Information processing device, mobile body, information processing method, and program

Abstract

To provide a mobile body with highly accurate information at earlier timing.SOLUTION: An information processing device includes: an acquisition unit that acquires information detected by an imaging device provided on a mobile body; a prediction unit that, based on the information acquired by the acquisition unit, predicts at least one of a movement and a moving direction of a mobile object present in the vicinity of the mobile body; an alarm control unit that, based on at least one of the movement and the moving direction of the mobile object predicted by the prediction unit, performs control for outputting an alarm; and a transmission control unit that performs control for transmitting information indicating at least one of the movement and the moving direction of the mobile object predicted by the prediction unit to another mobile body around the mobile body.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to an information processing device, a mobile object, an information processing 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 and 2 describe technology for notifying other vehicles of dangerous events and risk areas detected by a vehicle. [Prior art document] [Patent documents] Patent Document 1: JP 2020-102822 A Patent Document 2: JP 2023-11080 A Summary of the Invention [Problem to be solved by the invention]

[0003] However, in preventive safety technology, it is an issue to provide highly accurate information to moving bodies. In order to solve the above issue, the present application aims to provide highly accurate information to moving bodies at an earlier timing. This will ultimately 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 information processing device. The information processing device includes an acquisition unit that acquires information detected by an imaging device provided in a moving body. The information processing device includes a prediction unit that predicts at least one of a movement and a moving direction of a moving object existing in the vicinity of the moving body based on the information acquired by the acquisition unit. The information processing device includes a warning control unit that performs control to output a warning based on at least one of the movement and the moving direction of the moving object predicted by the prediction unit. The information processing device includes a transmission control unit that performs control to transmit information indicating at least one of the movement and the moving direction of the moving object predicted by the prediction unit to other moving bodies around the moving body.

[0005] In the information processing device, the acquisition unit may acquire an image captured by the imaging device, and the prediction unit may identify a posture of the moving object based on the image acquired by the acquisition unit, and predict at least one of a motion and a moving direction of the moving object based on the identified posture of the moving object.

[0006] In any of the above information processing devices, the acquisition unit may acquire an image captured by the imaging device, and the prediction unit may identify a posture of the moving object based on the image acquired by the acquisition unit, and predict, as a movement of the moving object, whether or not the moving object moves toward a course of the moving body based on the identified posture of the moving object.

[0007] In any of the information processing devices described above, the prediction unit may predict a moving speed of the moving object based on the information acquired by the acquisition unit.

[0008] In any of the above information processing devices, the warning control unit may perform control to output a warning to an occupant of the moving body when it is determined, based on the moving speed of the moving object predicted by the prediction unit, that the moving object will enter the path of the moving body in the moving body's direction of travel before the moving body reaches the position of the moving object.

[0009] In any of the above-mentioned information processing devices, even if the alarm control unit determines that the moving object will not enter the path of the moving object in the moving object's direction of travel until the moving object reaches the position of the moving object, the transmission control unit may perform control to transmit information indicating at least one of the movement and moving direction of the moving object predicted by the prediction unit to the surroundings of the moving object.

[0010] In any of the above information processing devices, the moving object may be a vehicle.

[0011] In a second aspect of the present invention, there is provided a mobile object, the mobile object including any one of the information processing devices described above.

[0012] In a third aspect of the present invention, there is provided an information processing method. The information processing method includes a step of acquiring information detected by an imaging device provided in a moving body. The information processing method includes a step of predicting at least one of a movement and a moving direction of a moving object existing in the vicinity of the moving body based on the information detected by the imaging device. The information processing method includes a step of performing control for outputting an alarm based on at least one of the movement and the moving direction of the moving object predicted in the predicting step. The information processing method includes a step of performing control for transmitting information indicating at least one of the movement and the moving direction of the moving object predicted in the predicting step to other moving bodies around the moving body.

[0013] In a fourth aspect of the present invention, there is provided a program that causes a computer to function as any one of the information processing devices described above.

[0014] 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]

[0015] [Figure 1] 1 illustrates a schematic diagram of a scenario in which the support system 10 is used. [Diagram 2] 2 shows a system configuration of a vehicle 20. [Diagram 3] 11 is a diagram for explaining a process in which the in-vehicle information processing device 40a determines whether or not to output an alarm. FIG. [Figure 4] 1 shows an example of a flowchart relating to an information processing method executed by an in-vehicle information processing device 40. [Diagram 5] An example of a computer 2000 is shown. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] 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.

[0017] 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 pedestrian terminal 82a and a pedestrian terminal 82b, and a server 60.

[0018] The vehicle 20a is equipped with an on-board information processing device 40a, the vehicle 20b is equipped with an on-board information processing device 40b, and the vehicle 20c is equipped with an on-board information processing device 40c. The pedestrian terminal 82a is a terminal carried by the pedestrian 80a, and the pedestrian terminal 82b is a terminal carried by the pedestrian 80b. In this embodiment, the pedestrians 80a and 80b are pedestrians. The pedestrians 80a and 80b are examples of moving objects.

[0019] In this embodiment, the vehicles 20a, 20b, and 20c may be collectively referred to as "vehicles 20". The in-vehicle information processing devices 40a, 40b, and 40c may be collectively referred to as "in-vehicle information processing devices 40". The pedestrian terminals 82a and 82b may be collectively referred to as "pedestrian terminals 82". The pedestrians 80a and 80b may be collectively referred to as "pedestrians 80".

[0020] The vehicle 20 is a vehicle that travels on a road 90. The vehicle 20 is an example of a moving body. The vehicle 20 is configured to include various sensors such as a position sensor including a Global Navigation Satellite System (GNSS) receiver, a vehicle speed sensor, an imaging device, and a radar. The on-board information processing device 40 has a function of processing information acquired by the various sensors equipped in the vehicle 20. The on-board information processing device 40 has a function of communicating with each of the on-board information processing devices 40 of other vehicles 20 and the server 60. The on-board information processing device 40 provides an advanced driver assistance system (ADAS) function equipped in the vehicle 20.

[0021] The pedestrian terminal 82 is, for example, a mobile terminal such as a smartphone. The pedestrian terminal 82 is an example of a moving object. The pedestrian terminal 82 periodically transmits current position information of the pedestrian terminal 82 detected by a position sensor including a GNSS receiver to the server 60.

[0022] The server 60 receives, by mobile communication, information transmitted from the in-vehicle information processing device 40 and the pedestrian terminal 82. The server 60 may receive information transmitted from the in-vehicle information processing device 40 and the pedestrian terminal 82 via mobile communication and a communication line such as the Internet or a dedicated line.

[0023] The in-vehicle information processing device 40a analyzes images of the pedestrian 80 acquired by an imaging device provided in the vehicle 20, and extracts the skeleton of the pedestrian 80 to identify the posture of the pedestrian 80. The in-vehicle information processing device 40a identifies at least one of the movement and moving direction of the pedestrian 80 from the skeleton and / or posture extracted from the multiple images. The in-vehicle information processing device 40a predicts the position of the pedestrian 80 at a predetermined time later, from at least one of the movement and moving direction of the identified pedestrian 80.

[0024] The in-vehicle information processing device 40a further predicts the position of the vehicle 20 at a predetermined time later. When the distance between the predicted position of the pedestrian 80 and the position of the vehicle 20a is shorter than a predetermined threshold, the in-vehicle information processing device 40a determines that the pedestrian 80 and the vehicle 20a are approaching each other, and outputs an alarm to the passengers of the vehicle 20a. When the in-vehicle information processing device 40a determines that the pedestrian 80 and the vehicle 20a are approaching each other, the in-vehicle information processing device 40a may output an alarm to the pedestrian terminal 82 by direct communication or via the server 60.

[0025] On the other hand, when the in-vehicle information processing device 40a determines that the pedestrian 80 and the vehicle 20a will not approach each other within a predetermined time, the in-vehicle information processing device 40a does not output an alarm to either the passenger of the vehicle 20a or the pedestrian terminal 82. For example, when the vehicle 20a has already passed the position of the pedestrian 80 before the pedestrian 80a reaches the traveling path of the vehicle 20a, the in-vehicle information processing device 40a does not output an alarm. Even in such a case, the in-vehicle information processing device 40a transmits information indicating the movement and / or moving direction of the identified pedestrian 80 to the surrounding vehicles 20b and 20c by direct communication or via the server 60.

[0026] The on-board information processing device 40b of the vehicle 20b and the on-board information processing device 40c of the vehicle 20c provide support such as outputting an alarm to the passengers of the vehicles 20b and 20c using the information indicating the movement and / or movement direction of the pedestrian 80 received from the on-board information processing device 40a. Since the vehicle 20a is located closer to the pedestrian 80 than the vehicles 20b and 20c are located, the on-board information processing device 40a can identify the movement and / or movement direction of the pedestrian 80 with higher accuracy than the on-board information processing device 40b and the on-board information processing device 40c can identify.

[0027] According to the assistance system 10, the in-vehicle information processing device 40b of the vehicle 20b traveling behind the vehicle 20a can use the movement and / or moving direction of the pedestrian 80a identified from a position closer to the pedestrian 80a than the position of the vehicle 20b at an earlier timing. Similarly, the in-vehicle information processing device 40c of the vehicle 20c traveling in the oncoming lane of the vehicle 20a can use the movement and / or moving direction of the pedestrian 80b identified from a position closer to the pedestrian 80b than the position of the vehicle 20c at an earlier timing. Therefore, according to the assistance system 10, it is possible to provide more accurate assistance to traffic participants.

[0028] 2 shows a system configuration of the vehicle 20. The vehicle 20 includes a sensor 29, a driving assistance control device 30, an alarm device 270, and a communication device 290.

[0029] The sensor 29 includes a radar 21, an imaging device 22, a GNSS receiver 25, and a vehicle speed sensor 26. The radar 21 may be a LiDAR, a millimeter wave radar, or the like. The GNSS receiver 25 receives radio waves transmitted from a GNSS satellite. The GNSS receiver 25 generates information indicating the current position of the vehicle 20 based on the signal received from the GNSS satellite. The imaging device 22 captures an image of the periphery of the vehicle 20 to generate image information. For example, the imaging device 22 captures an image of a space in the traveling direction of the vehicle 20 and in a direction opposite to the traveling direction to generate image information. The vehicle speed sensor 26 detects the vehicle speed of the vehicle 20. The sensor 29 may further include a position sensor such as an odometer, and an IMU (inertial measurement unit) such as an acceleration sensor or an attitude sensor.

[0030] The driving assistance control device 30 performs driving assistance for the vehicle 20 using information detected by the sensor 29. The driving assistance control device 30 may be realized by an ECU (Electronic Control Unit) having an ADAS function.

[0031] The warning device 270 has, for example, an HMI (Human Machine Interface) function. The warning device 270 outputs a warning to a passenger of the vehicle 20 by the HMI function.

[0032] The communication device 290 is responsible for communication with the outside of the vehicle 20. The communication device 290 has a function of performing inter-vehicle communication by direct communication with, for example, a PC 5 or the like. The communication device 290 may perform communication with other vehicles 20 by communicating through a mobile communication base station. The communication device 290 may have a function of performing direct communication with the pedestrian terminal 82.

[0033] The in-vehicle information processing device 40 includes a control device 200, a storage device 280, and a communication device 290. The control device 200 is realized, for example, by an arithmetic processing device including a processor. The storage device 280 is realized by including a non-volatile storage medium. The control device 200 performs processing using information stored in the storage device 280. The control device 200 may be realized by an ECU including a microcomputer including a CPU, ROM, RAM, I / O, a bus, etc.

[0034] The communication device 290 is responsible for communication between the server 60 and each of the in-vehicle information processing device 40 and the pedestrian terminal 82 under the control of the control device 200 .

[0035] The control device 200 includes an acquisition unit 250, a prediction unit 220, a transmission control unit 230, and an alarm control unit 260. However, a configuration may be adopted in which the in-vehicle information processing device 40 does not have some of the functions of the functional configuration of the in-vehicle information processing device 40 shown in Fig. 2. A configuration may be adopted in which the sensor 29 has some of the functions of the in-vehicle information processing device 40.

[0036] The acquisition unit 250 acquires information detected by the sensor 29 provided in the vehicle 20. The prediction unit 220 predicts at least one of the movement and the moving direction of the pedestrian 80 present in the vicinity of the vehicle 20 based on the information acquired by the acquisition unit 250. The warning control unit 260 performs control for outputting a warning based on at least one of the movement and the moving direction of the pedestrian 80 predicted by the prediction unit 220. The warning control unit 260 causes the warning device 270 to output a warning to the passenger of the vehicle 20. The transmission control unit 230 performs control for transmitting information indicating at least one of the movement and the moving direction of the pedestrian 80 predicted by the prediction unit 220 to other vehicles 20 around the vehicle 20. As a result, at least one of the movement and the moving direction of the pedestrian 80 identified by the vehicle 20 can be shared with the other vehicles 20.

[0037] As an example, the acquisition unit 250 may acquire an image captured by the imaging device 22, and the prediction unit 220 may identify the posture of the pedestrian 80 based on the image acquired by the acquisition unit 250, and predict at least one of the movement and the moving direction of the pedestrian 80 based on the identified posture of the pedestrian 80. In this way, at least one of the movement and the moving direction predicted based on the posture of the pedestrian 80 can be shared with other vehicles 20.

[0038] The acquisition unit 250 acquires an image captured by the imaging device 22, and the prediction unit 220 may identify the posture of the pedestrian 80 based on the image acquired by the acquisition unit 250, and predict, as the movement of the pedestrian 80, whether or not the pedestrian 80 will move toward the path of the vehicle 20 based on the identified posture of the pedestrian 80. This makes it possible to share with other vehicles 20 "whether or not the pedestrian 80 will move toward the path of the vehicle 20."

[0039] The prediction unit 220 predicts the movement speed of the pedestrian 80 based on the information acquired by the acquisition unit 250. This makes it possible to share the movement speed of the pedestrian 80 with other vehicles 20.

[0040] The warning control unit 260 performs control to output a warning to the occupants of the vehicle 20 when it is determined, based on the movement speed of the pedestrian 80 predicted by the prediction unit 220, that the pedestrian 80 will enter the path of the vehicle 20 before the vehicle 20 reaches the position of the pedestrian 80 in the traveling direction of the vehicle 20. Even when the warning control unit 260 determines that the pedestrian 80 will not enter the path of the vehicle 20 before the vehicle 20 reaches the position of the pedestrian 80 in the traveling direction of the vehicle 20, the transmission control unit 230 performs control to transmit information indicating at least one of the movement and movement speed of the pedestrian 80 predicted by the prediction unit 220 to the surroundings of the vehicle 20.

[0041] 3 is a diagram for explaining the process of the in-vehicle information processing device 40a determining whether or not to output an alarm. The prediction unit 220 specifies the posture of the pedestrian 80a by extracting the skeleton of the pedestrian 80a from an image captured by the imaging device 22. The in-vehicle information processing device 40a predicts the movement of the pedestrian 80 from the skeleton and / or posture of the pedestrian 80a obtained from one or more images, or from changes in the skeleton and / or posture of the pedestrian 80a.

[0042] The prediction unit 220 may predict the movement direction of the pedestrian 80a based on the identified current posture and / or posture change of the pedestrian 80a instead of or in addition to the movement of the pedestrian 80. The prediction unit 220 may specify the movement speed of the pedestrian 80a based on the current posture and / or skeleton of the pedestrian 80a and / or the change in posture and / or skeleton.

[0043] The prediction unit 220 may specify the speed at which the pedestrian 80a moves by specifying whether the posture of the pedestrian 80a is a running posture or a walking posture. The prediction unit 220 may specify the speed of the foot movement of the pedestrian 80a from the change in the skeleton of the pedestrian 80a, and may specify the speed at which the pedestrian 80a moves by considering the specified speed of the foot movement. The prediction unit 220 may specify the length of the foot of the pedestrian 80a from the skeleton of the pedestrian 80a, and may specify the speed at which the pedestrian 80a moves by considering the specified length of the foot. The prediction unit 220 may specify the length of the foot of the pedestrian 80a by further considering the distance from the vehicle 20a to the pedestrian 80a acquired by the radar 21. The prediction unit 220 may predict the moving speed of the pedestrian 80a based on the moving direction and moving speed of the pedestrian 80a.

[0044] The prediction unit 220 may identify the age group of the pedestrian 80a from the image captured by the imaging device 22. The prediction unit 220 may predict a range in which the pedestrian 80a may move within a predetermined time in the future, taking into account the age group of the pedestrian 80a. For example, when the age group of the pedestrian 80a is a predetermined age group or higher, the prediction unit 220 may narrow the range in which the pedestrian 80a may move within a predetermined time as the age group of the pedestrian 80a is higher.

[0045] 3, when the movement speed of the pedestrian 80a is identified, the prediction unit 220 predicts the position P of the pedestrian 80a and the position Q of the vehicle 20a at a time when a predetermined time has elapsed from the current time based on the movement speed of the pedestrian 80a. When the position P is within a predetermined range of the position Q, the warning control unit 260 determines that the vehicle 20a and the pedestrian 80a will approach each other within the predetermined time, and causes the warning device 270 to output a warning.

[0046] In the example of Fig. 3, when the pedestrian 80a reaches position P in the future, the vehicle 20a will be at position Q ahead of the position P of the pedestrian 80a in the traveling direction of the vehicle 20a. In other words, when the pedestrian 80a reaches position P, the vehicle 20a will have passed the position P of the pedestrian 80a. Therefore, the warning control unit 260 does not cause the warning device 270 to output a warning.

[0047] However, although the in-vehicle information processing device 40a can determine that the pedestrian 80a will not approach the vehicle 20a, it cannot determine the possibility that the pedestrian 80a will approach the vehicle 20b or the vehicle 20c in the future. Therefore, even if the warning device 270 does not output a warning, the transmission control unit 230 transmits information indicating the movement and / or moving direction of the pedestrian 80a predicted by the prediction unit 220 to the in-vehicle information processing device 40b and the in-vehicle information processing device 40c.

[0048] By performing the same process for the pedestrian 80b, the prediction unit 220 predicts the movement and / or moving direction of the pedestrian 80b, and the alarm control unit 260 determines whether to output an alarm based on the predicted movement and / or moving direction of the pedestrian 80b. Therefore, even if the alarm device 270 does not output an alarm, the transmission control unit 230 transmits information indicating the movement and / or moving direction of the pedestrian 80b predicted by the prediction unit 220 to the in-vehicle information processing device 40b and the in-vehicle information processing device 40c.

[0049] Information transmission from the in-vehicle information processing device 40a to the in-vehicle information processing device 40b and the in-vehicle information processing device 40c is performed by direct communication or by communication via the server 60. The in-vehicle information processing device 40b and the in-vehicle information processing device 40c use information indicating the movement and / or moving direction of the pedestrian 80 predicted by the in-vehicle information processing device 40a to determine whether or not to output an alert to the passengers of the respective vehicles 20. This allows the in-vehicle information processing device 40b and the in-vehicle information processing device 40c to perform processing related to an alert at an earlier timing based on information indicating more accurate movement and / or moving direction of the pedestrian 80.

[0050] The information indicating the movement and / or movement direction of the pedestrian 80 transmitted from the in-vehicle information processing device 40a to the in-vehicle information processing device 40b and the in-vehicle information processing device 40c may include any combination of information indicating the movement direction of the pedestrian 80, information indicating the movement speed of the pedestrian 80, and information indicating whether the pedestrian 80 is moving toward the road 90. However, if the posture of the pedestrian 80 itself can indicate the movement and / or movement direction of the pedestrian 80, the information indicating the movement and / or movement direction of the pedestrian 80 transmitted to the in-vehicle information processing device 40b and the in-vehicle information processing device 40c may be the information indicating the posture of the pedestrian 80 itself.

[0051] FIG. 4 shows an example of a flowchart relating to the information processing method executed by the in-vehicle information processing device 40.

[0052] In S400, the prediction unit 220 identifies the posture of the pedestrian based on the image acquired by the acquisition unit 250. In S402, the prediction unit 220 identifies the moving direction of the pedestrian. In S404, the prediction unit 220 determines whether the pedestrian is moving toward the road 90 based on the moving direction. If it is determined that the pedestrian is not moving toward the road 90, the process proceeds to S412.

[0053] If it is determined that the pedestrian is moving toward the road 90, in S406, the prediction unit 220 identifies the moving speed of the pedestrian. In S408, the warning control unit 260 determines whether the pedestrian and the vehicle 20a will approach each other within a predetermined time. If it is determined that the pedestrian and the vehicle 20a will not approach each other within the predetermined time, the process proceeds to S412. If it is determined that the pedestrian and the vehicle 20a will approach each other within the predetermined time, in S410, the warning control unit 260 causes the warning device 270 to output a warning.

[0054] In S412, the transmission control unit 230 transmits information indicating the movement and / or movement direction of the pedestrian predicted by the prediction unit 220 to the in-vehicle information processing device 40 of the other vehicle 20.

[0055] In the above, an example has been described in which the image acquired by the acquisition unit 250 is an image obtained by capturing an image of the area in front of the vehicle 20. However, the image acquired by the acquisition unit 250 may be an image obtained by capturing an image of the area behind the vehicle 20.

[0056] In the above, a pedestrian has been taken up as an example of a moving object, but the moving object is not limited to a pedestrian. The moving object may include a person running. The moving object may include a person riding a two-wheeled vehicle (including a parallel two-wheeled vehicle) such as a bicycle. The moving object may be an animal other than a human.

[0057] According to the assistance system 10 described above, information indicating the movement and / or moving direction of the pedestrian 80 in the vicinity of the vehicle 20 detected by the vehicle 20 can be transmitted to another vehicle 20 traveling backward or in the opposite direction. Therefore, the other vehicle 20 can obtain highly accurate information regarding the movement and / or moving direction at an earlier timing. This makes it possible to provide more accurate traffic assistance.

[0058] 5 shows an example of a computer 2000 in which multiple embodiments of the present invention may be embodied in whole or in part. A program installed in the computer 2000 can cause the computer 2000 to function as an apparatus such as the in-vehicle information processing device 40 according to an embodiment or each part of the apparatus, execute operations associated with the apparatus or each part of the apparatus, and / or execute a process or steps of the process according to an embodiment. Such a program can be executed by the CPU 2012 to cause the computer 2000 to execute specific operations associated with some or all of the blocks of the processing procedures and block diagrams described herein.

[0059] 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.

[0060] The CPU 2012 operates according to the programs stored in the ROM 2026 and RAM 2014, thereby controlling each unit.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] A program installed in the computer 2000 and causing the computer 2000 to function as the server 60 may act on the CPU 2012, etc., to cause the computer 2000 to function as each unit (e.g., the control device 200, etc.) of the in-vehicle information processing device 40. When the information processing described in these programs is read into the computer 2000, it functions as each unit of the in-vehicle information processing device 40, which is a specific means in which the software and the above-mentioned various hardware resources 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 in-vehicle information processing device 40 according to the intended use.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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]

[0074] 10 Support System 20 Vehicles 21 Radar 22 Imaging device 25 GNSS receivers 26 Vehicle speed sensor 29 Sensors 30 Driving assistance control device 40 Vehicle-mounted information processing device 60 Servers 80 Pedestrians 82 Pedestrian terminal 90 road 200 Control device 220 Prediction Department 230 Transmission control section 250 Acquisition Department 260 Alarm control section 270 Alarm device 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 information detected by an imaging device provided in the moving object; a prediction unit that predicts at least one of a motion and a moving direction of a moving object existing near the moving body based on the information acquired by the acquisition unit; a warning control unit that performs control to output a warning based on at least one of the movement and the moving direction of the moving object predicted by the prediction unit; a transmission control unit that performs control to transmit information indicating at least one of the motion and the moving direction of the moving object predicted by the prediction unit to other moving units around the moving unit; An information processing device comprising:

2. The acquisition unit acquires an image captured by the imaging device, The prediction unit identifies a posture of the moving object based on the image acquired by the acquisition unit, and predicts at least one of a motion and a moving direction of the moving object based on the identified posture of the moving object. The information processing device according to claim 1 .

3. The acquisition unit acquires an image captured by the imaging device, The prediction unit identifies a posture of the moving object based on the image acquired by the acquisition unit, and predicts, as a movement of the moving object, whether or not the moving object will move toward the path of the moving body based on the identified posture of the moving object. The information processing device according to claim 1 .

4. The prediction unit predicts a moving speed of the moving object based on the information acquired by the acquisition unit. The information processing device according to claim 1 .

5. The warning control unit performs control to output a warning to a passenger of the moving body when it is determined that the moving object will enter the path of the moving body in the traveling direction of the moving body before the moving body reaches the position of the moving object based on the moving speed of the moving object predicted by the prediction unit. The information processing device according to claim 4.

6. Even if the warning control unit determines that the moving object will not enter the path of the moving object in the traveling direction of the moving object until the moving object reaches the position of the moving object, the transmission control unit performs control to transmit information indicating at least one of the movement and moving direction of the moving object predicted by the prediction unit to the surroundings of the moving object. The information processing device according to claim 5 .

7. The moving object is a vehicle. The information processing device according to claim 1 .

8. A mobile object comprising the information processing device according to claim 1 .

9. acquiring information detected by an imaging device provided in the moving object; predicting at least one of a motion and a moving direction of a moving object existing near the moving body based on information detected by the imaging device; performing control for outputting an alarm based on at least one of the motion and the moving direction of the moving object predicted in the prediction step; a step of controlling the transmission of information indicating at least one of the motion and the moving direction of the moving object predicted in the prediction step to other moving bodies around the moving body; Information processing methods.

10. A program for causing a computer to function as the information processing device according to any one of claims 1 to 3.

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