Control device, control method, and control program

Abstract

To enable a user to easily recognize a position of each one of mobile bodies or to appropriately control a vehicle.SOLUTION: An acquisition section of a control device acquires a plurality of pieces of data, which is collected at a plurality of points in time by a plurality of sensors and indicates positions and behaviors of a plurality of mobile bodies present in an actual world, in association with the points in time (S100). A calculation section of the control device reproduces the positions and behaviors of the mobile bodies on a virtual space based on a plurality of pieces of time-synchronized data (S120). The calculation section calculates existence ranges 30 being the ranges where the respective mobile bodies are assumed to be present in the virtual space (S110). A control display section of the control device causes a display device to display the existence ranges 30 of the respective mobile bodies in the virtual space (S130).SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a control device, a control method, and a control program for a system that reproduces a traffic environment in the real world in a virtual space. [Background technology]

[0002] Digital twin is a technology that reproduces an environment identical to the real world in a virtual space. Patent Document 1 discloses a system that uses a transportation digital twin that reproduces a real-world traffic environment in a virtual space. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-013557 A Summary of the Invention [Problem to be solved by the invention]

[0004] When trying to reproduce the position of each moving body in the real world in a virtual space, it is considered that the position of each moving body cannot be specified to a single point in the virtual space. In view of such a problem, the present invention aims to enable a user to easily recognize the position of each moving body or to appropriately control a vehicle even when the position of each moving body reproduced in a virtual space cannot be specified to a single point. [Means for solving the problem]

[0005] A control device for solving the above problem includes an acquisition unit that acquires data indicating positions of a plurality of moving objects existing in the real world, and a display control unit that causes a display device to display a presence range, which is a range within which each of the moving objects is estimated to exist, in a virtual space that reproduces the positions of the plurality of moving objects and is constructed based on the data acquired by the acquisition unit.

[0006] A control method for solving the above problem includes a step in which an acquisition unit acquires data indicating positions of a plurality of moving objects existing in a real world, and a step in which a display control unit causes a display device to display a presence range, which is a range within which each of the moving objects is estimated to exist, in a virtual space that reproduces the positions of the plurality of moving objects and is constructed based on the data acquired by the acquisition unit.

[0007] A control program for solving the above problem causes an acquisition unit to acquire data indicating the positions of multiple moving objects existing in the real world, and causes a display control unit to display, on a display device, a presence range in which each of the moving objects is estimated to exist in a virtual space that reproduces the positions of the multiple moving objects and is constructed based on the data acquired by the acquisition unit.

[0008] A control device for solving the above problem includes an acquisition unit that acquires data indicating the positions of multiple moving objects existing in the real world. The control device further includes a calculation unit that calculates an existence range, which is a range within which each of the moving objects is estimated to exist, in a virtual space that reproduces the positions of the multiple moving objects and is constructed based on the data acquired by the acquisition unit. Additionally, the control device includes a control unit that controls a vehicle existing in the real world based on the existence range calculated by the calculation unit. Effect of the Invention

[0009] According to the present invention, even if the position of each moving object reproduced in a virtual space cannot be specified to a single point, it becomes possible for the user to easily recognize the position of each moving object. Furthermore, according to another aspect of the present invention, it is possible to appropriately control a vehicle even when the position of each moving object reproduced in a virtual space cannot be specified to a single point. [Brief description of the drawings]

[0010] [Figure 1] Figure 1 is a schematic diagram showing a transportation digital twin system. [Diagram 2] FIG. 2 is a schematic diagram showing the control device. [Diagram 3] FIG. 3 is a schematic diagram showing on-board equipment of a vehicle. [Figure 4] FIG. 4 is a flowchart showing the flow of a series of processes for constructing a transportation digital twin executed by a processing device in the control device of the first embodiment. [Diagram 5] FIG. 5 is a diagram showing a display form of a transportation digital twin that the control device of the first embodiment causes the display device to display. [Figure 6] FIG. 6 is an explanatory diagram illustrating the first existence range of a moving object calculated by the processing device of the first embodiment. [Figure 7] FIG. 7 is an explanatory diagram illustrating the second existence range of the moving object calculated by the processing device of the first embodiment. [Figure 8] FIG. 8 is a schematic diagram showing the third existence range. [Figure 9] FIG. 9 is a schematic diagram showing the fourth existence range. [Figure 10] FIG. 10 is a schematic diagram showing the first existence range being enlarged and displayed with the passage of time. [Figure 11] FIG. 11 is a schematic diagram showing the second existence range displayed in an enlarged manner with the passage of time. [Figure 12] FIG. 12 is a flowchart showing the flow of a series of processes executed by the processing device to control the vehicle in the second embodiment. [Figure 13] FIG. 13 is a schematic diagram showing a state in which the presence range of a vehicle to be controlled overlaps with the presence range of another moving object in the second embodiment. [Figure 14] FIG. 14 is a schematic diagram showing different sizes of the presence ranges of vehicles to be controlled in the second embodiment. [Figure 15] FIG. 15 is a flowchart showing the flow of a series of processes executed by the processing device to control the vehicle in the modified example of the second embodiment. [Figure 16] FIG. 16 is a schematic diagram showing a state in which a presence range with a different probability is displayed for each vehicle in the modified example of the second embodiment. [Figure 17] FIG. 17 is a flowchart showing the flow of a series of processes executed by the processing device to control the vehicle in a further modification of the second embodiment. [Figure 18] FIG. 18 is a schematic diagram showing a state in which the distance between the center of the presence range of the controlled vehicle and the presence range of another moving object is farther than the medium distance and within the long distance. [Figure 19] FIG. 19 is a schematic diagram showing a state in which the distance between the center of the presence range of the controlled vehicle and the presence range of another moving object is farther than the short distance and within the medium distance. [Figure 20] FIG. 20 is a schematic diagram showing a state in which the center of the presence range of the controlled vehicle and the presence range of another moving object are within a short distance. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] (First embodiment) Hereinafter, a first embodiment of a transportation digital twin system that constructs a transportation digital twin that reproduces a real-world traffic environment in a virtual space will be described with reference to Figs. 1 to 11.

[0012] <Outline of 10 Transportation Digital Twin Systems> As shown in FIG. 1, a transportation digital twin system 10 includes a control device 100, a display 200 as a display device, and an external communication network 300.

[0013] The control device 100 includes a storage device 120 in which a program is stored, and a processing device 110 that executes the program stored in the storage device 120. The processing device 110 includes a processor. The control device 100 includes a communication device 130. The control device 100 is connected to an external communication network 300 via the communication device 130.

[0014] The display 200 is connected to the control device 100. The control device 100 can display information on the display 200. The control device 100 displays, on the display 200, an image of the transportation digital twin 20 constructed in a virtual space.

[0015] The transportation digital twin system 10 includes sensors that acquire information on the multiple moving bodies 600 in the real world in order to reproduce the positions and behaviors of the multiple moving bodies 600 in the real world in the transportation digital twin 20. The multiple moving bodies 600 are objects that move in the real world.

[0016] The multiple moving bodies 600 include multiple vehicles 400. Each vehicle 400 is equipped with multiple on-board sensors 420. Specific examples of the on-board sensors 420 will be described later. The vehicle 400 can transmit and receive information to and from the control device 100 via the external communication line network 300. For example, the vehicle 400 can transmit information collected by the multiple on-board sensors 420 mounted on the vehicle 400 to the control device 100. The vehicle 400 can receive information related to the traffic digital twin 20 from the control device 100.

[0017] The plurality of vehicles 400 may include a vehicle 400 that does not transmit information collected by the on-board sensor 420 to the control device 100. The multiple vehicles 400 may include vehicles 400 that provide information collected by on-board sensors 420 to the control device 100, but do not receive information regarding the traffic digital twin 20 from the control device 100.

[0018] The multiple vehicles 400 may include vehicles 400 that do not provide information to the control device 100 or receive information about the traffic digital twin 20 from the control device 100.

[0019] The moving object 600 includes a plurality of pedestrians 520. The information terminal 700 is, for example, a smartphone carried by the pedestrian 520. The information terminal 700 is, for example, a smartphone carried by an occupant of the vehicle 400.

[0020] The road sensors 800 are a plurality of sensors installed on a road. For example, the road sensors 800 include a plurality of road cameras 810 and a plurality of traffic lights 820. The information terminal 700 and the road sensor 800 collect a plurality of data indicating the positions and behaviors of a plurality of moving objects 600 at a plurality of times.

[0021] The processing device 110 periodically receives data indicating the positions and behaviors of the multiple moving objects 600 from the multiple vehicles 400, the multiple information terminals 700, and the multiple road sensors 800, in association with time. The processing device 110 may receive each piece of data at a different time. The processing device 110 stores the received data indicating the positions and behaviors of the multiple moving objects 600 in the storage device 120, in association with the time each piece of data was received.

[0022] <Data stored in storage device 120> The following describes data indicating the position and behavior of the moving body 600, which is collected by the processing device 110 and stored in the storage device 120. The data collected by the processing device 110 and stored in the storage device 120 includes, for example, vehicle information such as the VIN (Vehicle Identification Number) of the vehicle 400, the vehicle speed, traveling direction, and trajectory information, which is the traveling track, of the vehicle 400, and position information.

[0023] The data collected by the processing device 110 and stored in the storage device 120 includes data indicating the position and behavior of a moving body 600 other than the vehicle 400. The data indicating the position and behavior of a moving body 600 other than the vehicle 400 is, for example, data indicating the position and behavior of a pedestrian 520 or a bicycle.

[0024] The road sensor 800 collects information related to changes in the state of traffic infrastructure around the road sensor 800. Information related to changes in the state of traffic infrastructure is, for example, a change in the state of a traffic light 820. A change in the state of the traffic light 820 is the timing at which the traffic light 820 switches to green and the number of seconds that the traffic light 820 is green.

[0025] The road sensor 800 recognizes the vehicle 400 around the road sensor 800. For example, information about the vehicle 400 captured in an image captured by a road camera 810 is transmitted to the processing device 110. As shown in Fig. 2, the control device 100 includes an acquisition unit 101, a calculation unit 102, a display control unit 103, and a control unit 104. The acquisition unit 101 acquires data indicating the positions and behaviors of a plurality of moving objects 600 existing in the real world. The calculation unit 102 calculates the existence range 30 of the moving objects 600 based on the data acquired by the acquisition unit 101. The display control unit 103 displays the existence range 30 of each moving object 600 on a display device such as a display 200. The control unit 104 controls the vehicle 400 existing in the real world based on the existence range 30 of each moving object 600.

[0026] In this embodiment, the communication device 130 corresponds to the acquisition unit 101. The processing device 110 corresponds to the calculation unit 102, the display control unit 103, and the control unit 104. <Configuration of vehicle 400> As shown in FIG. 3, the vehicle 400 includes an in-vehicle communication device 410. The vehicle 400 includes a plurality of in-vehicle sensors 420. The vehicle 400 includes a vehicle speed sensor 421, an accelerator sensor 422, a brake sensor 423, and an acceleration sensor 424 as the in-vehicle sensors 420. In addition, the vehicle 400 includes a sonar 425, a position information acquisition system 426, a steering sensor 427, and an outside camera 428 as the in-vehicle sensors 420. Furthermore, the vehicle 400 includes a brake system 430, a steering system 432, a turn signal 433, a display 434, and a speaker 435. As shown in FIG. 3, the above devices included in the vehicle 400 are connected to each other by an in-vehicle network 440.

[0027] The vehicle 400 can transmit information to the control device 100 via the in-vehicle communication device 410 and the external communication network 300. For example, the vehicle 400 can transmit position information of the vehicle 400 acquired by the position information acquisition system 426 to the control device 100.

[0028] The acceleration sensor 424 is, for example, an IMU (Inertial Measurement Unit). The sonar 425 mounted on the vehicle 400 can collect information on the distance to other moving bodies 600 located around the vehicle 400. The vehicle 400 may be equipped with a LiDAR (Light Detection And Ranging) as a sensor for collecting information on the distance to other moving bodies 600 located around the vehicle 400 in the same manner as the sonar 425. The LiDAR can also collect information on the distance to other moving bodies 600 located around the vehicle 400.

[0029] The position information acquisition system 426 is not limited to a specific system. GNSS (Global Navigation Satellite System), RTK (Real Time Kinematic), LiDAR, etc. can be used as the position information acquisition system 426.

[0030] The processing device 110 and the display 434 mounted on the vehicle 400 function as a display device. The processing device 110 can cause the display 434 to display an image of the traffic digital twin 20 constructed in a virtual space.

[0031] <Control method of the control device 100 for constructing the transportation digital twin 20> Next, a method for constructing the transportation digital twin 20 executed by the control device 100 according to the first embodiment will be described.

[0032] Fig. 4 is a flowchart showing the flow of a series of processes for constructing the transportation digital twin 20 executed by the processing device 110. A control program for causing the processing device 110 to execute this series of processes is stored in the storage device 120 of the control device 100. The processing device 110 updates the transportation digital twin 20 by repeatedly executing the series of processes shown in Fig. 4 in accordance with the control program stored in the storage device 120. The transportation digital twin 20 is updated by the processing device 110 every few seconds.

[0033] As shown in Fig. 4, when this series of processes is started, the processing device 110 first acquires, in step S100, a plurality of pieces of data indicating the positions and behaviors of a plurality of moving bodies 600 existing in the real world in association with time via the communication device 130. The plurality of pieces of data indicating the positions and behaviors of the plurality of moving bodies 600 existing in the real world are collected, for example, by the on-board sensors 420 of the plurality of vehicles 400. These pieces of data are acquired by the processing device 110 at predetermined intervals. The data acquired by the processing device 110 is stored in the storage device 120. After the processing device 110 acquires the plurality of pieces of data indicating the positions and behaviors of the plurality of moving bodies 600, the process proceeds to step S110.

[0034] In the process of step S110, the processing device 110 calculates the existence range 30 of the moving object 600 based on the data stored in the storage device 120. A detailed description of the existence range 30 will be given later. After the processing device 110 calculates the existence range 30 of the moving object 600, the process proceeds to step S120.

[0035] In the processing of step S120, the processing device 110 constructs a transportation digital twin 20 that reproduces the positions and behaviors of multiple moving bodies 600 in a virtual space, based on multiple data indicating the positions and behaviors of the moving bodies 600. This transportation digital twin 20 includes information on the existence range 30 of the moving bodies 600. After the processing device 110 completes the construction of the transportation digital twin 20, the processing proceeds to step S130.

[0036] In the processing of step S130, the processing device 110 displays the constructed transportation digital twin 20 on the display device. When the processing of step S120 is completed, the processing device 110 temporarily ends this series of processes. The processing device 110 does not need to construct a transportation digital twin 20 that includes information on the presence ranges 30 of all moving bodies 600. For example, the processing device 110 may construct a transportation digital twin 20 excluding information on the presence ranges 30 in which the probability of the moving body 600 existing is less than a predetermined value.

[0037] <About the presence range 30 of a moving object 600 on a transportation digital twin 20> There may be a discrepancy between the positions of multiple moving bodies 600 in the real world and the positions of multiple moving bodies 600 on the traffic digital twin 20 reproduced in the virtual space.

[0038] Therefore, as shown in Figure 5, in the embodiment of the transportation digital twin system 10, the range in which each moving body 600 on the transportation digital twin 20 is estimated to exist is displayed as the existence range 30 of each moving body 600.

[0039] FIG. 5 illustrates, as examples of a plurality of moving objects 600, a vehicle 400_1, a vehicle 400_2, a vehicle 400_3, a vehicle 400_4, a vehicle 400_5, and a pedestrian 520_1. FIG. 5 shows, as examples of the presence range 30 of each moving object 600, a presence range 30_1, a presence range 30_2, a presence range 30_3, a presence range 30_4, a presence range 30_5, and a presence range 30_6.

[0040] The presence range 30_1 is the presence range 30 of the vehicle 400_1. The presence range 30_2 is the presence range 30 of the vehicle 400_2. The presence range 30_3 is the presence range 30 of the vehicle 400_3. The presence range 30_4 is the presence range 30 of the vehicle 400_4. The presence range 30_5 is the presence range 30 of the vehicle 400_5. The presence range 30_6 is the presence range 30 of the pedestrian 520_1.

[0041] There are a plurality of display modes when displaying the moving body 600 together with the existence range 30 of the moving body 600 on the transportation digital twin 20. For example, as a display mode of the existence range 30, there is a mode in which the existence range 30 is calculated and displayed so that the probability that the moving body 600 exists within the existence range 30 is a predetermined value. The existence ranges 30_1, 30_2, 30_3, 30_4, 30_5, and 30_6 shown in FIG. 5 are existence ranges 30 calculated so that the probability that each moving body 600 exists within each existence range 30 is 80%.

[0042] When the presence range 30 is calculated and displayed in this manner so that the probability that a moving body 600 exists within the presence range 30 is a predetermined value, the width of the presence range 30 changes depending on the measurement uncertainty contained in the multiple data acquired by the processing device 110.

[0043] For example, the position information of the moving body 600 acquired by the position information acquisition system 426 includes an error resulting from the accuracy of the measurement method of the position information. For example, the position information of the moving body 600 measured by GNSS includes an error of 10 to 20 meters. The position information of the moving body 600 measured by RTK includes an error of about several centimeters. The presence range 30 calculated by the processing device 110 based on data obtained by a measurement method with a small error is narrower than the presence range 30 calculated by the processing device 110 based on data obtained by a measurement method with a large error.

[0044] The speed of the vehicle 400 to be measured affects the uncertainty of the measurement. The faster the speed of the vehicle 400 to be measured, the wider the range in which the vehicle 400 is estimated to exist at a given time. That is, the faster the speed of the vehicle 400 to be measured, the wider the presence range 30 of the vehicle 400 to be measured at a given time. Furthermore, when there is a large variation in the speed of the vehicle 400 to be measured, the range in which the vehicle 400 is estimated to exist at a given time also becomes wider. That is, when there is a large variation in the speed of the vehicle 400 to be measured, the presence range 30 of the vehicle 400 to be measured at a given time becomes wider.

[0045] Changes in the state of the traffic infrastructure around the vehicle 400 to be measured affect the uncertainty of the presence range 30 of the vehicle 400. Changes in the state of the traffic infrastructure include, for example, the timing at which the traffic light 820 turns green and the number of seconds that the traffic light 820 is green. When the traffic light 820 turns green, the vehicle 400 starts moving. Therefore, when the traffic light 820 turns green, the presence range 30 of the vehicle 400 becomes wider.

[0046] When multiple moving bodies 600 are present around the vehicle 400 to be measured, the movements of the other moving bodies 600 located around the vehicle 400 to be measured and the movement of the vehicle 400 to be measured may affect each other. Therefore, the processing device 110 widens the presence range 30 of the vehicle 400 to be measured according to the number of other moving bodies 600 located around the vehicle 400 to be measured.

[0047] The presence range 30 calculated by the processing device 110 includes a first presence range 31, which is the presence range 30 of the moving body 600 itself, calculated using a sensor possessed by the moving body 600. In addition, the presence range 30 calculated by the processing device 110 includes a second presence range 32, which is the presence range 30 of other surrounding moving bodies 600, calculated using a sensor possessed by the moving body 600. A method for the processing device 110 to calculate the first presence range 31 and the second presence range 32 will be described below.

[0048] <About the first existence range 31> When calculating the first presence range 31, the processing device 110 acquires a plurality of pieces of data indicating the position and behavior of the moving object 600 itself, collected at a plurality of times by a plurality of sensors possessed by the moving object 600, via the communication device 130, the external communication network 300, and the in-vehicle communication device 410. The processing device 110 stores the plurality of pieces of data indicating the position and behavior of the moving object 600 itself in the storage device 120.

[0049] A method for the processing device 110 to calculate the first presence range 31 based on data collected by a sensor included in the vehicle 400 to be measured will be described with reference to FIG. Examples of data indicating the position and behavior of the vehicle 400 to be measured include the following data. The data indicating the position and behavior of the vehicle 400 to be measured is the speed of the vehicle 400 to be measured acquired from the vehicle speed sensor 421 of the vehicle 400 to be measured. The data indicating the position and behavior of the vehicle 400 to be measured is the acceleration of the vehicle 400 to be measured acquired from the acceleration sensor 424 of the vehicle 400 to be measured. The data indicating the position and behavior of the vehicle 400 to be measured is the steering angle of the vehicle 400 to be measured acquired from the steering sensor 427 of the vehicle 400 to be measured. The data indicating the position and behavior of the vehicle 400 to be measured is the position information of the vehicle 400 to be measured acquired from the position information acquisition system 426 of the vehicle 400 to be measured. The data indicating the position and behavior of the vehicle 400 to be measured is the speed and position information of the vehicle 400 to be measured collected by the information terminal 700 carried by the occupant of the vehicle 400 to be measured. The data indicating the position and behavior of the vehicle 400 to be measured is information on the distance between the vehicle 400 to be measured and the surrounding moving objects 600, which is acquired from the sonar 425 of the vehicle 400 to be measured. The data indicating the position and behavior of the vehicle 400 to be measured is an image of the surroundings of the vehicle 400 to be measured, which is acquired from the exterior camera 428 of the vehicle 400 to be measured.

[0050] Thereafter, the processing device 110 calculates a first presence range 31, which is the presence range 30 of the vehicle 400 itself to be measured, calculated based on a plurality of data indicating the position and behavior of the vehicle 400 to be measured. Then, the processing device 110 determines the presence range 30 of the vehicle 400 to be measured in the traffic digital twin 20 based on the first presence range 31. The processing device 110 reflects the determined presence range 30 in the traffic digital twin 20 constructed in a virtual space. Then, the processing device 110 displays, on the display device, an image of the traffic digital twin 20 reflecting the presence range 30 of the vehicle 400 to be measured.

[0051] <About the second range of existence> When calculating the second presence range 32, the processing device 110 acquires from the moving body 600 via the communication device 130 a number of pieces of data indicating the positions and behaviors of other moving bodies 600 located in the vicinity of the moving body 600, the data being collected at a number of times by a number of sensors possessed by the moving body 600.

[0052] Fig. 7 shows vehicles 400_6 and 400_7 as an example of the moving object 600. Fig. 6 shows an example in which data indicating the position and behavior of the vehicle 400_7 is acquired by a sensor included in the vehicle 400_6 to calculate the second presence range 32 of the vehicle 400_7.

[0053] The processing device 110 can acquire a plurality of data indicating the position and behavior of the vehicle 400_7 from the vehicle 400_6. The data that the processing device 110 can acquire is, for example, the distance between the vehicle 400_7 and the vehicle 400_6 collected by a sonar 425 mounted on the vehicle 400_6. The detection range 425_1 is a range in which the sonar 425 equipped in the vehicle 400_6 can detect the moving object 600.

[0054] The processing device 110 can acquire data indicating the position and behavior of the vehicle 400_7 based on data of the distance from the vehicle 400_7 acquired from the vehicle 400_6 and data indicating the position and behavior of the vehicle 400_6. The processing device 110 calculates a second presence range 32 of the vehicle 400_7 based on the acquired data indicating the position and behavior of the vehicle 400_7. Then, the processing device 110 determines a presence range 30 of the vehicle 400_7 in the traffic digital twin 20 based on the second presence range 32. The processing device 110 reflects the determined presence range 30 in the traffic digital twin 20 constructed in the virtual space. Then, the processing device 110 displays an image of the traffic digital twin 20 reflecting the presence range 30 of the vehicle 400_7 on the display device.

[0055] In this way, the processing device 110 can also calculate the presence range 30 of the vehicle 400_7 based on the data acquired from the vehicle 400_6. That is, the control device 100 can calculate the presence range 30 of the moving object 600 that has not provided the control device 100 with data indicating its position and behavior based on the data provided from the surrounding moving objects 600.

[0056] The data on the position and behavior of the vehicle 400_7 acquired by the processing device 110 is data collected by the on-board sensor 420 of the vehicle 400_6. Therefore, the second presence range 32 is affected by the certainty of the position and behavior of the vehicle 400_6 grasped by the processing device 110 in addition to the uncertainty of the measurement by the on-board sensor 420 mounted on the vehicle 400_6.

[0057] <Calculation of the existence range 30 based on both the first existence range 31 and the second existence range 32 by the processing device 110> The processing device 110 can determine the range obtained by combining the first presence range 31 and the second presence range 32 as the presence range 30 of the moving object 600. There are two examples of a method for combining the first presence range 31 and the second presence range 32 as follows.

[0058] As shown in FIG. 8, the processing device 110 may determine a third presence range 33, which is a range that combines the first presence range 31 and the second presence range 32, as the presence range 30 of the moving object 600. As shown in FIG. 9, the processing device 110 may determine a fourth presence range 34, which is an overlapping range of the first presence range 31 and the second presence range 32, as the presence range 30 of the moving object 600.

[0059] <Expansion of the first existence range 31 over time> The expansion of the presence range 30 will be described by taking the first presence range 31 as an example. The processing device 110 periodically acquires data via the communication device 130. Based on the periodically acquired data, the processing device 110 periodically calculates the first presence range 31. However, in the real world, the moving body 600 may move even after the processing device 110 calculates the first presence range 31 and before the next calculation of the first presence range 31 is completed and the first presence range 31 is updated. Until the data is acquired, the processing device 110 cannot grasp the behavior of the moving body 600. Therefore, the first presence range 31 calculated by the processing device 110 becomes more uncertain as time passes since the calculation.

[0060] Therefore, the processing device 110 expands the size of the first presence range 31 displayed on the display device as time passes from the calculation of the first presence range 31 until the next calculation of the first presence range 31 is completed and the first presence range 31 is updated.

[0061] Fig. 10 is a diagram for explaining the expansion of the first presence range 31 by taking as an example the calculation of the first presence range 31 of the vehicle 400_8. In Fig. 10, "_N_M" is added to the reference numeral of the first presence range 31. "N" is a number added to indicate an increase in the number of calculations of the first presence range 31. "M" is a number added to indicate an increase in the number of expansions of the first presence range 31.

[0062] 10, after receiving data indicating the position and behavior of the vehicle 400_8, the processing device 110 calculates a first presence range 31_1_1 as the presence range 30 of the vehicle 400_8. The processing device 110 causes the display device to display an image of the traffic digital twin 20 reflecting the first presence range 31_1_1 of the vehicle 400_8.

[0063] Thereafter, the processing device 110 causes the display device to display, with the lapse of time, a range in which the vehicle 400_8 is estimated to be present as a first presence range 31_1_2. The first presence range 31_1_2 is a presence range 30 enlarged from the first presence range 31_1_1.

[0064] Furthermore, the processing device 110 displays, with the passage of time, a range in which the vehicle 400_8 is estimated to be present as a first presence range 31_1_3. The first presence range 31_1_3 is a presence range 30 expanded more than the first presence range 31_1_2.

[0065] When the calculation of the presence range 30 of the vehicle 400_8 is completed at the next calculation timing, the processing device 110 updates the presence range 30 of the vehicle 400_8. That is, after receiving data indicating the position and behavior of the vehicle 400_8, the processing device 110 calculates a first presence range 31_2_1 as the presence range 30 of the vehicle 400_8. The processing device 110 causes the display device to display the traffic digital twin 20 reflecting the first presence range 31_2_1 of the vehicle 400_8.

[0066] The first presence range 31_2_1 is the presence range 30 that has just been calculated by the processing device 110. Therefore, the first presence range 31_2_1 is often a presence range 30 that is narrower than the first presence range 31_1_2 and the first presence range 31_1_3, which are the presence ranges 30 that have expanded over time since the calculation.

[0067] <Expansion of the second existence range 32 over time> Similar to the first existence range 31, the processing device 110 expands the second existence range 32 in accordance with the elapsed time from the calculation.

[0068] As shown in Fig. 7, the presence range 30 of a vehicle 400_6 is a first presence range 31. The presence range 30 of a vehicle 400_7 is a second presence range 32. The first presence range 31 and the second presence range 32 shown in Fig. 7 are the presence ranges 30 immediately after being calculated by the processing device 110.

[0069] FIG. 11 shows the positions and the presence range 30 of the vehicle 400_6 and the vehicle 400_7 after a certain time has elapsed. As shown in FIG. 11, the processing device 110 displays the second presence range 32 of the vehicle 400_7 after a certain time has elapsed in an enlarged manner compared to the second presence range 32 shown in FIG.

[0070] As shown in FIG. 11, the processing device 110 displays the first presence range 31 of the vehicle 400_6 after a certain time has elapsed in an enlarged manner compared to the first presence range 31 shown in FIG. <Operation of the First Embodiment> The processing device 110 in the above-described control device 100 calculates a presence range 30, which is a range within which the moving body 600 is estimated to exist. Furthermore, the processing device 110 causes the display device to display the presence range 30 of each of the multiple moving bodies 600. In other words, the control device 100 causes the display device to perform a display that takes into consideration the discrepancy between the position of each moving body 600 in the real world and the position of each moving body 600 in the traffic digital twin 20 reproduced in the virtual space.

[0071] <Advantages of the First Embodiment> (1) Users of the transportation digital twin system 10 can easily recognize the position of each moving body 600 in the transportation digital twin 20, which takes into account the deviation of positions from the real world.

[0072] (2) In the control device 100, the processing device 110 calculates the presence range 30 of the moving object 600 based on the measurement uncertainties of a plurality of pieces of data indicating the position and behavior of the moving object 600. The data indicating the position and behavior of the moving object 600 acquired by the processing device 110 using a sensor via the communication device 130 includes measurement uncertainty. Therefore, the processing device 110 calculates the existence range 30 of the moving object 600 based on the measurement uncertainty of the acquired data indicating the position and behavior of the moving object 600, in addition to the data. This makes it easier for the user of the transportation digital twin system 10 to recognize the position of each moving object 600 in the transportation digital twin 20 based on the existence range 30 that reflects the measurement uncertainty.

[0073] (3) The control device 100 calculates the existence range 30 so that the probability that the moving object 600 to be displayed exists within the existence range 30 by the processing device 110 becomes a predetermined value. The processing device 110 described above determines the size of each presence range 30 based on a certain criterion. Therefore, the information indicated by the presence range 30 in the transportation digital twin 20 can be handled under a common concept. This enables the control device 100 to calculate a presence range 30 that is easy to use.

[0074] (4) The control device 100 calculates the existence range 30 so that the probability that the moving object 600 to be displayed exists within the existence range 30 is a predetermined value less than 100%. The presence range 30 of the moving object 600 includes measurement uncertainty in data indicating the position and behavior of the moving object 600. Therefore, the presence range 30 calculated so that the probability that the moving object 600 exists within the presence range 30 is 100% may be an extremely wide range. In response to this, the processing device 110 calculates the presence range 30 so that the probability that the moving object 600 exists within the presence range 30 is a predetermined value less than 100%. This allows the control device 100 to calculate a presence range 30 that is easy to use.

[0075] (5) In the control device 100, the processing device 110 periodically acquires a plurality of pieces of data via the communication device 130. The processing device 110 periodically calculates the presence range 30 of the moving object 600 based on the plurality of pieces of data periodically acquired. The processing device 110 updates the presence range 30 every time it calculates the presence range 30. After the calculation of the presence range 30, the processing device 110 increases the size of the displayed presence range 30 of the moving object 600 as time passes, from the calculation until the next calculation of the presence range 30 is completed and the presence range 30 is updated.

[0076] The presence range 30 calculated by the processing device 110 becomes more uncertain as more time passes since the calculation. Therefore, the processing device 110 expands the width of the presence range 30 as more time passes since the calculation. In this way, the control device 100 can realize a display that reflects the fact that the display of the presence range 30 becomes more uncertain as time passes since the calculation.

[0077] (6) In the control device 100, the processing device 110 acquires a plurality of pieces of data indicating the position and behavior of the moving body 600 itself, collected at a plurality of times by a plurality of sensors possessed by the moving body 600, from the moving body 600 via the communication device 130. The processing device 110 calculates a first presence range 31, which is a presence range of the moving body 600 itself, calculated based on the plurality of pieces of data indicating the position and behavior of the moving body 600 itself. The processing device 110 acquires a plurality of pieces of data indicating the position and behavior of the moving body 600 from other moving bodies 600 around the moving body 600 via the communication device 130, which are collected at a plurality of times by a plurality of sensors possessed by the other moving bodies 600. The processing device 110 calculates a second presence range 32, which is a presence range of the moving body 600, calculated based on a plurality of pieces of data indicating the position and behavior of the moving body 600, collected at a plurality of times by a plurality of sensors possessed by the other moving bodies 600. The processing device 110 determines a presence range 30 of the moving body 600 in the traffic digital twin 20 based on a first presence range 31 for the moving body 600 and a second presence range 32 for the moving body 600. Then, the processing device 110 displays the determined presence range 30 of the moving body 600 on a display device.

[0078] The processing device 110 described above determines the presence range 30 of the moving body 600 based on the first presence range 31 and the second presence range 32. Furthermore, the processing device 110 displays the presence ranges 30 of the multiple moving bodies 600 on the display device based on the presence ranges 30 thus determined. This allows the user of the transportation digital twin system 10 to recognize the position and behavior in the transportation digital twin 20 even of the moving bodies 600 that are not communicating with the control device 100 of the transportation digital twin 20.

[0079] (7) The processing device 110 determines the presence range 30 of the moving body 600 based on the first presence range 31 and the second presence range 32. Therefore, the user of the transportation digital twin system 10 can more accurately recognize the position and behavior of the moving body 600 in the transportation digital twin 20.

[0080] (8) The processing device 110 described above determines the presence range 30 of the moving body 600 based on the second presence range 32. Therefore, the control device 100 can display the presence ranges 30 of vehicles 400, pedestrians 520, etc. that are not communicating with the control device 100 of the traffic digital twin 20 on the display device.

[0081] (9) The processing device 110 can display the presence range 30 of the moving body 600 on the display device more accurately than if the presence range 30 were displayed on the display device based only on the first presence range 31 or only on the second presence range 32.

[0082] (10) The control method executed by the control device 100 includes a step (step S100) in which the processing device 110 acquires a plurality of data items indicating the positions and behaviors of the moving objects 600 existing in the real world, which are collected at a plurality of times by a plurality of sensors via the communication device 130, in association with the time. The control method executed by the control device 100 includes a step (step S120) in which the processing device 110 constructs a traffic digital twin 20 that reproduces the positions and behaviors of the plurality of moving objects 600 in a virtual space based on a plurality of time-synchronized data items. The control method executed by the control device 100 includes a step (step S110) in which the processing device 110 calculates a presence range 30 in the traffic digital twin 20, which is a range within which the moving objects 600 are estimated to exist. The control method executed by the control device 100 includes a step (step S130) in which the processing device 110 displays the presence range 30 in the traffic digital twin 20 on a display device.

[0083] By executing such a control method, the processing device 110 of the control device 100 calculates a presence range 30, which is a range within which the moving body 600 is estimated to exist. Furthermore, the processing device 110 causes the display device to display the presence range 30 of each of the multiple moving bodies 600. In other words, the control device 100 causes the display device to perform a display that takes into consideration the discrepancy between the position of each moving body 600 in the real world and the position of each moving body 600 in the traffic digital twin 20 reproduced in the virtual space.

[0084] This makes it easier for users of the transportation digital twin system 10 to recognize the position of each moving body 600 in the transportation digital twin 20, taking into account the deviation of positions from the real world. (11) The storage device 120 of the control device 100 stores a control program that causes the processing device 110 to execute processing. This control program causes the processing device 110 of the control device 100 to acquire a plurality of pieces of data indicating the positions and behaviors of a plurality of moving bodies 600 existing in the real world, collected at a plurality of times by a plurality of sensors via the communication device 130, in association with the time. The control program causes the processing device 110 to construct a traffic digital twin 20 that reproduces the positions and behaviors of a plurality of moving bodies 600 in a virtual space based on a plurality of pieces of time-synchronized data. The control program causes the processing device 110 to calculate a presence range 30 in the traffic digital twin 20, which is a range within which the moving bodies 600 are estimated to exist. The control program causes the processing device 110 to display the presence range 30 in the traffic digital twin 20 on a display device. In other words, the control program causes the display device to perform a display that takes into consideration the presence of a discrepancy between the positions of the moving bodies 600 in the real world and the positions of the moving bodies 600 in the traffic digital twin 20 reproduced in the virtual space.

[0085] This makes it easier for users of the transportation digital twin system 10 to recognize the position of each moving body 600 in the transportation digital twin 20, taking into account the deviation of positions from the real world. <Modification of the first embodiment> The first embodiment can be modified as follows: The first embodiment and the following modifications can be combined with each other to the extent that there is no technical contradiction.

[0086] The processing device 110 of the control device 100 may calculate only the first presence range 31 of the moving object 600. In that case, the presence range 30 of the moving object 600 is the first presence range 31. The processing device 110 may calculate only the second presence range 32 of the moving object 600. In this case, the presence range 30 of the moving object 600 is the second presence range 32.

[0087] When the processing device 110 calculates both the first presence range 31 and the second presence range 32 of the moving object 600, the processing device 110 may consider only the first presence range 31 as the presence range 30 of the moving object 600.

[0088] When the processing device 110 calculates both the first presence range 31 and the second presence range 32 of the moving object 600, the processing device 110 may consider only the second presence range 32 as the presence range 30 of the moving object 600.

[0089] When the processing device 110 is unable to calculate the first presence range 31 of the moving object 600 , the processing device 110 may regard the second presence range 32 as the presence range 30 of the moving object 600 . When the processing device 110 is unable to calculate the second presence range 32 of the moving object 600 , the processing device 110 may regard the first presence range 31 as the presence range 30 of the moving object 600 .

[0090] The processing device 110 does not need to acquire the measurement uncertainty for each measurement result in the information indicating the position or behavior of the moving object 600. For example, in this case, a coefficient for reflecting the uncertainty of the information indicating the position or behavior is set for each measurement method. Then, the processing device 110 calculates the existence range 30 of the moving object 600 by reflecting the coefficient according to the measurement method in addition to the information indicating the position or behavior of the moving object 600.

[0091] When calculating the probability that the moving object 600 exists within the existence range 30 of the moving object 600, the processing device 110 does not need to acquire the measurement uncertainty for each measurement result in the information indicating the position or behavior of the moving object 600. In that case, for example, a coefficient for reflecting the uncertainty of the information indicating the position or behavior of the moving object 600 is set for each measurement method.

[0092] The processing device 110 may not need to expand the presence range 30 over time from when the processing device 110 receives information until the next information is received and the traffic digital twin 20 is updated. For example, the processing device 110 may take into account the time until the next update of the traffic digital twin 20 and cause the display device to display a presence range 30 that has been expanded in advance from the time of calculating the presence range 30 until the time immediately before the next update of the traffic digital twin 20. In other words, in this case, a presence range 30 that is expanded more than the calculated presence range 30 will always be displayed on the display device.

[0093] The processing device 110 does not have to display the presence ranges 30 on the display device so that the probability that the moving body 600 exists in the presence ranges 30 is the same for all displayed presence ranges 30. For example, the presence ranges 30 may be displayed so that the probability that the moving body 600 exists in one presence range 30 is 60%, and the probability that the moving body 600 exists in another presence range 30 is 80%.

[0094] The presence range 30 may be displayed in such a manner that the color of the presence range 30 is changed in stages according to the probability that the vehicle 400 is present within the presence range 30. For example, the processing device 110 may display the presence range 30 in such a manner that the color of the presence range 30 becomes darker as the presence probability increases.

[0095] The processing device 110 may not display the presence range 30 in a circular shape on the display device. For example, the processing device 110 may display the presence range 30 on the display device in an elliptical shape that matches the lane on which the vehicle 400 is traveling. For example, the processing device 110 may display, as the presence range 30, a range that excludes a portion of the presence range 30 calculated as a circle, where it is known from map information that the moving body 600 cannot be present. For example, the processing device 110 may display the presence range 30 on the display device in a shape that takes into account buildings and the like around the vehicle 400.

[0096] The processing device 110 may obtain information regarding the length, height, and width of the vehicle 400. In this case, the processing device 110 may calculate the presence range 30 taking into account the length, height, and width of the vehicle 400.

[0097] Second embodiment Next, a second embodiment will be described with reference to Fig. 3 and Fig. 12 to Fig. 14. The second embodiment will be described mainly with respect to differences from the first embodiment. In the second embodiment, the control device 100 controls multiple vehicles 400 based on information from the transportation digital twin system 10.

[0098] As shown in FIG. 3, the processing device 110 of the control device 100 controls the vehicle 400 by transmitting information to devices provided in the vehicle 400 via an external communication network 300 and an in-vehicle communication device 410.

[0099] For example, the processing device 110 can transmit information to a brake system 430 of the vehicle 400 to slow down or stop the vehicle 400. Furthermore, the processing device 110 can transmit information to a steering system 432 of the vehicle 400 to control the steering of the vehicle 400.

[0100] <Control of the vehicle 30 by the processing device 110 according to the size of the range 30 in which the vehicle 400 exists> The processing device 110 changes the content of control for the vehicle 400 to be controlled depending on the size of the presence range 30 of the vehicle 400 in the traffic digital twin 20.

[0101] 12 shows the flow of a series of processes related to the control of the vehicle 400 executed by the processing device 110. A control program for causing the processing device 110 to execute this series of processes is stored in the storage device 120 of the control device 100. This series of processes is repeatedly executed by the processing device 110 of the control device 100 in accordance with the control program stored in the storage device 120.

[0102] When this series of processes is started, the processing device 110 calculates the presence range 30 of the vehicle 400 to be controlled in the process of step S300, as in the first embodiment. That is, in the process of step S300, the processing device 110 executes the series of processes shown in FIG. 4 to calculate the presence range 30 of the vehicle 400 to be controlled. Next, in the process of step S310, the processing device 110 determines whether or not control of the vehicle 400 to be controlled is necessary. A case in which the processing device 110 determines that control of the vehicle 400 to be controlled is necessary (step S310: YES) is, for example, a case in which the presence range 30_9 of the vehicle 400_9 to be controlled overlaps with the presence range 30_10 of another vehicle 400_10, as shown in FIG. 13.

[0103] As shown in FIG. 12, when the processor 110 determines that control of the vehicle 400 to be controlled is necessary (step S310: YES), the process proceeds to step S320. In the process of step S320, the processor 110 controls the vehicle 400 in accordance with the size of the presence range 30 of the vehicle 400 to be controlled.

[0104] 14, the width of the presence range 30_11 of the vehicle 400_11, the presence range 30_12 of the vehicle 400_12, and the presence range 30_13 of the vehicle 400_13 are all set so that the probability that the vehicle 400 exists within the presence range 30 is 80%. When the probability that the vehicle 400 exists within the presence range 30 is the same, the narrower the presence range 30, the more accurately the processing device 110 can grasp the position and behavior of the vehicle 400 to be controlled. Therefore, when the probability that the vehicle 400 exists within the presence range 30 is the same, the narrower the presence range 30, the more the processing device 110 can implement control on the vehicle 400 to be controlled, which has a greater degree of involvement in the running of the vehicle 400.

[0105] 14, the widest presence range 30 is the presence range 30_13. For a vehicle 400_13 that is estimated to be present within the presence range 30_13, which is the wide presence range 30, the processing device 110 can implement control that has a low degree of involvement in the traveling of the vehicle 400. The control that has a low degree of involvement in the traveling of the vehicle 400 includes, for example, a warning to the driver via the display 434 or the speaker 435 shown in FIG.

[0106] Of the three presence ranges 30 shown in Fig. 14, the presence range 30_11 is the narrowest. For a vehicle 400_11 estimated to be present within the presence range 30_11, which is the narrowest presence range 30, the processing device 110 can implement control that has a large degree of involvement in the traveling of the vehicle 400. The control that has a large degree of involvement in the traveling of the vehicle 400 includes, for example, steering control via the steering system 432 of the vehicle 400 shown in Fig. 3. The processing device 110 may control the turn signal 433 in addition to the steering control.

[0107] 14, the presence range 30 of medium width is the presence range 30_12. For the vehicle 400_12 estimated to be present within the presence range 30_12, which is the medium presence range 30, the processing device 110 can implement control with a medium degree of involvement in the traveling of the vehicle 400. The control with a medium degree of involvement in the traveling of the vehicle 400 includes, for example, deceleration or stopping of the vehicle 400 via the brake system 430 of the vehicle 400 shown in FIG.

[0108] As shown in FIG. 12, after the processing device 110 has performed control according to the size of the range 30 in which the vehicle 400 exists, the processing device 110 ends the control of the vehicle 400 that is the control target. When the processor 110 determines that control of the control target vehicle 400 is not necessary (step S310: NO), the processor 110 does not execute the process of step S320 and ends this series of processes.

[0109] <Operation of the Second Embodiment> The processing device 110 in the above-described control device 100 controls the vehicle 400 to be controlled based on the size of the existence range 30 of the vehicle 400 to be controlled. That is, the processing device 110 performs control for each vehicle 400 on the traffic digital twin 20, taking into consideration the existence range 30, which is a range in which the vehicle 400 is estimated to exist, beyond the size of the actual vehicle 400.

[0110] <Effects of the second embodiment> (1) The processing device 110 of the control device 100 of the second embodiment can safely control the vehicle 400 that is the object of control.

[0111] (2) In the control device 100 of the second embodiment, the processing device 110 calculates the presence range 30 of the moving body 600 so that the probability that the moving body 600 exists within the presence range 30 becomes a predetermined value. The processing device 110 controls the vehicle 400 to be controlled when the presence range 30 of the vehicle 400 to be controlled overlaps with the presence range 30 of another moving body 600.

[0112] The processing device 110 described above determines the size of the presence range 30 of multiple vehicles 400, including the vehicle 400 to be controlled, based on a certain criterion. Therefore, the information indicated by the presence range 30 in the traffic digital twin 20 can be handled under a common concept. This allows the control device 100 to calculate a presence range 30 that is easy to use in controlling the vehicles 400.

[0113] (3) In the control device 100 of the second embodiment, the processing device 110 changes the content of the control for the vehicle 400 to be controlled depending on the size of the presence range 30 of the vehicle 400 to be controlled. In the traffic digital twin 20, the width of the presence range 30 calculated so that the probability that the vehicle 400 exists within the presence range 30 is a predetermined value varies depending on the certainty of the position and behavior of the vehicle 400 estimated by the control device 100. If the calculated presence range 30 is wide, it means that the certainty of the position and behavior of the vehicle 400 estimated by the control device 100 is low. Some control, such as steering control, cannot be realized unless the position and behavior of the vehicle 400 to be controlled are accurately grasped. The above-mentioned processing device 110 changes the content of the control for the vehicle 400 to be controlled according to the width of the presence range 30. As a result, the processing device 110 can execute control according to the certainty of the estimation of the position and behavior of the vehicle 400 to be controlled.

[0114] (4) The control method executed by the control device 100 of the second embodiment includes a step (step S100) in which the processing device 110 acquires a plurality of data items indicating the position and behavior of a moving object 600 existing in the real world, which are collected at a plurality of times by a plurality of sensors via the communication device 130, in association with time. The control method executed by the control device 100 includes a step (step S120) in which the processing device 110 constructs a traffic digital twin 20 that reproduces the positions and behaviors of a plurality of moving objects 600 in a virtual space based on a plurality of time-synchronized data items. The control method executed by the control device 100 includes a step (step S110) in which the processing device 110 calculates a presence range 30 in the traffic digital twin 20, which is a range in which the moving object 600 is estimated to exist. The control method executed by the control device 100 includes a step (step S320) in which the processing device 110 controls the vehicle 400 via the communication device 130 based on the presence range 30 in the traffic digital twin 20.

[0115] By executing such a control method, the control device 100 controls the vehicle 400 based on the existence range 30 of the moving body 600. That is, the control method controls the vehicle 400 for each moving body 600 on the traffic digital twin 20, taking into consideration the range in which the moving body 600 is estimated to exist, beyond the actual size of the moving body 600. By executing such a control method, the control device 100 can safely control the vehicle 400.

[0116] (5) The storage device 120 of the control device 100 of the second embodiment stores a control program that causes the processing device 110 to execute processing. This control program causes the processing device 110 of the control device 100 to acquire a plurality of pieces of data indicating the positions and behaviors of a plurality of moving bodies 600 existing in the real world, collected at a plurality of times by a plurality of sensors via the communication device 130, in association with the time. The control program causes the processing device 110 to construct a traffic digital twin 20 that reproduces the positions and behaviors of the plurality of moving bodies 600 in a virtual space based on a plurality of pieces of time-synchronized data. The control program causes the processing device 110 to calculate a presence range 30, which is a range within which the moving bodies 600 are estimated to exist, in the traffic digital twin 20. The control program causes the processing device 110 to control the vehicle 400 via the communication device 130 based on the presence range 30 of the plurality of moving bodies 600. The processing device 110 in the above control device 100 controls the vehicle 400 based on the presence range 30 of the moving bodies 600. That is, the control program causes the control device 100 to control the vehicle 400 for each moving body 600 on the traffic digital twin 20, taking into account the range in which the moving body 600 is estimated to exist, beyond the actual size of the moving body 600.

[0117] In other words, the control program enables the control device 100 to control the vehicle 400 safely. <Modification of the second embodiment> The second embodiment described above can be modified as follows: The second embodiment and the following modifications can be combined with each other to the extent that there is no technical contradiction.

[0118] The processing device 110 can change the content of the control for the vehicle 400 that is the control target, depending on the probability that the vehicle 400 exists within the existence range 30. Modification examples will be described with reference to Figs. 3, 13, 15, and 16.

[0119] 15 shows the flow of a series of processes related to the control of the vehicle 400 executed by the processing device 110. A control program for causing the processing device 110 to execute this series of processes is stored in the storage device 120 of the control device 100. This series of processes is repeatedly executed by the processing device 110 in accordance with the control program stored in the storage device 120.

[0120] 15, when this series of processes is started, in the process of step S400, the processing device 110 calculates the existence range 30 of the vehicle 400 to be controlled, similarly to the process of step S300 in the second embodiment. Then, in the process of step S410, the processing device 110 determines whether or not control of the vehicle 400 to be controlled is necessary. A case where the processing device 110 determines that control of the vehicle 400 to be controlled is necessary (step S410: YES) is, for example, a case where the existence range 30_9 of the vehicle 400_9 to be controlled overlaps with the existence range 30_10 of another vehicle 400_10, as shown in FIG.

[0121] When the processor 110 determines that control of the vehicle 400 to be controlled is necessary (step S410: YES), the process proceeds to step S420. In the process of step S420 , the processing device 110 controls the vehicle 400 as a control target in accordance with the probability that the vehicle 400 exists within the existence range 30 .

[0122] Fig. 16 shows an example in which the control device 100 displays a certain presence range 30 in the traffic digital twin 20. As shown in Fig. 16, in this case, the presence range 30_14 of the vehicle 400_14, the presence range 30_15 of the vehicle 400_15, and the presence range 30_16 of the vehicle 400_16 are all the same size. In this case, the control device 100 calculates the presence probability of each moving object 600.

[0123] For example, in the example shown in FIG. 16, the probability that the vehicle 400_14 exists within the presence range 30_14 is 60%. That is, the probability that the vehicle 400_14 exists in the presence range 30_14 is 60%. The probability that the vehicle 400_15 exists within the presence range 30_15 is 80%. That is, the probability that the vehicle 400_15 exists in the presence range 30_15 is 80%. The probability that the vehicle 400_16 exists within the presence range 30_16 is 95%. That is, the probability that the vehicle 400_16 exists in the presence range 30_16 is 95%.

[0124] When the probability that the vehicle 400 exists within the presence range 30 is high, the processing device 110 can accurately grasp the position and behavior of the control target vehicle 400. Therefore, when the probability that the vehicle 400 exists within the presence range 30 is high, the processing device 110 can implement control on the control target vehicle 400 that has a greater degree of involvement in the traveling of the vehicle 400.

[0125] For example, when the presence probability of the vehicle 400_14 in the presence range 30_14 is 60%, the processing device 110 can execute control with a small degree of involvement in the traveling of the vehicle 400_14. The control with a small degree of involvement in the traveling of the vehicle 400 includes, for example, a warning to the driver via the display 434 or the speaker 435 shown in FIG.

[0126] For example, when the presence probability of the vehicle 400_15 in the presence range 30_15 is 80%, the processing device 110 can execute control with a medium degree of involvement in the traveling of the vehicle 400_15. The control with a medium degree of involvement in the traveling of the vehicle 400 includes, for example, deceleration or stopping of the vehicle 400 via the brake system 430 of the vehicle 400 shown in FIG.

[0127] When the presence probability of the vehicle 400_16 in the presence range 30_16 is 95%, the processing device 110 can execute control that has a large degree of involvement in the traveling of the vehicle 400_16. The control that has a large degree of involvement in the traveling of the vehicle 400 includes, for example, steering control via the steering system 432 of the vehicle 400 shown in Fig. 3. The processing device 110 may control the blinker 433 together with the steering control.

[0128] As shown in FIG. 15, after the processing device 110 has performed control according to the probability that the vehicle 400 exists within the existence range 30, the processing device 110 ends the control of the vehicle 400 that is the control target. When the processor 110 determines that control of the vehicle 400 to be controlled is not necessary (step S410: NO), the processor 110 ends the control of the vehicle 400 to be controlled.

[0129] The control device 100 may change the content of control over the vehicle 400 to be controlled depending on the distance L between the presence range 30 of another moving body 600 that overlaps with the presence range 30 of the vehicle 400 to be controlled and the center Cent of the presence range 30 of the vehicle 400 to be controlled.

[0130] In this case, the processing device 110 changes the content of the control for the vehicle 400 to be controlled, depending on the distance L between the existence range 30 of the other moving body 600 and the center Cent of the existence range 30 of the vehicle 400 to be controlled. This modification example will be described with reference to Fig. 3 and Figs. 17 to 20.

[0131] 17 shows the flow of a series of processes related to the control of the vehicle 400 executed by the processing device 110. A control program for causing the processing device 110 to execute this series of processes is stored in the storage device 120 of the control device 100. This series of processes is repeatedly executed by the processing device 110 in accordance with the control program stored in the storage device 120.

[0132] As shown in Fig. 17, when this series of processes is started, in the process of step S500, the processing device 110 calculates the existence range 30 of the vehicle 400 to be controlled, similarly to the process of step S300 in the second embodiment. Then, in the process of step S510, the processing device 110 determines whether or not control of the vehicle 400 to be controlled is necessary. A case where the processing device 110 determines that control of the vehicle 400 to be controlled is necessary (step S510: YES) is, for example, a case where the existence range 30_17 of the vehicle 400_17 to be controlled overlaps with the existence range 30_18 of another vehicle 400_18, as shown in Fig. 18.

[0133] When the processor 110 determines that control of the vehicle 400 to be controlled is necessary (step S510: YES), the process proceeds to step S520. In the process of step S520, the processing device 110 controls the vehicle 400 to be controlled according to the distance L between the presence range 30 of the other moving body 600 and the center Cent of the presence range 30 of the vehicle 400 to be controlled.

[0134] The closer to the center Cent of the existence range 30 of the vehicle 400 to be controlled, the higher the probability that the vehicle 400 to be controlled is present. When the probability that the vehicle 400 to be controlled is present is high, the processing device 110 can accurately grasp the position and behavior of the vehicle 400 to be controlled. Therefore, the closer to the center Cent of the existence range 30 of the vehicle 400 to be controlled, the more the processing device 110 can implement control on the vehicle 400 to be controlled that has a greater degree of involvement in the running of the vehicle 400.

[0135] 18 shows a case where the distance L between the presence range 30_18 of the other vehicle 400_18 and the center Cent of the presence range 30_17 of the vehicle 400_17 to be controlled is longer than the middle distance L_2 and within the long distance L_1. In this case, the processing device 110 can perform control with a small degree of involvement in the traveling of the vehicle 400_18 to be controlled. The control with a small degree of involvement in the traveling of the vehicle 400 includes, for example, a warning to the driver via the display 434 or the speaker 435 shown in FIG. 3.

[0136] 19 shows a case where the distance L between the presence range 30_18 of the other vehicle 400_18 and the center Cent of the presence range 30_17 of the vehicle 400_17 to be controlled is longer than the short distance L_3 and within the medium distance L_2. In this case, the processing device 110 can perform control with a medium degree of involvement in the traveling of the vehicle 400_17 to be controlled. The control with a medium degree of involvement in the traveling of the vehicle 400 includes, for example, deceleration or stopping of the vehicle 400 via the brake system 430 of the vehicle 400 shown in FIG. 3.

[0137] 20 shows a case where the distance L between the existence range 30_18 of the other vehicle 400_18 and the center Cent of the existence range 30_17 of the vehicle 400_17 to be controlled is within a short distance L_3. In this case, the processing device 110 can perform control with a large degree of involvement in the traveling of the vehicle 400_17 to be controlled. The control with a large degree of involvement in the traveling of the vehicle 400 includes, for example, steering control via the steering system 432 of the vehicle 400 shown in FIG. 3.

[0138] When the processor 110 determines that it is not necessary to control the vehicle 400 that is the control target (step S510: NO), the processor 110 ends the process. After the processing device 110 has performed control according to the distance L between the presence range 30 of the other moving body 600 and the center Cent of the presence range 30 of the vehicle 400 to be controlled, the processing device 110 ends the processing.

[0139] The probability that the target vehicle 400 is present increases as the target vehicle 400 is closer to the center Cent of the range 30 of existence of the target vehicle 400. The processing device 110 described above can execute control according to the accuracy of the estimation of the position and behavior of the target vehicle 400.

[0140] The control of the vehicle 400 executed by the processing device 110 can be applied to various advanced safety technologies, such as PCS (Pre-crash Safety), ACC (Adaptive Cruise Control), LKA (Lane Keeping Assist), LCA (Lane Change Assist), etc.

[0141] <Other changes> Other elements that can be modified in common to the above-described embodiments include the following: The following modification examples can be implemented in combination with each other to the extent that there is no technical contradiction.

[0142] The processing device 110 of the control device 100 does not have to display the presence range 30 of the multiple moving bodies 600 in the traffic digital twin 20 on the display device. In other words, it may control the multiple vehicles 400 in the real world based on the presence range 30 of the multiple moving bodies 600 via the communication device 130 without displaying on the display device. In that case, the processing device 110 executes the series of processes described with reference to FIG. 4 except for the process of S130.

[0143] <Additional Notes> The technical ideas that can be understood from the above-described embodiment and modified examples will be described. [Appendix 1] A control device comprising: an acquisition unit that acquires data indicating the positions of multiple moving objects existing in the real world; and a display control unit that causes a display device to display an existence range, which is the range within which each of the moving objects is estimated to exist, in a space that reproduces the positions of the multiple moving objects, constructed based on the data acquired by the acquisition unit.

[0144] [Appendix 2] The control device described in [Appendix 1], wherein the acquisition unit acquires the data collected by a plurality of sensors. [Appendix 3] The control device according to [Appendix 1] or [Appendix 2], wherein the acquisition unit acquires the data in association with time information.

[0145] [Appendix 4] The control device according to any one of [Appendix 1] to [Appendix 3], further comprising a calculation unit that calculates the presence range of the moving bodies based on the position accuracy of the moving bodies indicated by the data, and the display control unit causes the presence range calculated by the calculation unit to be displayed on the display device.

[0146] [Appendix 5] The control device according to [Appendix 4], wherein the calculation unit calculates the existence range so that the probability that the moving object to be displayed exists within the existence range becomes a predetermined value. [Appendix 6] A control device according to any one of [Appendix 1] to [Appendix 5], wherein, during the period from when the calculation unit calculates the existence range until the next calculation of the existence range is completed, the display control unit causes the display device to display an expanded size of the existence range as time passes since the calculation.

[0147] [Appendix 7] The control device described in any one of [Appendix 1] to [Appendix 6], wherein the acquisition unit acquires at least data indicating the position of the moving body itself collected by a sensor possessed by the moving body from the moving body.

[0148] [Appendix 8] The control device described in any one of [Appendix 1] to [Appendix 6], wherein the acquisition unit acquires at least data from the moving body indicating the positions of other moving bodies in the vicinity of the moving body, collected by a sensor possessed by the moving body.

[0149] [Appendix 9] A control device comprising: an acquisition unit that acquires data indicating positions of a plurality of moving objects existing in the real world; a calculation unit that calculates a presence range, which is a range within which each of the moving objects is estimated to exist, in a virtual space that reproduces the positions of the plurality of moving objects and is constructed based on the data acquired by the acquisition unit; and a control unit that controls a vehicle existing in the real world based on the presence range calculated by the calculation unit.

[0150] [Appendix 10] The control device described in [Appendix 9], wherein the calculation unit calculates the presence range of the moving body so that the probability that the moving body exists within the presence range becomes a predetermined value, and the control unit changes the content of the control when the presence range of the vehicle to be controlled overlaps with the presence range of another moving body.

[0151] [Appendix 11] The control device described in [Appendix 9] or [Appendix 10], wherein the control unit changes the content of the control for the vehicle to be controlled depending on the width of the presence range of the vehicle to be controlled.

[0152] [Appendix 12] A control device described in any one of [Appendix 9] to [Appendix 11], wherein the control unit changes the content of control over the vehicle to be controlled depending on the probability that the vehicle to be controlled is present within the presence range of the vehicle to be controlled in the virtual space when the presence range of the vehicle to be controlled overlaps with the presence range of another moving body.

[0153] [Appendix 13] A control device as described in any one of [Appendix 9] to [Appendix 12], wherein, during a period from when the calculation unit calculates the presence range to when the next calculation of the presence range is completed, the control unit expands the size of the presence range over time from the calculation, and controls the vehicle based on the expanded presence range.

[0154] After the acquisition unit receives data indicating the position and behavior of the moving object, the moving object may move in the real world until the acquisition unit receives the next information. Until the information is updated, the calculation unit cannot grasp the behavior of the moving object. Therefore, the existence range calculated by the calculation unit becomes more uncertain as time passes after the calculation.

[0155] Therefore, the control unit increases the size of the existence range as time passes after the calculation. This allows the control device to control the vehicle in a way that reflects the fact that the existence range becomes increasingly uncertain over time from the calculation.

[0156] [Appendix 14] A control device as described in any one of [Appendix 9] to [Appendix 13], wherein the acquisition unit acquires at least data indicating a position of the moving body itself collected by a sensor possessed by the moving body from the moving body, and the calculation unit calculates the presence range of the vehicle from at least the data indicating the position of the moving body itself.

[0157] [Appendix 15] A control device as described in any one of [Appendix 9] to [Appendix 13], wherein the acquisition unit acquires at least data from the moving body indicating positions of other moving bodies in the vicinity of the moving body collected by a sensor possessed by the moving body, and the calculation unit calculates the presence range of the vehicle from the data indicating at least the positions of the other moving bodies in the vicinity of the moving body.

[0158] The control unit described above can control vehicles taking into account the presence range of vehicles, pedestrians, etc. that are not communicating with the traffic digital twin control device. This allows the control device to control vehicles taking into account the range of moving objects that are not in direct communication with the traffic digital twin.

[0159] [Appendix 16] A control device as described in any one of [Appendix 9] to [Appendix 15], wherein the calculation unit calculates the presence range of the moving body so that the probability that the moving body exists within the presence range becomes a predetermined value, and the control unit controls the vehicle to be controlled when the presence range of the vehicle to be controlled overlaps with the presence range of another moving body.

[0160] [Appendix 17] A control device as described in any one of [Appendix 9] to [Appendix 15], wherein the calculation unit calculates the presence range of the moving body so that the probability that the moving body exists within the presence range becomes a predetermined value, and the control unit controls the vehicle to be controlled when the presence range of the vehicle to be controlled comes into contact with the presence range of another moving body.

[0161] When the range of the vehicle to be controlled is narrow, it is possible that the vehicle and the moving body may come into contact when the range of the vehicle to be controlled overlaps with the range of the other moving body. Therefore, the control unit controls the vehicle to be controlled before the range of the vehicle to be controlled overlaps with the range of the other moving body. This allows the control device to safely control the vehicle to be controlled.

[0162] [Appendix 18] A control device described in any one of [Appendix 9] to [Appendix 15], wherein the calculation unit calculates the presence range of the moving body so that the probability that the moving body exists within the presence range becomes a predetermined value, and the control unit controls the vehicle to be controlled when the distance between the outer periphery of the presence range of the vehicle to be controlled and the outer periphery of the presence range of another moving body becomes less than a predetermined distance.

[0163] When the range of the vehicle to be controlled is extremely narrow, it is possible that the vehicle and the moving body will come into contact when the range of the vehicle to be controlled comes into contact with the range of the other moving body. Therefore, the control unit controls the vehicle to be controlled before the range of the vehicle to be controlled comes into contact with the range of the other moving body. This allows the control device to control the vehicle to be controlled more safely.

[0164] [Supplementary Note 19] A control device according to any one of [Supplementary Note 9] to [Supplementary Note 18], which changes the content of the control for the vehicle to be controlled depending on the width of the existence range of the vehicle to be controlled.

[0165] [Appendix 20] A control device described in any one of [Appendix 9] to [Appendix 18], which changes the content of control over the vehicle to be controlled depending on the probability that the vehicle to be controlled is present within the existence range of the vehicle to be controlled.

[0166] [Appendix 21] A control device described in any one of [Appendix 9] to [Appendix 18], which changes the control content for the vehicle to be controlled depending on the distance between the existence range of the other moving body and the center of the existence range of the vehicle to be controlled.

[0167] [Appendix 22] A control device described in any one of [Appendix 9] to [Appendix 21], wherein the narrower the presence range of the vehicle to be controlled, the greater the degree of involvement in the driving of the vehicle to be controlled is controlled for the vehicle to be controlled.

[0168] [Appendix 23] A control device described in any one of [Appendix 9] to [Appendix 21], wherein the higher the probability that the controlled vehicle is present within the range of the controlled vehicle, the greater the degree of involvement in the driving of the controlled vehicle is controlled for the controlled vehicle.

[0169] [Appendix 24] A control device described in any one of [Appendix 9] to [Appendix 21], wherein the closer the distance between the presence range of the other moving body and the center of the presence range of the vehicle to be controlled, the greater the degree of involvement in the driving of the vehicle to be controlled is controlled.

[0170] [Supplementary Note 25] The control device according to any one of [Supplementary Note 22] to [Supplementary Note 24], wherein a warning is issued to the vehicle as a control that has a small influence on the running of the vehicle. [Appendix 26] The control device according to any one of [Appendix 22] to [Appendix 24], wherein the control has a medium degree of involvement in the running of the vehicle and decelerates the vehicle to be controlled.

[0171] [Appendix 27] The control device according to any one of [Appendix 22] to [Appendix 24], which stops the vehicle as a control having a medium degree of involvement in the running of the vehicle. [Appendix 28] The control device according to any one of [Appendix 22] to [Appendix 24], which performs steering control of the control target as a control having a large degree of involvement in vehicle running.

[0172] [Appendix 29] A control method including the steps of: an acquisition unit acquiring data indicating positions of a plurality of moving bodies existing in the real world; a calculation unit calculating a presence range, which is a range within which each of the moving bodies is estimated to exist, in a virtual space that reproduces the positions of the plurality of moving bodies and is constructed based on the data acquired by the acquisition unit; and a control unit controlling a vehicle existing in the real world based on the presence range.

[0173] [Appendix 30] A control program that causes an acquisition unit to acquire data indicating positions of a plurality of moving bodies existing in the real world, causes a calculation unit to calculate an existence range, which is a range within which each of the moving bodies is estimated to exist, in a virtual space that reproduces the positions of the plurality of moving bodies based on the data acquired by the acquisition unit, and causes a control unit to control a vehicle existing in the real world based on the existence range.

[0174] [Appendix 31] A control device comprising: an acquisition unit that acquires data indicating positions of a plurality of moving bodies existing in a real world; a calculation unit that calculates a presence range, which is a range within which each of the moving bodies is estimated to exist, in a space that reproduces the positions of the plurality of moving bodies, constructed based on the data acquired by the acquisition unit; a display control unit that displays the presence range on a display device; and a control unit that controls a vehicle existing in the real world based on the presence range.

[0175] [Appendix 32] The control device described in [Appendix 31], wherein a display control unit causes a display device to display the existence range based on the contents described in any one of [Appendix 1] to [Appendix 8], and a control unit controls the vehicle based on the contents described in any one of [Appendix 9] to [Appendix 28].

[0176] [Appendix 33] A control method including the steps of: an acquisition unit acquiring data indicating positions of a plurality of moving bodies existing in the real world; a calculation unit calculating a presence range, which is a range within which each of the moving bodies is estimated to exist, in a virtual space that reproduces the positions of the plurality of moving bodies and is constructed based on the data acquired by the acquisition unit; a display control unit displaying the presence range on a display device; and a control unit controlling a vehicle existing in the real world based on the presence range.

[0177] [Appendix 34] A control program that causes an acquisition unit to acquire data indicating positions of a plurality of moving bodies existing in the real world, causes a calculation unit to calculate a presence range, which is a range within which each of the moving bodies is estimated to exist, in a virtual space that reproduces the positions of the plurality of moving bodies based on the data acquired by the acquisition unit, causes a display control unit to display the presence range on a display device, and causes a control unit to control a vehicle existing in the real world based on the presence range. [Explanation of symbols]

[0178] 10. Transportation digital twin system 20…Transportation Digital Twin 30…Existence range 100...Control device 101…Acquisition Department 102...Calculation section 103...Display control unit 104...Control unit 110... Processing device 120...Storage device 130...Communication equipment 200…Display 300…External communication network 400…Vehicle 410...In-vehicle communication device 420…In-vehicle sensor 421...Vehicle speed sensor 422...Accelerator sensor 423...Brake sensor 424…Accelerometer 425…Sonar 426…Location information acquisition system 427...Steering sensor 428…External camera 430…Brake system 432…Steering system 433…Blinker 434…Display 435…Speaker 440…In-vehicle network 520…Pedestrian 700…Information terminal 600…Mobile 800…Road sensor 810…Street camera 820…Traffic light

Claims

1. An acquisition unit that acquires data indicating the positions of a plurality of moving objects existing in the real world; a display control unit that displays, on a display device, a presence range in which each of the moving objects is estimated to exist in a virtual space that reproduces the positions of the moving objects and is constructed based on the data acquired by the acquisition unit; and A control device comprising:

2. The acquisition unit acquires the data collected by a plurality of sensors. The control device according to claim 1 .

3. The acquisition unit acquires the data in association with time information. The control device according to claim 1 .

4. a calculation unit that calculates the presence range of the moving objects based on the position accuracy of the moving objects indicated by the data, The display control unit causes the display device to display the existence range calculated by the calculation unit. The control device according to claim 1 .

5. The calculation unit calculates the existence range such that a probability that the moving object to be displayed exists within the existence range becomes a predetermined value. The control device according to claim 4.

6. During a period from when the calculation unit calculates the existence range until the next calculation of the existence range is completed, the display control unit causes the display device to display an enlarged size of the existence range as time passes from the calculation. The control device according to claim 4.

7. The acquisition unit acquires at least data indicating a position of the moving object itself collected by a sensor of the moving object from the moving object. The control device according to claim 1 .

8. The acquisition unit acquires at least data indicating positions of other moving bodies in the vicinity of the moving body collected by a sensor of the moving body from the moving body. The control device according to claim 1 .

9. An acquisition unit acquires data indicating positions of a plurality of moving objects existing in the real world; and a step of causing a display control unit to display, on a display device, a presence range, which is a range within which each of the moving objects is estimated to exist, in a virtual space in which the positions of the plurality of moving objects are reproduced and which is constructed based on the data acquired by the acquisition unit. Control methods.

10. causing an acquisition unit to acquire data indicating the positions of a plurality of moving objects existing in the real world; A display control unit is caused to execute a process of displaying, on a display device, a presence range, which is a range within which each of the moving objects is estimated to exist, in a virtual space in which the positions of the plurality of moving objects are reproduced and which is constructed based on the data acquired by the acquisition unit. Control program.

11. An acquisition unit that acquires data indicating the positions of a plurality of moving objects existing in the real world; a calculation unit that calculates an existence range, which is a range within which each of the moving objects is estimated to exist, in a virtual space in which the positions of the moving objects are reproduced and which is constructed based on the data acquired by the acquisition unit; a control unit that controls a vehicle existing in the real world based on the existence range calculated by the calculation unit; and A control device comprising:

12. the calculation unit calculates the presence range of the moving object such that a probability that the moving object exists within the presence range becomes a predetermined value; The control unit controls the vehicle to be controlled when the presence range of the vehicle to be controlled overlaps with the presence range of another moving object. The control device according to claim 11.

13. The control unit changes the content of the control for the vehicle to be controlled in accordance with the width of the existence range of the vehicle to be controlled. The control device according to claim 12.

14. When the presence range of the vehicle to be controlled overlaps with the presence range of another moving body, the control unit changes content of control over the vehicle to be controlled according to a probability that the vehicle to be controlled exists within the presence range of the vehicle to be controlled in the virtual space. The control device according to claim 11.

15. The control unit changes the content of the control for the vehicle to be controlled according to a distance between the presence range of the other moving object overlapping with the presence range of the vehicle to be controlled and a center of the presence range of the vehicle to be controlled. The control device according to claim 11.

16. The control unit controls the vehicle to be controlled such that the smaller the presence range of the vehicle to be controlled is, the greater the degree of involvement in the running of the vehicle to be controlled is. The control device according to claim 11.

17. The control unit performs control on the vehicle to be controlled such that the degree of involvement in the traveling of the vehicle to be controlled is greater as the probability that the vehicle to be controlled is present within the existence range of the vehicle to be controlled is higher. The control device according to claim 11.

18. The closer the distance between the existence range of the other moving body and the center of the existence range of the vehicle to be controlled is, the greater the degree of involvement in the running of the vehicle to be controlled is controlled. The control device according to claim 11.

19. As a control that has a small influence on the running of the vehicle, a warning is issued to the vehicle that is the subject of the control. The control device according to any one of claims 16 to 18.

20. As a control with a medium degree of involvement in the running of the vehicle, the vehicle to be controlled is decelerated. The control device according to any one of claims 16 to 18.

21. As a control with a medium degree of involvement in the running of the vehicle, the vehicle to be controlled is stopped. The control device according to any one of claims 16 to 18.

22. As a control that has a large influence on the running of the vehicle, steering control of the vehicle to be controlled is performed. The control device according to any one of claims 16 to 18.

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