device provided in the other vehicle is a first imaging device that images the area in front of the other vehicle, the position determination unit may determine whether or not the vehicle is a vehicle traveling in front of the other vehicle based on position information of the vehicle and position information of the other vehicle, and if it is determined that the vehicle is a vehicle traveling in front of the other vehicle, may determine the position of the vehicle on a map based on the position information of the vehicle and the information indicating the driving lane of the vehicle acquired by the first acquisition unit, the position information of the other vehicle acquired by the second acquisition unit, information indicating the driving lane of the other vehicle detected by analyzing the image captured by the first imaging device, and information indicating the driving lane of the vehicle detected by analyzing the image captured by the first imaging device.

[0007] In any of the above-mentioned assistance control devices, if the imaging device provided in the other vehicle is a second imaging device that images the rear of the other vehicle, the position determination unit may determine whether or not the vehicle is a vehicle traveling rear of the other vehicle based on position information of the vehicle and position information of the other vehicle, and if it is determined that the vehicle is a vehicle traveling rear of the other vehicle, may determine the position of the vehicle on a map based on the position information of the vehicle and the information indicating the driving lane of the vehicle acquired by the first acquisition unit, the position information of the other vehicle acquired by the second acquisition unit, information indicating the driving lane of the other vehicle detected by analyzing the image captured by the second imaging device, and information indicating the driving lane of the vehicle detected by analyzing the image captured by the second imaging device.

[0008] In any of the above assistance control devices, the second acquisition unit may further acquire distance information from the other vehicle to the vehicle detected by analyzing an image captured by an imaging device provided in the other vehicle. The position determination unit may determine a position of the vehicle on a map further based on the distance information from the other vehicle to the vehicle acquired by the second acquisition unit.

[0009] In any of the above assistance control devices, the first acquisition unit may further acquire detection accuracy information of the lane of the vehicle detected by analyzing an image captured by an imaging device provided in the vehicle. The position determination unit may determine the position of the vehicle further based on the detection accuracy information of the lane of the vehicle acquired by the first acquisition unit.

[0010] In any of the above assistance control devices, the second acquisition unit may further acquire detection accuracy information of the lane of the vehicle detected by analyzing an image captured by an imaging device provided in the other vehicle. The position determination unit may determine the position of the vehicle further based on the detection accuracy information of the lane of the vehicle acquired by the second acquisition unit.

[0011] In any of the above assistance control devices, the first acquisition unit may further acquire detection accuracy information of the position information of the vehicle detected by the vehicle. The position determination unit may determine the position of the vehicle further based on the detection accuracy information of the position information of the vehicle acquired by the first acquisition unit.

[0012] In any of the above assistance control devices, the second acquisition unit may further acquire detection accuracy information of the position information of the other vehicle detected by the other vehicle. The position determination unit may determine the position of the vehicle further based on the detection accuracy information of the position information of the other vehicle acquired by the second acquisition unit.

[0013] In any of the above assistance control devices, the second acquisition unit may further acquire detection accuracy information of distance information from the other vehicle to the vehicle. The position determination unit may determine a position of the vehicle on a map further based on the detection accuracy information of the distance information from the other vehicle to the vehicle acquired by the second acquisition unit.

[0014] In a second aspect of the present invention, there is provided an assistance control method. The assistance control method includes a step of acquiring position information of the vehicle detected by the vehicle and information indicating the driving lane of the vehicle detected by analyzing an image captured by an imaging device provided in the vehicle. The assistance control method includes a step of determining a position of the vehicle on a map based on the position information of the vehicle and the information indicating the driving lane of the vehicle. The assistance control method includes a step of performing control for traffic assistance for the vehicle based on the position determined in the step of determining the position of the vehicle.

[0015] In a third aspect of the present invention, there is provided a program that causes a computer to function as any one of the above-mentioned assistance control devices.

[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] FIG. 11 is a diagram for explaining an example of a process for determining the position of a vehicle 20a from the driving lanes of a vehicle 20a and a vehicle 20d. [Figure 4] FIG. 11 is a diagram for explaining an example of a process for determining the position of a vehicle 20a in consideration of a distance detected in a vehicle 20d. [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, a vehicle 20c, and a vehicle 20d, a user terminal 82a, a user terminal 82b, and an assistance device 60.

[0020] The vehicle 20a includes an on-board processing device 40a, a first imaging device 30a, and a second imaging device 32a, the vehicle 20b includes an on-board processing device 40b, a first imaging device 30b, and a second imaging device 32b, the vehicle 20c includes an on-board processing device 40c, a first imaging device 30c, and a second imaging device 32c, and the vehicle 20d includes an on-board processing device 40d, a first imaging device 30d, and a second imaging device 32d. The vehicles 20a, 20b, and 20d are running vehicles, and the vehicle 20c is a stopped vehicle. The user terminal 82a is a terminal carried by the user 80a, and the user terminal 82b is a terminal carried by the user 80b. In this embodiment, the users 80a and 80b are pedestrians.

[0021] In this embodiment, the vehicle 20a, the vehicle 20b, the vehicle 20c, and the vehicle 20d may be collectively referred to as "vehicle 20". The on-board processing device 40a, the on-board processing device 40b, the on-board processing device 40c, and the on-board processing device 40d may be collectively referred to as "on-board processing device 40". The first imaging device 30a, the first imaging device 30b, the first imaging device 30c, and the first imaging device 30d may be collectively referred to as "first imaging device 30". The second imaging device 32a, the second imaging device 32b, the second imaging device 32c, and the second imaging device 32d may be collectively referred to as "second imaging device 32". The user terminal 82a and the user terminal 82b may be collectively referred to as "user terminal 82". The user 80a and the 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 is configured to include sensors such as a position sensor including a Global Navigation Satellite System (GNSS) receiver, a speed sensor such as a vehicle speed sensor, and a distance measurement sensor that measures the distance from the vehicle 20 to surrounding objects. The on-board processing device 40 has a function of processing information acquired by various sensors, the first imaging device 30, and the second imaging device 32 provided in the on-board processing device 40, and a function of communicating with the assistance device 60. The on-board processing device 40 provides an advanced driver assistance system (ADAS) function provided in the vehicle 20.

[0023] The first imaging device 30 is an imaging device that captures an image of the area in front of the vehicle 20. The second imaging device 32 is an imaging device that captures an image of the area behind the vehicle 20.

[0024] 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.

[0025] 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.

[0026] 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 80a and the vehicle 20a 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 20a and the user 80a, and instructs the on-board processing device 40a and the user terminal 82a to output an alert.

[0027] The on-board processing device 40 detects the lane in which the vehicle 20 is traveling. For example, the on-board processing device 40 detects the traveling lane of the vehicle 20 by analyzing the images captured by the first imaging device 30 and / or the second imaging device 32. The on-board processing device 40 further detects the traveling lane of another vehicle 20 in front of the vehicle 20 and the traveling lane of another vehicle 20 behind the vehicle 20 by analyzing the images captured by the first imaging device 30 and the second imaging device 32. The on-board processing device 40 transmits the detected position information of the vehicle 20, information indicating the traveling lane of the vehicle 20, information indicating the traveling lane of the other vehicle 20 in front of the vehicle 20, and information indicating the traveling lane of the other vehicle 20 behind the vehicle 20 to the assistance device 60.

[0028] The support device 60 determines the position of each vehicle 20 based on the information transmitted from the vehicle 20. For example, the support device 60 determines the position of the vehicle 20a based on the position of the vehicle 20a detected by the on-board processing device 40a and the driving lane of the vehicle 20a. When the support device 60 receives information indicating the position of the vehicle 20d detected by the vehicle 20d traveling behind the vehicle 20a, the driving lane of the vehicle 20d, and the driving lane of the vehicle 20a, the support device 60 may determine the position of the vehicle 20a based further on the information detected by the vehicle 20d traveling behind the vehicle 20a. As a result, even if the position detection accuracy based on the signal from the GNSS satellite is low, the support device 60 can determine that the vehicle 20a is traveling on the driving lane detected by the on-board processing device 40a and / or the on-board processing device 40d, and can determine the position of the vehicle 20a by matching the driving lane with map information. As a result, the position determination accuracy of the vehicle 20a can be improved.

[0029] 2 shows a 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.

[0030] 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, based on the control of the assistance control device 200. The assistance control device 200 is realized by including a circuit such as an arithmetic processing device including a processor. The assistance control device 200 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 device 200 performs processing using information stored in the storage device 280.

[0031] The assistance control device 200 includes an acquisition unit 202, a position determination unit 230, and an assistance control unit 260. The acquisition unit 202 includes a first acquisition unit 210 and a second acquisition unit 220. Note that the assistance device 60 may not include some of the functions of the functional configuration shown in FIG.

[0032] The acquisition unit 202 acquires information transmitted from the vehicle 20 and the user terminal 82. Specifically, the first acquisition unit 210 acquires position information of the vehicle 20 detected by the vehicle 20 and information indicating the driving lane of the vehicle 20 detected by analyzing an image captured by an imaging device provided in the vehicle 20. The position determination unit 230 determines the position of the vehicle 20 on the map based on the position information of the vehicle 20 and the information indicating the driving lane of the vehicle 20 acquired by the first acquisition unit 210. The assistance control unit 260 performs control for traffic assistance for the vehicle 20 based on the position determined by the position determination unit 230.

[0033] The second acquisition unit 220 acquires position information of the other vehicle 20 detected by the other vehicle 20 that is a vehicle other than the vehicle 20, information indicating the driving lane of the other vehicle 20 detected by analyzing an image captured by an imaging device provided in the other vehicle 20, and information indicating the driving lane of the vehicle 20 detected by analyzing an image captured by an imaging device provided in the other vehicle 20. The position determination unit 230 may determine the position of the vehicle 20 on the map based on the position information of the vehicle 20 and the information indicating the driving lane of the vehicle 20 acquired by the first acquisition unit 210, and the position information of the other vehicle 20, the information indicating the driving lane of the other vehicle 20, and the information indicating the driving lane of the vehicle 20 acquired by the second acquisition unit 220.

[0034] If the imaging device installed in the other vehicle 20 is a first imaging device 30 that images the area in front of the other vehicle 20, the position determination unit 230 determines whether the vehicle 20 is a vehicle 20 traveling in front of the other vehicle 20 based on the position information of the vehicle 20 and the position information of the other vehicle 20, and if it is determined that the vehicle 20 is a vehicle 20 traveling in front of the other vehicle 20, determines the position of the vehicle 20 on the map based on the position information of the vehicle 20 and the information indicating the driving lane of the vehicle 20 acquired by the first acquisition unit 210, the position information of the other vehicle 20, information indicating the driving lane of the other vehicle 20 detected by analyzing the image captured by the first imaging device 30, and information indicating the driving lane of the vehicle 20 detected by analyzing the image captured by the first imaging device 30 acquired by the second acquisition unit 220.

[0035] If the imaging device installed in the other vehicle 20 is the second imaging device 32 that images the rear of the other vehicle 20, the position determination unit 230 may determine whether or not the vehicle 20 is a vehicle 20 traveling behind the other vehicle 20 based on the position information of the vehicle 20 and the position information of the other vehicle 20, and if it is determined that the vehicle 20 is a vehicle 20 traveling behind the other vehicle 20, may determine the position of the vehicle 20 on the map based on the position information of the vehicle 20 and the information indicating the driving lane of the vehicle 20 acquired by the first acquisition unit 210, the position information of the other vehicle 20 acquired by the second acquisition unit 220, the information indicating the driving lane of the other vehicle 20 detected by analyzing the image captured by the second imaging device 32, and the information indicating the driving lane of the vehicle 20 detected by analyzing the image captured by the second imaging device.

[0036] The second acquisition unit 220 may further acquire distance information from the other vehicle 20 to the vehicle 20, detected by analyzing an image captured by an imaging device provided in the other vehicle 20. The position determination unit 230 may determine the position of the vehicle 20 on the map further based on the distance information from the other vehicle 20 to the vehicle 20 acquired by the second acquisition unit 220.

[0037] The second acquisition unit 220 may further acquire detection accuracy information of the distance information from the other vehicles 20 to the vehicle 20. The position determination unit 230 may determine the position of the vehicle 20 on the map further based on the detection accuracy information of the distance information from the other vehicles 20 to the vehicle 20 acquired by the second acquisition unit 220.

[0038] The first acquisition unit 210 may further acquire detection accuracy information of the driving lane of the vehicle 20 detected by analyzing an image captured by an imaging device provided in the vehicle 20. The position determination unit 230 may determine the position of the vehicle 20 further based on the detection accuracy information of the driving lane of the vehicle 20 acquired by the first acquisition unit 210.

[0039] The second acquisition unit 220 further acquires detection accuracy information of the driving lane of the vehicle 20 detected by analyzing an image captured by an imaging device provided in the other vehicle 20. The position determination unit 230 may determine the position of the vehicle 20 further based on the detection accuracy information of the driving lane of the vehicle 20 acquired by the second acquisition unit 220.

[0040] The first acquisition unit 210 may further acquire detection accuracy information of the position information of the vehicle 20 detected by the vehicle 20. The position determination unit 230 may determine the position of the vehicle 20 further based on the detection accuracy information of the position information of the vehicle 20 acquired by the first acquisition unit 210.

[0041] The second acquisition unit 220 may further acquire detection accuracy information of the position information of the other vehicle 20 detected by the other vehicle 20. The position determination unit 230 may determine the position of the vehicle 20 further based on the detection accuracy information of the position information of the other vehicle 20 acquired by the second acquisition unit 220.

[0042] 3 is a diagram for explaining an example of a process for determining the position of vehicle 20a from the travel lanes of vehicles 20a and 20d. Vehicle 20a is assumed to be traveling ahead of vehicle 20d on road 90. Lanes 91, 92, 93, and 94 are set on road 90. Demarcation line 310, demarcation line 312, demarcation line 330, demarcation line 332, and demarcation line 320 are set on road 90.

[0043] The on-board processing device 40a provided in the vehicle 20a detects the lane 91 in which the vehicle 20a is traveling by analyzing the image captured by the first imaging device 30a or the second imaging device 32a. For example, the on-board processing device 40a detects the position of a dividing line provided on the road 90 by analyzing the image captured by the first imaging device 30a or the second imaging device 32a, and detects the lane 91 in which the vehicle 20a is traveling based on the position of the detected dividing line. The on-board processing device 40a may further detect the positions of curbs, guardrails, medians, plants, etc. in addition to the dividing lines, and detect the lane 91 in which the vehicle 20a is traveling based on the detected information.

[0044] The on-vehicle processing device 40a detects the lane 91 in which the vehicle 20d behind the vehicle 20a is traveling by analyzing the image captured by the second imaging device 32a. The on-vehicle processing device 40a detects the positions of the dividing lines provided on the road 90 by analyzing the image captured by the second imaging device 32a, and detects the lane 91 in which the vehicle 20d is traveling based on the positions of the detected dividing lines and the position of the vehicle 20d detected from the image. The on-vehicle processing device 40a may further detect the positions of curbs, guardrails, medians, plants, etc. in addition to the dividing lines, and detect the lane 91 in which the vehicle 20d is traveling based on the detected information.

[0045] The on-board processing device 40a detects the position of the vehicle 20a based on the signals from the GNSS satellites received by the GNSS receiver. Here, the position of the vehicle 20a detected by the on-board processing device 40a is assumed to be position 350 shown in FIG.

[0046] The on-board processing device 40a transmits position information indicating the position of the vehicle 20a, own vehicle lane information indicating the lane 91 in which the vehicle 20a is traveling, and other vehicle lane information indicating the lane 91 in which the vehicle 20d is traveling to the assistance device 60. The other vehicle lane information includes information indicating whether the lane is the lane of a vehicle ahead of the vehicle 20a or the lane of a vehicle behind the vehicle 20a.

[0047] In the assistance device 60, the first acquisition unit 210 acquires the information transmitted from the in-vehicle processing device 40a.

[0048] An in-vehicle processing device 40d provided in a vehicle 20d traveling behind the vehicle 20a detects the lane 91 in which the vehicle 20d is traveling by analyzing an image captured by the first imaging device 30d or the second imaging device 32d. For example, the in-vehicle processing device 40d detects the lane 91 in which the vehicle 20d is traveling by performing a process similar to that of the in-vehicle processing device 40a.

[0049] The on-vehicle processing device 40d detects the lane 91 in which the vehicle 20a ahead of the vehicle 20d is traveling by analyzing the image captured by the first imaging device 30d. The on-vehicle processing device 40d detects the position of a dividing line provided on the road 90 by analyzing the image captured by the first imaging device 30d, and detects the lane 91 in which the vehicle 20a is traveling based on the position of the detected dividing line and the position of the vehicle 20a detected from the image. The on-vehicle processing device 40d may further detect the positions of curbs, guardrails, medians, plants, etc. in addition to the dividing lines, and detect the lane 91 in which the vehicle 20a is traveling based on the detected information.

[0050] The on-board processing device 40d detects the position of the vehicle 20d based on the signals from the GNSS satellites received by the GNSS receiver. Here, the position of the vehicle 20d detected by the on-board processing device 40d is assumed to be position 360 shown in FIG.

[0051] The on-vehicle processing device 40d transmits to the support device 60 position information indicating the position of the vehicle 20d, own vehicle lane information indicating the lane 91 in which the vehicle 20d is traveling, and other vehicle lane information indicating the lane 91 in which the vehicle 20a is traveling. The other vehicle lane information includes information indicating whether the lane is the lane of a vehicle ahead of the vehicle 20d or the lane of a vehicle behind the vehicle 20d. In the support device 60, the second acquisition unit 220 acquires the information transmitted from the on-vehicle processing device 40d.

[0052] As an example, the position determination unit 230 determines that the vehicle 20a is traveling on the lane 91 based on the information transmitted from the on-board processing device 40a. As a result, the position determination unit 230 determines the position 352 as the position of the vehicle 20a by correcting the position information transmitted from the on-board processing device 40a with reference to the lane information of the road 90 included in the map information. The position 352 is a position obtained by shifting the position 350 to the center of the lane 91 in a direction perpendicular to the extension direction of the road 90, for example.

[0053] Similarly, based on the information transmitted from the on-vehicle processing device 40d, the position determination unit 230 determines that the vehicle 20d is traveling on the lane 91. The position determination unit 230 determines the position 362 as the position of the vehicle 20d by correcting the position information transmitted from the on-vehicle processing device 40d with reference to the lane information of the road 90 included in the map information.

[0054] The position determination unit 230 may determine the position of the vehicle 20a further based on the information transmitted from the on-board processing device 40d. For example, the position determination unit 230 determines that the vehicle 20d is traveling behind the vehicle 20a based on the positions of the vehicles 20d and 20a. Furthermore, the position determination unit 230 determines that the vehicle 20a is traveling in the same lane 91 as the lane 91 in which the vehicle 20d is traveling based on the information transmitted from the on-board processing device 40d. As a result, the position determination unit 230 determines the position 352 as the position of the vehicle 20a by correcting the position information transmitted from the on-board processing device 40a with reference to the lane information of the road 90 included in the map information.

[0055] The position determination unit 230 may determine the position of the vehicle 20a by comprehensively considering the driving lane of the vehicle 20a detected by the on-vehicle processing device 40a and the driving lane of the vehicle 20a detected by the on-vehicle processing device 40d. The position determination unit 230 may determine the position of the vehicle 20a by considering the detection accuracy of the driving lane of the vehicle 20a detected by the on-vehicle processing device 40a and the detection accuracy of the driving lane of the vehicle 20a detected by the on-vehicle processing device 40d.

[0056] The information transmitted from the on-vehicle processing device 40a and the on-vehicle processing device 40d to the assistance device 60 may include information indicating the detection accuracy of the driving lane by each of the on-vehicle processing devices 40. The detection accuracy of the driving lane by the on-vehicle processing device 40 may be a predetermined fixed value, or may be a value determined by the image analysis by the on-vehicle processing device 40. The detection accuracy of the driving lane by the on-vehicle processing device 40 may be high during the daytime and low during the nighttime. When the detection accuracy of the driving lane of the vehicle 20a detected by the on-vehicle processing device 40a is higher than the detection accuracy of the driving lane of the vehicle 20a detected by the on-vehicle processing device 40d, the position determination unit 230 may determine the position of the vehicle 20a based on the driving lane of the vehicle 20a detected by the on-vehicle processing device 40a. When the detection accuracy of the driving lane of vehicle 20a detected by on-board processing device 40a is lower than the detection accuracy of the driving lane of vehicle 20a detected by on-board processing device 40d, position determination unit 230 may determine the position of vehicle 20a based on the driving lane of vehicle 20a detected by on-board processing device 40d.

[0057] 4 is a diagram for explaining an example of a process for determining the position of the vehicle 20a in consideration of the distance detected in the vehicle 20d. Here, a description of the process overlapping with the process of the on-vehicle processing device 40 and the support device 60 described in relation to FIG. 3 will be omitted.

[0058] The on-vehicle processing device 40a detects the distance from the vehicle 20a to the vehicle 20d behind the vehicle 20a using a distance measuring sensor provided in the on-vehicle processing device 40d. The on-vehicle processing device 40a transmits distance information indicating the distance from the vehicle 20a to the vehicle 20d to the assistance device 60. The on-vehicle processing device 40a may transmit information indicating the accuracy of the distance detection by the distance measuring sensor of the on-vehicle processing device 40a to the assistance device 60 together with the distance information. The information transmitted from the on-vehicle processing device 40a is acquired by the first acquisition unit 210 of the assistance device 60.

[0059] Similarly, the on-vehicle processing device 40d detects the distance from the vehicle 20d to the vehicle 20a in front of the vehicle 20d using a distance measuring sensor provided in the on-vehicle processing device 40a. The on-vehicle processing device 40a transmits distance information indicating the distance from the vehicle 20d to the vehicle 20a to the assistance device 60. The on-vehicle processing device 40d may transmit information indicating the accuracy of the distance detection by the distance measuring sensor of the on-vehicle processing device 40d together with the distance information to the assistance device 60. The information transmitted from the on-vehicle processing device 40d is acquired by the second acquisition unit 220 of the assistance device 60.

[0060] The position determination unit 230 determines the distance D between the vehicle 20a and the vehicle 20d based on the distance information transmitted from the on-board processing device 40a and / or the distance information transmitted from the on-board processing device 40d. For example, the position determination unit 230 determines the distance D between the vehicle 20a and the vehicle 20d by the average value of the distance indicated by the distance information transmitted from the on-board processing device 40a and the distance indicated by the distance information transmitted from the on-board processing device 40d. The position determination unit 230 may determine the distance D between the vehicle 20a and the vehicle 20d by the average value weighted by the accuracy indicated by the detection accuracy of each distance indicated by the distance indicated by the distance information transmitted from the on-board processing device 40a and the distance indicated by the distance information transmitted from the on-board processing device 40d. The position determination unit 230 may determine the distance indicated by the distance information transmitted from the on-board processing device 40a and the on-board processing device 40d, whichever has a higher detection accuracy, as the distance D between the vehicle 20a and the vehicle 20d.

[0061] The position determination unit 230 determines a position 452 as the position of the vehicle 20a and determines a position 462 as the position of the vehicle 20d by correcting the position information transmitted from the on-board processing device 40 based on the position of the vehicle 20a detected by the on-board processing device 40a, the position of the vehicle 20d detected by the on-board processing device 40d, the distance D, and the lane 91 on which the vehicle 20a runs and / or the lane 91 on which the vehicle 20d runs. The positions 452 and 462 are obtained, for example, by shifting the positions 350 and 360 to the center of the lane 91 in a direction perpendicular to the extension direction of the road 90, and shifting the positions 350 and / or 360 in the extension direction of the road 90 so that the distance between the positions 452 and 462 becomes the distance D.

[0062] When shifting the position 350 and / or the position 360 in the extension direction of the road 90 to determine the position 452 and the position 462, the position determination unit 230 may shift both the position 350 and the position 360, or may shift one of the position 350 and the position 360. The position determination unit 230 may determine whether to shift both the position 350 and the position 360 in the extension direction of the road 90 or to shift one of the position 350 and the position 360 in the extension direction of the road 90 based on the detection accuracy of each of the position 350 and the position 360. The position determination unit 230 may shift only the position 350 or the position 360 with a lower detection accuracy in the extension direction of the road 90. The position determination unit 230 may determine the distance by which each of the position 350 and the position 360 is shifted in the extension direction of the road 90 according to the detection accuracy. When the detection accuracy of position 360 is higher than the detection accuracy of position 350, the position determination unit 230 may shift the distance by which position 350 is shifted in the extension direction of road 90 longer than the distance by which position 360 is shifted in the extension direction of road 90. When the detection accuracy of position 360 is higher than the detection accuracy of position 350 and the detection accuracy of position 360 is higher than a predetermined value, the position determination unit 230 may shift only position 350 in the extension direction of road 90.

[0063] 3 and 4, an example of a process for determining the position of the vehicle 20a based on the driving lane information of the vehicle 20a detected by the on-board processing device 40d of the vehicle 20d behind the vehicle 20a has been mainly described. However, since the same process can be applied to a process for determining the position of the vehicle 20a based on the driving lane information of the vehicle 20a detected by the on-board processing device 40 of the vehicle 20 ahead of the vehicle 20a, the description thereof will be omitted.

[0064] 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.

[0065] In S502, the user terminal 82a transmits position information indicating the current position of the user terminal 82a based on a signal received from a GNSS satellite to the support device 60. The transmission of the position information from the user terminal 82a to the support device 60 is performed periodically.

[0066] In S503, the user terminal 82b transmits position information indicating the current position of the user terminal 82b based on the signal received from the GNSS satellite to the support device 60. The transmission of the position information from the user terminal 82b to the support device 60 is performed periodically.

[0067] In S512, the on-vehicle processing device 40a transmits to the assistance device 60 position information indicating the current position of the vehicle 20a based on signals received from GNSS satellites, information indicating the driving lane of the vehicle 20a, driving lane information indicating the driving lane of another vehicle traveling in front of and / or behind the vehicle 20a, and distance information indicating the distance to the other vehicle. In S512, the on-vehicle processing device 40a may transmit information indicating the detection accuracy of each of the position, the driving lane, and the distance by the on-vehicle processing device 40a. Information transmission from the on-vehicle processing device 40a to the assistance device 60 is performed periodically.

[0068] In S513, the on-vehicle processing device 40b transmits to the assistance device 60 position information indicating the current position of the vehicle 20b based on signals received from GNSS satellites, information indicating the driving lane of the vehicle 20b, driving lane information indicating the driving lane of another vehicle traveling in front of and / or behind the vehicle 20b, and distance information indicating the distance to the other vehicle. In S513, the on-vehicle processing device 40b may transmit information indicating the detection accuracy of each of the position, the driving lane, and the distance by the on-vehicle processing device 40b. Information transmission from the on-vehicle processing device 40b to the assistance device 60 is performed periodically.

[0069] In S514, the on-vehicle processing device 40d transmits to the assistance device 60 position information indicating the current position of the vehicle 20d based on signals received from GNSS satellites, information indicating the driving lane of the vehicle 20d, driving lane information indicating the driving lane of another vehicle traveling in front of and / or behind the vehicle 20d, and distance information indicating the distance to the other vehicle. In S514, the on-vehicle processing device 40d may transmit information indicating the detection accuracy of each of the position, the driving lane, and the distance by the on-vehicle processing device 40d. Information transmission from the on-vehicle processing device 40d to the assistance device 60 is performed periodically.

[0070] In S530, the assistance control unit 260 of the assistance device 60 determines whether or not to provide traffic assistance to the vehicle 20 and the user terminal 82 based on the information received in S502, S503, S512, S513, and S514. For example, the position determination unit 230 determines the position of the vehicle 20 based on the information received in S512, S513, and S514 by the method described in relation to Fig. 3 and Fig. 4. The assistance control unit 260 determines whether or not the vehicle 20 and the user terminal 82 approach within a predetermined distance within a predetermined time and / or whether or not the vehicle 20 and another vehicle 20 approach within a predetermined distance within a predetermined time based on the position of the vehicle 20 determined by the position determination unit 230 and the position of the user terminal 82 received in S502 and S503. The assistance control unit 260 decides to provide traffic assistance when it determines that the vehicle 20 and the user terminal 82 will approach within a predetermined distance within a predetermined time, and / or when it determines that the vehicle 20 and another vehicle 20 will approach within a predetermined distance within a predetermined time.

[0071] In this embodiment, the assistance control unit 260 determines that the user terminal 82a and the vehicle 20a will approach within a predetermined distance within a predetermined time, and determines that the vehicle 20b and the user terminal 82b will approach within a predetermined distance within a predetermined time. As a result, in S532, 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 S534, 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.

[0072] When the user terminal 82a receives the assistance information from the assistance device 60, in S506, 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 of the presence of an approaching vehicle by voice.

[0073] When the in-vehicle processing device 40a receives the assistance information from the assistance device 60, in S516, the in-vehicle processing device 40a notifies the passenger of the vehicle 20a that there is a user approaching the vehicle 20a by 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 on a display device provided in the vehicle 20a.

[0074] When the user terminal 82b receives the assistance information from the assistance device 60, in S508, 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 by voice that there is a vehicle approaching the user 80b.

[0075] When the in-vehicle processing device 40b receives the assistance information from the assistance device 60b, in S518, the in-vehicle processing device 40b notifies the occupant of the vehicle 20b that a vehicle is 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 a vehicle is approaching the vehicle 20b by voice and by displaying the information on a display device provided in the vehicle 20b.

[0076] 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 repeatedly. Here, the process of determining the position of the vehicle 20a and the assistance control based on the position will be particularly described.

[0077] In S600, the acquisition unit 202 acquires the location information transmitted from the user terminal 82.

[0078] In S602, the first acquisition unit 210 acquires information transmitted from the on-board processing device 40a of the vehicle 20a, the position of the vehicle 20a, the lane in which the vehicle 20a is traveling, the lane in which other vehicles 20 are traveling in front of and / or behind the vehicle 20a, the distance to the other vehicles 20, and information indicating the detection accuracy of each piece of information.

[0079] In S603, the second acquisition unit 220 acquires information transmitted from the on-board processing device 40d of the vehicle 20d, the position of the vehicle 20d, the driving lane of the vehicle 20d, the driving lane of other vehicles 20 in front of and / or behind the vehicle 20d, the distance to the other vehicles 20, and information indicating the detection accuracy of each piece of information.

[0080] 3 and 4. In S606, the assistance control unit 260 performs the approach judgment described above based on the position of the vehicle 20a calculated in S606 and the position of the user terminal 82 acquired in S600, and judges whether or not to provide traffic assistance to the vehicle 20a and the user terminal 82a. If it is determined that traffic assistance should be provided to the vehicle 20a and the user terminal 82a, control related to the traffic assistance is performed in S608.

[0081] According to the assistance system 10 described above, the assistance device 60 can determine the position of the vehicle 20 based on the position and driving lane of the vehicle 20 detected by the on-board processing device 40. Even if the position detection accuracy based on the signal from the GNSS satellite is low, the assistance device 60 can determine that the vehicle 20 is driving on the driving lane detected by the on-board processing device 40, and can determine the position of the vehicle 20 by matching the driving lane with map information. This can improve the accuracy of determining the position of the vehicle 20.

[0082] 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.

[0083] 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.

[0084] The CPU 2012 operates according to programs stored in the ROM 2026 and RAM 2014, thereby controlling each unit.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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 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 various hardware resources described above work together. These specific means then realize calculation or processing of information according to the intended use of the computer 2000 in this embodiment, thereby constructing a specific support device 60 according to the intended use.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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]

[0098] 10 Support System 20 Vehicles 30 First imaging device 32 Second imaging device 40 On-board processing device 60 Support equipment 80 users 82 User terminal 90 road Lanes 91, 92, 93, and 94 200 Assistance control device 202 Acquisition Department 210 First acquisition part 220 Second Acquisition Department 230 Positioning section 260 Support control section 280 Storage device 290 Communication Equipment 310, 312, 330, 332 Lotteries 350, 352, 360, 362, 452, 462 position 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 first acquisition unit that acquires position information of the vehicle detected by the vehicle and information indicating a driving lane of the vehicle detected by analyzing an image captured by an imaging device provided in the vehicle; a position determination unit that determines a position of the vehicle on a map based on the position information of the vehicle and information indicating a lane in which the vehicle is traveling, both of which are acquired by the first acquisition unit; an assistance control unit that performs control for traffic assistance for the vehicle based on the position determined by the position determination unit; An assistance control device comprising:

2. A second acquisition unit that acquires position information of the other vehicle detected by the other vehicle other than the vehicle, information indicating the driving lane of the other vehicle detected by analyzing an image captured by an imaging device provided in the other vehicle, and information indicating the driving lane of the vehicle detected by analyzing the image captured by the imaging device provided in the other vehicle. Further equipped with The position determination unit determines a position of the vehicle on a map based on the position information of the vehicle and the information indicating the driving lane of the vehicle acquired by the first acquisition unit, and the position information of the other vehicle, the information indicating the driving lane of the other vehicle, and the information indicating the driving lane of the vehicle acquired by the second acquisition unit. The assistance control device according to claim 1 .

3. When the imaging device provided in the other vehicle is a first imaging device that images a view ahead of the other vehicle, the position determination unit determines whether or not the vehicle is a vehicle traveling ahead of the other vehicle, based on position information of the vehicle and position information of the other vehicle, and when it is determined that the vehicle is a vehicle traveling ahead of the other vehicle, determines a position of the vehicle on a map based on the position information of the vehicle and the information indicating the driving lane of the vehicle acquired by the first acquisition unit, the position information of the other vehicle acquired by the second acquisition unit, information indicating the driving lane of the other vehicle detected by analyzing the image captured by the first imaging device, and information indicating the driving lane of the vehicle detected by analyzing the image captured by the first imaging device. The assistance control device according to claim 2.

4. When the imaging device provided in the other vehicle is a second imaging device that images the rear of the other vehicle, the position determination unit determines whether or not the vehicle is a vehicle traveling rear of the other vehicle, based on position information of the vehicle and position information of the other vehicle, and when it is determined that the vehicle is a vehicle traveling rear of the other vehicle, determines the position of the vehicle on a map based on the position information of the vehicle and the information indicating the driving lane of the vehicle acquired by the first acquisition unit, the position information of the other vehicle acquired by the second acquisition unit, information indicating the driving lane of the other vehicle detected by analyzing the image captured by the second imaging device, and information indicating the driving lane of the vehicle detected by analyzing the image captured by the second imaging device. The assistance control device according to claim 2.

5. The second acquisition unit further acquires distance information from the other vehicle to the vehicle detected by analyzing an image captured by an imaging device provided in the other vehicle, The position determination unit determines a position of the vehicle on a map further based on distance information from the other vehicle to the vehicle acquired by the second acquisition unit. The assistance control device according to any one of claims 2 to 4.

6. The first acquisition unit further acquires detection accuracy information of the lane of the vehicle detected by analyzing an image captured by an imaging device provided in the vehicle, The position determination unit determines the position of the vehicle further based on detection accuracy information of the lane of the vehicle acquired by the first acquisition unit. The assistance control device according to any one of claims 1 to 4.

7. The second acquisition unit further acquires detection accuracy information of the driving lane of the vehicle detected by analyzing an image captured by an imaging device provided in the other vehicle, The position determination unit determines the position of the vehicle further based on detection accuracy information of the lane of the vehicle acquired by the second acquisition unit. The assistance control device according to any one of claims 2 to 4.

8. The first acquisition unit further acquires detection accuracy information of the position information of the vehicle detected by the vehicle, The position determination unit determines the position of the vehicle further based on detection accuracy information of the position information of the vehicle acquired by the first acquisition unit. The assistance control device according to any one of claims 1 to 4.

9. The second acquisition unit further acquires detection accuracy information of the position information of the other vehicle detected by the other vehicle, The position determination unit determines the position of the vehicle further based on detection accuracy information of the position information of the other vehicle acquired by the second acquisition unit. The assistance control device according to any one of claims 2 to 4.

10. The second acquisition unit further acquires detection accuracy information of distance information from the other vehicle to the vehicle, The position determination unit determines the position of the vehicle on a map further based on detection accuracy information of distance information from the other vehicle to the vehicle acquired by the second acquisition unit. The assistance control device according to claim 5.

11. acquiring position information of the vehicle detected by the vehicle and information indicating a traveling lane of the vehicle detected by analyzing an image captured by an imaging device provided in the vehicle; determining a position of the vehicle on a map based on the position information of the vehicle and information indicating a lane in which the vehicle is traveling; performing control for traffic assistance on the vehicle based on the position determined in the step of determining the position of the vehicle; The assistance control method includes:

12. A program for causing a computer to function as the assistance control device according to any one of claims 1 to 4.

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