Apparatus and method for processing information and computer program

Abstract

To provide an apparatus for processing information that efficiently uses information about a three-dimensional space associated with an intrinsic identifier.SOLUTION: An apparatus for processing information comprises information holding means that holds space information including information about positions and velocities of moving bodies existing in respective three-dimensional spaces divided into a plurality of parts, in association with an intrinsic identifier, and output means that outputs information to a first moving body. The output means, if the first moving body exists in a predetermined three-dimensional space associated with a first intrinsic identifier, outputs information about a three-dimensional space associated with a second identifier different from the first intrinsic identifier, to the first moving body.SELECTED DRAWING: Figure 30

Description

Technical Field

[0001] The present invention relates to an information processing apparatus, an information processing method, a computer program, and the like.

Background Art

[0002] In recent years, with technological innovations such as autonomous driving mobility and spatial recognition systems around the world, the development of an overall picture (hereinafter referred to as digital architecture) that connects data and systems among different organizations and members of society has been progressing.

[0003] By utilizing digital architecture, autonomous driving mobility and spatial recognition systems can acquire more information and can solve larger problems in cooperation with external devices and systems other than themselves.

[0004] Conventionally, as a technology for connecting the space of the real world and digital information, there is a technology such as Patent Document 1. In Patent Document 1, a single processor divides a spatio-temporal region in terms of time and space according to spatio-temporal management data provided by a user, and generates a plurality of spatio-temporal divided regions.

[0005] Then, considering the proximity in time and space of the spatio-temporal divided regions, an identifier represented by a one-dimensional integer value is assigned to uniquely identify each of the plurality of spatio-temporal divided regions. Also, the arrangement of time-series data is determined so that data of spatio-temporal divided regions with close identifiers are arranged close to each other on a storage device.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] However, the technology of Patent Document 1 mentioned above does not mention the generation rule of the spatio-temporal division region, and the data related to the generated region can be grasped by an identifier only within the processor that generated it.

[0008] Therefore, in order to share and use the data among members of different organizations and societies (hereinafter referred to as system users), it is necessary to understand the data structure in advance. Also, each system user needs to reconstruct the existing system so that it can handle the data structure, which may result in large-scale work.

[0009] In addition, the information on the spatio-temporal division region managed by different system users as described above assumes various use cases, but there is room for improvement in the information management method, and the specific usage method is not mentioned either.

[0010] Therefore, one of the objectives of the present invention is to provide an information processing apparatus that efficiently uses information related to a three-dimensional space associated with a unique identifier.

Means for Solving the Problems

[0011] In an information processing apparatus, information holding means for holding space information including information on the position and velocity of a moving object existing in each of a plurality of divided three-dimensional spaces in association with a unique identifier; output means for outputting information to a first moving object; comprising when the first moving object exists in a predetermined three-dimensional space associated with a first unique identifier, the output means outputs information on a three-dimensional space associated with a second unique identifier different from the first unique identifier to the first moving object. characterized in that.

Effects of the Invention

[0012] According to the present invention, it is possible to provide an information processing apparatus that efficiently uses information related to a three-dimensional space associated with a unique identifier.

Brief Description of the Drawings

[0013]

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Mode for Carrying Out the Invention

[0014] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiments. In each figure, the same members or elements are denoted by the same reference numerals, and redundant explanations are omitted or simplified.

[0015] <Embodiment 1> FIG. 1 is a diagram showing an overall configuration example of an autonomous mobile body control system according to Embodiment 1 of the present invention. As shown in FIG. 1, the autonomous mobile body control system includes a system control device 10, a user interface 11, an autonomous mobile body 12, a route determination device 13, a conversion information holding device 14, and a sensor node 15.

[0016] Each of the above devices is connected via the Internet 16 by respective network connection parts described later. In the present embodiment, the Internet 16 is used, but the present invention is not particularly limited thereto, and for example, other network systems such as a LAN (Local Area Network) may be used.

[0017] Further, some of the system control device 10, the user interface 11, the route determination device 13, and the conversion information holding device 14 may be devices housed in the same housing.

[0018] The system control device 10, the user interface 11, the autonomous mobile body 12, the route determination device 13, the conversion information holding device 14, and the sensor node 15 each include a CPU, a ROM, a RAM, an HDD, etc., and function as information processing devices. Details of the functions and internal configurations of each device will be described later.

[0019] Next, the services provided by the autonomous mobile body control system will be described. In the description, first, the screen images (FIGS. 2(A) and 2(B)) displayed on the user interface 11 when the user inputs position information will be described.

[0020] Subsequently, the screen images (FIGS. 3(A) and 3(B)) displayed on the user interface 11 when the user views the current position of the autonomous mobile body 12 will be described. Through these descriptions, it can be shown how services are provided to the user in the autonomous mobile body control system.

[0021] In the present description, for the sake of clarity, the map display will be described in a two-dimensional plane, but in the present embodiment, since the user can specify a three-dimensional position including "height", the user can also input "height" information.

[0022] FIG. 2(A) is an image diagram showing an input screen when a user inputs location information in Embodiment 1, and FIG. 2(B) is an image diagram showing a selection screen for selecting an autonomous mobile body to be used in Embodiment 1.

[0023] When the user accesses the Internet 16 on the display screen of the user interface 11 and selects the service of the autonomous mobile body control system, the WEB page of the system control device 10 is displayed.

[0024] First displayed on the WEB page is a departure place, via place, and arrival place input screen 40 for setting a departure place, a via place, and an arrival place when moving the autonomous mobile body 12. On the input screen 40, there is a "mobility list" button 48 for displaying a list of available autonomous mobile bodies (mobilities). When pressed by the user, the list display screen 47 shown in FIG. 2(B) is displayed.

[0025] The user first selects the autonomous mobile body to be used on the list display screen 47. When selected, the screen automatically transitions to the input screen 40. Then the user inputs the location to be set as the departure place into the input field 41 of "departure place".

[0026] Also, the user inputs the location to be set as the via place into the input field 42 of "via place 1". Note that the via place can be added. By pressing the via place addition button 44, the input field 46 of "via place 2" is additionally displayed, and the via place to be added can be input.

[0027] Also, the user inputs the location to be set as the arrival place into the input field 43 of "arrival place". Then, the user presses the determination button 45 to request the movement of the autonomous mobile body 12.

[0028] In the example of FIG. 2, “AAA” is set as the departure location, “BBB” as the transit location 1, and “CCC” as the destination. The text to be entered in the input field is assumed to be text that can specify any position such as an address, etc., but it is also possible to enter position information indicating a specific position such as latitude / longitude information or a store name.

[0029] FIG. 3(A) is an image diagram showing an example of a current position confirmation screen of the autonomous mobile body according to Embodiment 1. In FIG. 3(A), after requesting the movement of the autonomous mobile body 12, it shows the confirmation screen 50 when the current position of the autonomous mobile body 12 is displayed on the display screen of the web page of the user interface 11.

[0030] The user can recognize the current position of the autonomous mobile body 12 based on the position on the screen of the current location 56. Also, the user can update the screen display information to display the latest state by pressing the update button 57.

[0031] Also, the user can change the departure location, transit location, and destination by pressing the transit / destination change button 54. That is, it can be changed by entering the location to be reset in the input field 51 for “departure location”, the input field 52 for “transit location 1”, and the input field 53 for “destination” respectively.

[0032] FIG. 3(B) is an image diagram showing an example of a map display screen in the current position confirmation of the autonomous mobile body according to Embodiment 1, and shows an example of the map display screen 60 switched from the confirmation screen 50 when the map display button 55 in FIG. 3(A) is pressed.

[0033] On this screen, the current position of the autonomous mobile body 12 on the map display can be confirmed based on the position of the black circle at the current location 62. Also, the user can return the display screen to the confirmation screen 50 by pressing the “back” button 61.

[0034] As described above, the user can move the autonomous mobile body 12 from a predetermined location to another predetermined location by operating the user interface 11. Note that this service can be applied to, for example, a taxi dispatching service or a drone delivery service.

[0035] Next, the configurations and functions of the respective devices (10 to 15) in FIG. 1 will be described in detail with reference to FIG. 4. FIG. 4 is a functional block diagram showing an example of the internal configuration of each device in FIG. 1.

[0036] In FIG. 4, the user interface 11 includes an operation unit 11-1, a control unit 11-2, a display unit 11-3, an information storage unit (memory / HDD) 11-4, and a network connection unit 11-5.

[0037] The operation unit 11-1 is composed of a touch panel, a key button, etc., and is used for inputting data. The display unit 11-3 is, for example, a liquid crystal screen, and is used for displaying data.

[0038] The display screens of the user interface 11 shown in FIGS. 2 and 3 are displayed on the display unit 11-3. The user can select a service, input information, and confirm information via the menu displayed on the display unit 11-3.

[0039] That is, the operation unit 11-1 and the display unit 11-3 provide a user interface for the user to actually perform operations. Here, the operation unit 11-1 and the display unit 11-3 are described separately, but a configuration that enables both operation and display, such as a touch panel, may also be used.

[0040] The control unit 11-2 includes a CPU as a computer, and by executing a computer program stored in a memory, it manages various services in the user interface 11, manages modes such as information input and information confirmation, and controls communication processing. In addition, it controls the processing in the operation unit 11-1, the display unit 11-3, the information storage unit (memory / HDD) 11-4, the network connection unit 11-5, etc.

[0041] The information storage unit (memory / HDD) 11-4 is a database for holding necessary information. The network connection unit 11-5 controls communication performed via the Internet, LAN, wireless LAN, or the like.

[0042] In addition, the user interface 11 is a device such as a PC tablet or a smartphone, and is configured to display information required by the user on the display unit 11-3 and receive operations by the user from the operation unit 11-1.

[0043] With the above configuration, in the present embodiment, the user interface 11 displays the input screen 40 for the departure place, transit place, and arrival place on the browser screen of the system control device 10, and receives input of position information such as the departure point, transit point, and arrival point by the user. Further, by displaying the confirmation screen 50 and the map display screen 60 on the browser screen, the current position of the autonomous mobile body 12 is displayed to the user.

[0044] Also, in FIG. 4, the route determination device 13 includes a map information management unit 13-1, a control unit 13-2, a position / route information management unit 13-3, an information storage unit (memory / HDD) 13-4, and a network connection unit 13-5.

[0045] The map information management unit 13-1 holds map information on the earth, searches for route information indicating a route on the map based on designated predetermined position information, and transmits the searched route information to the position / route information management unit 13-3.

[0046] In addition, the map information management unit 13-1 manages not only information such as terrain, latitude / longitude / altitude, but also regulation information related to the Road Traffic Law such as road lanes, sidewalks, traveling directions, and traffic regulations.

[0047] The control unit 13-2 includes a CPU as a computer, and controls the route information search function in the route determination device 13 by executing a computer program stored in a memory. Further, it controls the processes in the map information management unit 13-1, the position / route information management unit 13-3, the information storage unit (memory / HDD) 13-4, the network connection unit 13-5, etc.

[0048] The position / route information management unit 13-3 manages the position information of the moving body acquired through the network connection unit 13-5, transmits the position information to the map information management unit 13-1, and manages the route information as the search result acquired from the map information management unit 13-1.

[0049] The control unit 13-2 can convert the route information managed by the position / route information management unit 13-3 into a predetermined data format according to the request of an external system and transmit it to the external system.

[0050] As described above, the route determination device 13 is configured to search for a route in accordance with, for example, the Road Traffic Law based on the specified predetermined position information and output it in a predetermined data format.

[0051] As described above, in this embodiment, the route determination device 13 searches for route information based on the position information of the moving body specified by the system control device 10 and provides it to the system control device 10 in a predetermined data format.

[0052] Furthermore, the conversion information holding device 14 includes a position / route information management unit 14-1, a unique identifier management unit 14-2, a control unit 14-3, a format database 14-4, an information storage unit (memory / HDD) 14-5, and a network connection unit 14-6.

[0053] The position / route information management unit 14-1 manages the predetermined position information of the moving body acquired through the network connection unit 14-6 and transmits the position information to the control unit 14-3 according to the request of the control unit 14-3.

[0054] The control unit 14-3 includes a CPU as a computer, and controls the unique identifier conversion function in the conversion information holding device 14 by executing a computer program stored in the memory. Further, it controls the processing in the position / route information management unit 14-1, the unique identifier management unit 14-2, the format database 14-4, the information storage unit (memory / HDD) 14-5, the network connection unit 14-6, etc.

[0055] Based on the position information of the moving body acquired from the position / route information management unit 14-1 and the information on the format of the space information managed by the format database 14-4, the control unit 14-3 converts the position information into a unique identifier and transmits it to the unique identifier management unit 14-2.

[0056] The format allocates identifiers (hereinafter, unique identifiers) to a space starting from a predetermined position, manages the space by the unique identifiers, and can acquire the corresponding unique identifier and the information in the space based on the predetermined position information.

[0057] The unique identifier management unit 14-2 manages the unique identifier converted by the control unit 14-3 and transmits it through the network connection unit 14-6. The format database 14-4 manages the information on the format and transmits the information on the format to the control unit 14-3 according to the request of the control unit 14-3.

[0058] Further, the unique identifier management unit 14-2 manages the information in the space acquired through the network connection unit 14-6 using the format. The conversion information holding device 14 manages the information on the space acquired by an external device, apparatus, or network connected to itself in association with the unique identifier. Further, it provides the unique identifier and the information on the space associated therewith to an external device, apparatus, or network connected to itself.

[0059] As described above, the conversion information holding device 14 collects the unique identifier and the information in the space based on the predetermined position information, and manages and provides the information in a state where it can be shared by external devices, apparatuses, and networks connected to itself. In this way, the conversion information holding device 14 according to the present embodiment converts the position information specified by the system control device 10 into the unique identifier and provides it to the system control device 10.

[0060] Further, the system control device 10 includes a unique identifier management unit 10-1, a control unit 10-2, a position / route information management unit 10-3, an information storage unit (memory / HDD) 10-4, and a network connection unit 10-5.

[0061] The position / route information management unit 10-3 holds simple map information obtained by matching the terrain information and the latitude / longitude information, and manages the predetermined position information and route information acquired through the network connection unit 10-5. Further, the position / route information management unit 10-3 can also divide the route information at predetermined intervals and generate position information such as the latitude / longitude of the divided locations.

[0062] The unique identifier management unit 10-1 manages the information obtained by converting the position information and the route information into the unique identifier. The control unit 10-2 includes a CPU as a computer, and controls the communication functions of the position information, the route information, and the unique identifier of the system control device 10 by executing a computer program stored in the memory.

[0063] Further, the control unit 10-2 controls the processing in the unique identifier management unit 10-1, the position / route information management unit 10-3, the information storage unit (memory / HDD) 10-4, the network connection unit 10-5, and the like.

[0064] Further, the control unit 10-2 provides a web page to the user interface 11 and transmits predetermined position information obtained from the web page to the route determination device 13. Further, the control unit 10-2 obtains predetermined route information from the route determination device 13 and transmits each position information of the route information to the conversion information holding device 14. Then, the control unit 10-2 transmits the route information converted into the unique identifier obtained from the conversion information holding device 14 to the autonomous mobile body 12.

[0065] As described above, the system control device 10 is configured to be able to acquire predetermined position information designated by the user, transmit and receive position information and route information, generate position information, and transmit and receive route information using a unique identifier.

[0066] As described above, the system control device 10 according to the present embodiment collects the route information necessary for the autonomous mobile body 12 to perform autonomous movement based on the position information input to the user interface 11. Further, the system control device 10 provides the autonomous mobile body 12 with route information using a unique identifier.

[0067] Furthermore, the autonomous mobile body 12 includes a detection unit 12-1, a control unit 12-2, a direction control unit 12-3, an information storage unit (memory / HDD) 12-4, a network connection unit 12-5, and a drive unit 12-6.

[0068] The detection unit 12-1 has imaging means such as an imaging device, for example, and a distance measurement function using the parallax of a plurality of imaging devices, and acquires detection information (hereinafter referred to as detection information) such as obstacles such as surrounding terrain and building walls. Further, the detection unit 12-1 has a self-position estimation function for estimating its own position based on the detection information.

[0069] The detection unit 12-1 also has a self-position detection function such as GPS (Global Positioning System) and a direction detection function such as a geomagnetic sensor, for example. Further, based on the acquired detection information, self-position estimation information, and direction detection information, the control unit 12-2 can create a three-dimensional map in the cyber space.

[0070] Here, the three-dimensional map of the cyber space is something that can represent spatial information equivalent to the positions of real-world features as digital data. In this three-dimensional map of the cyber space, the autonomous mobile body 12 existing in the real world and the feature information around it are held as spatially equivalent digital data information. Also, the autonomous mobile body can move efficiently based on this digital data.

[0071] Here, taking FIGS. 13(A) and (B) as examples, the three-dimensional map of the cyber space used in this embodiment will be described. FIG. 13(A) is a diagram showing the spatial positional relationship between the autonomous mobile body 12 in the real world and the pillar 99 existing as the surrounding feature information. The position of the autonomous mobile body 12 is specified as the same position as the position α0 inside the autonomous mobile body 12 from the latitude and longitude position information obtained by the GPS (not shown) etc. of the autonomous mobile body 12.

[0072] Also, the orientation and moving speed of the autonomous mobile body 12 are specified by the difference between the azimuth αY obtained by an electronic compass (not shown) etc. and the moving direction 12Y of the autonomous mobile body 12. Also, the position of the pillar 99 is specified as the position of the vertex 99-1 from the previously measured position information.

[0073] Moreover, by the ranging function of the autonomous mobile body 12, it is possible to obtain the distance from α0 of the autonomous mobile body 12 to the vertex 99-1. In FIG. 13(A), when the 12Y direction is taken as the axis of the XYZ coordinate system and α0 is taken as the origin, it is shown as the coordinates (Wx, Wy, Wz) of the vertex 99-1.

[0074] In the three-dimensional map of the cyber space, the information thus obtained is managed as digital data and can be reconstructed as spatial information as shown in FIG. 13(B). FIG. 13(B) is a diagram in which the autonomous mobile body 12 and the pillar 99 are arranged in an arbitrary XYZ coordinate system space, showing a state in which the autonomous mobile body 12 and the pillar 99 are mapped in an arbitrary XYZ coordinate system space with P0 as the origin.

[0075] Set P0 to a predetermined latitude and longitude in the real world, and take the north direction of the real world as the Y-axis direction. In this arbitrary XYZ coordinate system space, the autonomous mobile body 12 can be represented by the coordinate P1, and the pillar 99 can be represented by the coordinate P2.

[0076] Specifically, from the latitude and longitude of α0 and the latitude and longitude of the origin P0, the coordinate P1 of α0 in this space can be managed, and similarly, the coordinate P2 of the pillar 99 can be managed. In this example, the autonomous mobile body 12 and the pillar 99 are represented in a three-dimensional map of the cyber space. Of course, even if there are multiple autonomous mobile bodies and obstacles, they can be treated in the same way.

[0077] As described above, a three-dimensional map is a mapping of the self-position and objects in the real world in a three-dimensional space. Also, the autonomous mobile body 12 holds, for example, the learning result data obtained by performing machine learning in the information storage unit 12-4 and can detect objects from the captured images.

[0078] Regarding the detection information, it can also be acquired from an external system via the network connection unit 12-5 and reflected in the three-dimensional map. The control unit 12-2 includes a CPU as a computer and controls the movement, direction change, and autonomous driving function of the autonomous mobile body 12 by executing a computer program stored in the memory.

[0079] Also, the control unit 12-2 controls the processing in the detection unit 12-1, the direction control unit 12-3, the information storage unit (memory / HDD) 12-4, the network connection unit 12-5, the driving unit 12-6, etc.

[0080] The direction control unit 12-3 changes the direction of the driving unit 12-6 to change the moving direction of the autonomous mobile body 12. The driving unit 12-6 consists of a driving device such as a motor and generates the propulsion force of the autonomous mobile body 12.

[0081] The autonomous mobile body 12 reflects the self-position, detection information, and object detection information in the three-dimensional map, generates a path at a certain distance from the surrounding terrain, buildings, obstacles, and objects, and can perform autonomous driving.

[0082] Still, the difference between the route generation performed by the route determination device 13 and the above is that the route determination device 13 mainly performs route generation considering regulation information related to the Road Traffic Law. On the other hand, the autonomous mobile body 12 performs route generation for more accurately detecting its own size and the positions of surrounding obstacles in the route determined by the route determination device 13 and moving without contacting the surrounding obstacles.

[0083] Next, the mechanical configuration of the autonomous mobile body 12 in the present embodiment will be described with reference to FIG. 5. FIG. 5 is a perspective view showing a mechanical configuration example of the autonomous mobile body 12 according to Embodiment 1. In the present embodiment, an example of a traveling body having wheels will be described for the autonomous mobile body 12, but the autonomous mobile body 12 may be a flying body such as a drone.

[0084] In FIG. 5, a detection unit 12-1, a control unit 12-2, a direction control unit 12-3, an information storage unit (memory / HDD) 12-4, a network connection unit 12-5, and a drive unit 12-6 are arranged in the autonomous mobile body 12 and are electrically connected to each other.

[0085] At least two or more drive units 12-6 and direction control units 12-3 are provided in the autonomous mobile body 12. The direction control unit 12-3 changes the direction of the drive unit 12-6 by rotational driving of the shaft, thereby changing the moving direction of the autonomous mobile body 12. The drive unit 12-6 moves the autonomous mobile body 12 forward and backward by rotating the wheels.

[0086] Still, the configuration described with reference to FIG. 5 is an example and is not limited thereto. For example, any structure that can execute an equivalent effect, such as the adoption of omnidirectional wheels in the moving direction changing structure, may be used.

[0087] Here, the autonomous mobile body 12 of the present embodiment is a mobile body such as an AGV (Automated Guided Vehicle) or an AMR (Autonomous Mobile Robot) equipped with, for example, SLAM. The autonomous mobile body 12 is configured to be able to autonomously move along a specified predetermined path based on the detection information detected by the detection unit 12-1 and the detection information of the external system acquired via the Internet 16. Note that SLAM is an abbreviation for Simultaneous Localization and Mapping.

[0088] The autonomous mobile body 12 is also capable of trace movement to trace a finely specified point, and can also generate path information by itself in the space while passing through a roughly set point and move.

[0089] Also, as described above, the autonomous mobile body 12 transmits information regarding the operation of its own vehicle, such as the orientation, moving speed, and position information of its own vehicle, to the system control device 10 via the network connection unit 12-5.

[0090] Furthermore, the system control device 10 transmits information regarding the operation to the autonomous mobile body 12 and to the conversion information holding device 14 via the network connection unit 10-5. As a result, the orientation, moving speed, and position information of the autonomous mobile body 12 are stored in the format database 14-4 in the conversion information holding device 14.

[0091] And, similar to the autonomous mobile body 12, other mobile bodies also transmit their own orientation and moving speed to the conversion information holding device 14. Therefore, the orientation, moving speed, and position information of the mobile bodies existing in the space managed by the unique identifier are stored in the format database 14-4. And the autonomous mobile body 12 performs autonomous movement based on the path information using the unique identifier provided by the system control device 10.

[0092] How these pieces of information are stored will be described later. In this case, on the premise that these pieces of information are recorded in the format database 14-4, the method for reducing blind spot accidents described later is carried out.

[0093] In addition, in FIG. 4, the sensor node 15 is an external system such as a video monitoring system like a roadside unit, and includes a detection unit 15-1, a control unit 15-2, an information storage unit (memory / HDD) 15-3, and a network connection unit 15-4.

[0094] The detection unit 15-1 acquires the detection information of its own detectable area, such as a camera, and outputs an object detection function, a ranging function, an object recognition function, shooting direction information, self-position information, and the time when an object is recognized.

[0095] The control unit 15-2 includes a CPU as a computer, and by executing a computer program stored in a memory, controls the detection, data storage, and data transmission functions of the sensor node 15. In addition, the control unit 15-2 controls the processing in the detection unit 15-1, the information storage unit (memory / HDD) 15-3, the network connection unit 15-4, etc.

[0096] In addition, the control unit 15-2 controls the function of storing the detection information acquired by the detection unit 15-1 in the information storage unit (memory / HDD) 15-3 and transmitting it to the conversion information holding device 14 through the network connection unit 15-4.

[0097] As described above, the sensor node 15 is configured to store the detection information such as the image information, the feature point information of the object, and the position information detected by the detection unit 15-1 in the information storage unit 15-3 and be able to communicate externally.

[0098] With the above configuration, in this embodiment, the sensor node 15 provides the detection information of its own detectable area to the conversion information holding device 14.

[0099] Next, FIG. 6 is a block diagram showing a specific hardware configuration example of each control unit according to Embodiment 1, and shows specific configuration examples of control units 10-2, 11-2, 12-2, 13-2, 14-3, and 15-2.

[0100] In FIG. 6, reference numeral 21 denotes a CPU that serves as a computer for performing arithmetic operations and control of the information processing apparatus. Reference numeral 22 denotes a RAM, which functions as a main memory of the CPU 21, as well as an area for an execution program, an execution area of the program, and a data area.

[0101] Reference numeral 23 denotes a ROM that stores the operation processing procedures and the like of the CPU 21. The ROM 23 includes a program ROM that stores a basic software (OS) that is a system program for performing device control of the information processing apparatus, and a data ROM that stores information and the like necessary for operating the system.

[0102] Note that instead of the ROM 23, an HDD 29 described later may be used. Reference numeral 24 denotes a NETIF (network interface), which controls data transfer between the devices in FIG. 1 via the Internet 16 and diagnoses the connection status. Reference numeral 25 denotes a VRAM (video RAM), which expands an image to be displayed on the screen of the CRT 26 and controls the display.

[0103] Reference numeral 26 denotes an LCD as a display device. Reference numeral 27 denotes a controller (KBC) for controlling an input signal from the external input device 28 (KB). The external input device 28 is a device for receiving operations performed by the user, and for example, a pointing device such as a keyboard or a mouse is used.

[0104] Reference numeral 29 denotes a hard disk drive (HDD), which is used for storing application programs and various data. The application program in the present embodiment is a software program or the like that executes various processing functions in the present embodiment.

[0105] 30 is an external input / output device (CDD), which reads and writes data to / from a removable data recording device (removable media) such as a CD-ROM drive.

[0106] The CDD 30 is used when reading the above-described application program from a removable media. 31 is a removable media such as a magnetic recording medium (e.g., an external hard disk) or an optical recording medium (e.g., a CD-ROM) read by the CDD 30.

[0107] Alternatively, it may be a removable media such as a magneto-optical recording medium (e.g., MO) or a semiconductor recording medium (e.g., a memory card). Note that it is also possible to store and use the application program and data stored in the HDD 29 in the CDD 30. 20 is a transmission bus (address bus, data bus, input / output bus, and control bus) for connecting the above-described units.

[0108] Next, the details of the control operation in the autonomous movement control system for realizing the services as described in FIGS. 2 and 3 will be described with reference to FIG. 7. FIG. 7 is a sequence diagram for explaining an example of the process executed by the autonomous movement control system according to Embodiment 1, FIG. 8 is a diagram showing a subsequent sequence example of FIG. 7, and FIG. 9 is a diagram showing a subsequent sequence example of FIG. 8.

[0109] FIGS. 7 to 9 show a sequence from when the user inputs position information to the user interface 11 until the current position information of the autonomous mobile body 12 is received. Note that the operations of each step in FIGS. 7 to 9 are sequentially performed by each CPU in the system control device 10, the user interface 11, the autonomous mobile body 12, the route determination device 13, the conversion information holding device 14, and the sensor node 15 executing a computer program.

[0110] First, in step S201, the user accesses the web page provided by the system control device 10 through the user interface 11. Next, in step S202, the system control device 10 displays a position input screen as described in FIG. 2 on the display screen of the web page of the user interface 11.

[0111] In step S203, as described in FIG. 2, the user selects an autonomous mobile body and inputs position information (hereinafter referred to as position information) indicating the departure / route / arrival points. The position information may be, for example, a word (hereinafter referred to as a position word) specifying a specific location such as a building name, a station name, or an address, or may be a designation of a specific position on the map displayed on the web page as a point (hereinafter referred to as a point).

[0112] In step S204, the system control device 10 saves the information regarding the selected autonomous mobile body (for example, the autonomous mobile body 12) and the input position information. At this time, when the position information is the position word, the position word is saved, and when the position information is the point, based on the simple map information stored in the position / route information management unit 10-3, the latitude / longitude corresponding to the point is searched and the latitude / longitude is saved.

[0113] Next, in step S205, the system control device 10 designates the type of route (hereinafter referred to as the route type) that can be traveled based on the mobility form of the autonomous mobile body 12 designated by the user. Then, in step S206, it is transmitted to the route determination device 13 together with the position information.

[0114] The mobility form is, for example, the type of mobile body defined legally, and means types such as automobiles, bicycles, drones, etc. Also, the route type is, for example, general roads or highways for automobiles, and for bicycles, it is a predetermined sidewalk, the roadside strip of a general road, a dedicated bicycle lane, etc.

[0115] In step S207, the route determination device 13 inputs the received position information as the departure / waypoint / arrival point into the owned map information. When the position information is the position word, it searches the map information by the position word and uses the corresponding latitude / longitude information. When the position information is latitude / longitude information, it is directly input into the map information and used as it is.

[0116] Subsequently, in step S208, the route determination device 13 searches for a route from the departure point via the waypoint to the arrival point. At this time, the route to be searched is retrieved according to the route type. Then, in step S209, as a result of the search, the route determination device 13 outputs, for example, in GPX format, the route (hereinafter referred to as route information) from the departure point via the waypoint to the arrival point and transmits it to the system control device 10.

[0117] Note that a GPX format (GPS eXchange Format) file is mainly composed of three types: waypoints (point information without an order relationship), routes (point information with an order relationship with time information added), and tracks (a collection of multiple point information: a trajectory).

[0118] As the attribute values of each point information, latitude / longitude, elevation, geoid height, GPS reception status / accuracy, etc. are included as child elements. The minimum element required for a GPX file is the latitude / longitude information of a single point, and the description of other information is optional. The route information output is the route, which is a collection of point information consisting of latitude / longitude with an order relationship. Note that the route information may be in other formats as long as it includes the above information.

[0119] Here, a configuration example of the format of the spatial information managed in the format database 14-4 of the conversion information holding device 14 will be described in detail with reference to FIGS. 10(A), 10(B), and 11.

[0120] FIG. 10(A) is a diagram showing the latitude / longitude information of the Earth, and FIG. 10(B) is a perspective view showing a predetermined space 100 in FIG. 10(A). Also, in FIG. 10(B), the center of the predetermined space 100 is set as the center 101. FIG. 11 is a diagram schematically showing the space information within the space 100.

[0121] As shown in FIGS. 10(A) and 10(B), the format of the space information in this embodiment divides the space of the Earth into divided spaces (voxels) determined by a range starting from latitude / longitude / height, and assigns a unique identifier to each space to enable management.

[0122] That is, a unique identifier (space ID) is added to each of the plurality of divided three-dimensional spaces (voxels) to enable management. Furthermore, space information (information regarding the objects inside the voxel), including information such as the position and velocity of the moving objects existing in each three-dimensional space (voxel), can be associated with a unique identifier (space ID) and held in the information holding means.

[0123] Note that the information storage unit 14-5 of the conversion information holding device 14 functions as the information holding means, and the control unit 14-3 of the conversion information holding device 14 functions as an output means for outputting (providing) various information held in the information holding means to the first moving object and the like described later.

[0124] In FIG. 10(B), for example, the space 100 is displayed as a predetermined space. The space 100 is a divided space defined with the center 101 at 20 degrees north latitude, 140 degrees east longitude, and height H, and the width in the latitude direction is D, the width in the longitude direction is W, and the width in the height direction is T. Also, it is one of the spaces obtained by dividing the space of the Earth into spaces determined by the range starting from the latitude / longitude / height.

[0125] In FIGS. 10(A) and (B), only the space 100 is displayed, but in the definition of the format, it is assumed that spaces defined in the same way as the space 100 are arranged side by side in the latitude / longitude / height directions.

[0126] Each of the arranged divided spaces defines its horizontal position by latitude / longitude, and also has an overlap in the height direction, and the height defines the position in the height direction.

[0127] Also, in FIG. 10(B), the center of the divided space is set as the origin of the latitude / longitude / height, but it is not limited to this. For example, a corner of the space or the center of the bottom surface may be used as the origin.

[0128] Also, the shape may be substantially a rectangular parallelepiped. When considering the case of spreading it on the spherical surface like the earth, it is better to set the top surface slightly wider than the bottom surface of the rectangular parallelepiped so that it can be arranged without gaps.

[0129] Taking the space 100 in FIG. 11 as an example, in the format database 14-4, information (space information) regarding the state and time of objects existing in the range of the space 100 is stored in time series from the past to the future.

[0130] The space information is updated by information input by an external system (such as the sensor node 15) communicably connected to the conversion information holding device 14, and is also shared with other external systems communicably connected to the conversion information holding device 14.

[0131] FIG. 14 is a diagram for explaining how data is stored in the format database 14-4 according to Embodiment 1, and FIG. 15 is a diagram for explaining an example of the space photographed by the sensor node 15.

[0132] The sensor node 15 in FIG. 15 corresponds to the sensor node 15 in FIG. 4, and is photographing a space to which, for example, unique identifiers 001, 002, 003 (hereinafter referred to as ID001, ID002, ID003) are assigned.

[0133] The sensor node 15 recognizes the bicycle 1202 as a bicycle and, through its ranging function, recognizes the distance of the bicycle from the sensor node 15. Furthermore, since the sensor node 15 already has its own position information and shooting direction information, by performing calculations in combination with the distance to the bicycle, it can be determined that the bicycle 1202 exists in the space assigned with ID002 and ID003.

[0134] In addition, since the sensor node 15 performs object recognition processing for each captured frame, it can calculate the direction and moving speed of the moving object from the difference in position from the previous frame. Tables 1203-1 and 1203-2 in FIG. 14 summarize the information recognized by the sensor node 15.

[0135] As shown in Tables 1203-1 and 1203-2, static information, quasi-static information, dynamic information, road information, and related unique identifier information are stored for each unique identifier. In this embodiment, position data such as the latitude, longitude, and altitude of the unique identifier is stored as static information, and road conditions such as space type as quasi-static information and traffic jam information as road information are stored.

[0136] Items for automobiles, motorcycles, bicycles, and people are prepared for the dynamic information. If none of them exist, -1 is input. If they exist, the direction they are facing and the speed are described.

[0137] The direction is represented by an angle from 0 degrees for north counterclockwise up to 360 degrees. The speed is represented in meters per second (m / s). The sensor node 15 performs object recognition for each captured frame, summarizes the data as shown in Tables 1203-1 and 1203-2, and transmits it to the conversion information holding device 14 through the network connection part 15-4.

[0138] Alternatively, the sensor node 15 may only perform object recognition to determine what object is at which position and transmit the object recognition result to the conversion information holding device 14 through the network connection part 15-4.

[0139] Then, in the conversion information holding device 14, this object recognition result may be converted into the forms such as Tables 1203-1 and 1203-2 according to the format database 14-4, and the data may be stored in the unique identifier management unit 14-2.

[0140] Also, in this embodiment, related unique identifier information is described in Tables 1203-1 and 1203-2. Only the pointer of the related unique identifier list header is recorded in this related unique identifier information. Information on unique identifiers related to each unique identifier can be easily obtained from the related unique identifier list header. The related unique identifier list header will be described later.

[0141] As described above, the format regarding the spatial information in this embodiment is to store information (hereinafter referred to as spatial information) regarding the state and time of an object existing in a space determined by a range starting from latitude / longitude / height in association with a unique identifier.

[0142] Returning to FIG. 7, the continuation of the process executed by the autonomous movement control system according to this embodiment will be described again. In step S210, the system control device 10 checks the interval between each piece of point information in the received route information. Then, what matches the interval between the point information and the interval between the starting positions of the divided spaces defined by the format is created as position point group data (hereinafter referred to as position point group data).

[0143] At this time, when the interval between the point information is smaller than the interval between the starting positions of the divided spaces, the system control device 10 uses the thinned-out point information in the route information according to the interval between the starting positions of the divided spaces as the position point group data.

[0144] Also, when the interval between the point information is larger than the interval between the starting positions of the divided spaces, the system control device 10 interpolates the point information within a range that does not deviate from the route information to obtain the position point group data.

[0145] Next, in step S211 of FIG. 8, the system control device 10 transmits the latitude / longitude information of each location information in the position point group data to the conversion information holding device 14 in the order of the route. Then, in step S212, the conversion information holding device 14 searches for the unique identifier corresponding to the received latitude / longitude information, and transmits the unique identifier to the system control device 10 in step S213.

[0146] In step S214, the system control device 10 arranges the received unique identifiers in the same order as the original position point group data, and creates and stores route information (hereinafter, formatted route information) using the unique identifiers.

[0147] Here, the process of generating the position point group data from the route information and converting it into route information using unique identifiers will be described in detail with reference to FIGS. 12(A), 12(B), and 12(C). FIG. 12(A) is an image diagram showing route information using route information on map information, (B) is an image diagram showing route information using position point group data on map information, and (C) is an image diagram showing route information using unique identifiers on map information.

[0148] In FIG. 12(A), 120 is route information, 121 is an immovable area where the autonomous mobile body 12 cannot pass, and 122 is a movable area where the autonomous mobile body 12 can move. The route information 120 generated by the route determination device 13 based on the position information of the departure point, waypoint, and arrival point specified by the user passes through the departure point, waypoint, and arrival point, and is generated as a route passing through the movable area 122 on the map information.

[0149] In FIG. 12(B), 123 is the position information on the route information. The system control device 10 that has acquired the route information 120 generates the position information 123 arranged at a predetermined interval on the route information 120. Each of the position information 123 can be represented by latitude / longitude / height, and these position information 123 are collectively referred to as position point group data.

[0150] Then, the system control device 10 transmits the latitude / longitude / altitude of each point of the position information 123 to the conversion information storage device 14 one by one and converts it into a unique identifier.

[0151] In FIG. 12(C), 124 is position space information that converts the position information 123 into unique identifiers one by one and represents the space range defined by the unique identifiers with a square frame. By converting the position information into unique identifiers, the position space information 124 is obtained.

[0152] Thereby, the path represented by the path information 120 is represented by the continuous position space information 124. Note that the in-space information is associated with each position space information 124. In this embodiment, this continuous position space information 124 is called format path information.

[0153] Returning to FIG. 8, the continuation of the process executed by the autonomous movement system control will be described. Next, in step S215, the system control device 10 downloads the space information associated with each unique identifier of the format path information from the conversion information storage device 14. Then, in step S216, the system control device 10 converts it into a format that can be reflected in the three-dimensional map of the cyber space of the autonomous mobile body 12 and creates information indicating the positions of a plurality of objects in a predetermined space (hereinafter referred to as a cost map).

[0154] The cost map may be created first for all the paths of the format path information, or may be created in a form divided by a certain area and sequentially updated.

[0155] Next, in step S217, the system control device 10 stores the format path information and the cost map in association with the unique identification number assigned to the autonomous mobile body 12. The autonomous mobile body 12 monitors (hereinafter referred to as polling) its own unique identification number via the network at predetermined intervals, and in step S218, downloads the associated data.

[0156] In step S219, the autonomous mobile body 12 reflects the data of the format path information as path information on the three-dimensional map of the cyber space created by itself based on the latitude / longitude information of each unique identifier of the format path information.

[0157] Next, in step S220, the autonomous mobile body 12 reflects the cost map on the three-dimensional map of the cyber space as obstacle information on the route. When the cost map is created in a form divided at regular intervals, after moving to the area where the cost map was created, the cost map of the next area is downloaded and the cost map is updated.

[0158] Next, in step S221, the autonomous mobile body 12 moves while avoiding the objects input in the cost map along the path information. At this time, in step S222, the autonomous mobile body 12 moves while performing object detection, and if there is a difference from the cost map, it moves while updating the cost map using the object detection information.

[0159] Also, in step S223, the autonomous mobile body 12 transmits the difference information from the cost map to the system control device 10 together with the corresponding unique identifier. The system control device 10 that has acquired the difference information between the unique identifier and the cost map transmits the space information to the conversion information holding device 14 in step S224 of FIG. 9.

[0160] Then, in step S225, the conversion information holding device 14 updates the space information of the corresponding unique identifier. Here, the content of the space information to be updated does not directly reflect the difference information from the cost map, but is abstracted by the system control device 10 and transmitted to the conversion information holding device 14. The detailed content of the abstraction will be described later.

[0161] The autonomous mobile body 12 moving based on the format path information transmits the unique identifier corresponding to the space where it currently exists to the system control device 10 each time it passes through the divided space associated with each unique identifier in step S226.

[0162] Alternatively, during the polling, it may be associated with the unique identifier to which oneself corresponds. Based on the unique identifier information received from the autonomous mobile body 12, the system control device 10 grasps the current position of the autonomous mobile body 12 on the format path information.

[0163] By repeating the step 226, the system control device 10 can sequentially grasp where the autonomous mobile body 12 is currently located in the format path information. Incidentally, regarding the unique identifier passed by the autonomous mobile body 12, the system control device 10 may stop holding it, thereby reducing the holding data capacity of the format path information.

[0164] In step S227, based on the grasped current position information of the autonomous mobile body 12, the system control device 10 creates the confirmation screen 50 and the map display screen 60 described in FIGS. 2 and 3, and displays them on the display screen of the WEB page. Each time the unique identifier indicating the current position is transmitted to the system control device 10 by the autonomous mobile body 12, the system control device 10 updates the confirmation screen 50 and the map display screen 60.

[0165] In step S228 of FIG. 7, the sensor node 15 stores the detection information of the detection range, abstracts the detection information in step S229, and transmits it to the conversion information holding device 14 as the space information in step S230.

[0166] The abstraction is information such as whether an object exists or not, and whether there is a change in the existence state of the object, and is not detailed information about the object. The detailed information about the object is stored in the memory in the sensor node.

[0167] Then, in step S231, the conversion information holding device 14 updates by storing the space information in association with the unique identifier of the position corresponding to the space information. Here, it means that the space information is stored in one unique identifier in the format database.

[0168] When an external system different from the sensor node 15 utilizes the spatial information, the external system acquires and utilizes the detection information in the sensor node 15 via the conversion information holding device 14 based on the spatial information in the conversion information holding device 14. At this time, the conversion information holding device 14 also has a function of connecting the communication standards of the external system and the sensor node 15.

[0169] By storing the spatial information not only in the sensor node 15 but also among a plurality of devices as described above, the conversion information holding device 14 can provide a format for connecting the data of a plurality of devices with a relatively small amount of data.

[0170] In addition, in the conversion from the unique identifier to the cost map, when the system control device 10 requires detailed object information during the creation of the cost map, detailed information may be downloaded and used from an external system that stores detailed detection information of the spatial information.

[0171] Here, assuming that the sensor node 15 updates the spatial information on the path of the format path information of the autonomous mobile body 12. At this time, in step S232 of FIG. 9, the sensor node 15 acquires and stores the detection information, generates spatial information obtained by abstracting the detection information in step S233, and transmits it to the conversion information holding device 14 in step S234. The conversion information holding device 14 updates the spatial information in step S235 and stores it in the format database 14-4.

[0172] The system control device 10 checks the change in the spatial information in the format path information to be managed at a predetermined time interval, and if there is a change, downloads the spatial information in step S236. Then, in step S237, the system control device 10 updates the cost map associated with the unique identification number assigned to the autonomous mobile body 12.

[0173] In step S238, the autonomous mobile body 12 recognizes the update of the cost map by polling and reflects it in the three-dimensional map of the cyber space created by itself.

[0174] As described above, according to this embodiment, by utilizing the spatial information shared by multiple devices, the autonomous mobile body 12 can recognize in advance changes on routes that it cannot recognize by itself and can respond to those changes.

[0175] In step S239, when the above series of systems are executed and the autonomous mobile body 12 arrives at the arrival point, the unique identifier of the arrival point is transmitted to the system control device 10 in step S240. In step S241, the system control device 10 that recognizes the arrival based on the transmitted unique identifier displays an arrival indication on the user interface 11, and the service ends.

[0176] As described above, according to this embodiment, it is possible to provide a digital architecture format and an autonomous mobile body control system using the same.

[0177] <Embodiment 2> Next, a method for reducing blind spot accidents using the autonomous mobile body control system according to Embodiment 2 will be described. This method is executed with the conversion information holding device 14 in FIG. 4 as the main control unit. FIG. 16 is a diagram for explaining blind spot accidents.

[0178] A blind spot accident refers to an accident in which a collision factor such as a motorcycle, bicycle, or person unexpectedly enters the path of the host vehicle from a blind spot that cannot be recognized by the driver or the in-vehicle camera and a collision occurs. There are various patterns of blind spot accidents, but in Embodiment 2, the pattern in FIG. 16 will be described as an example of a typical blind spot accident.

[0179] FIGS. 16(A) and (B) are diagrams for explaining an example of a blind spot accident. FIG. 16(A) shows the state before the accident occurs, and FIG. 16(B) shows an example of the state at the time when the accident occurs. In FIG. 16(A), the host vehicle 1301 turning right at an intersection is shown starting to turn right at the timing when the oncoming vehicle 1302 turns right.

[0180] The vehicle 1301 is equipped with a front in-vehicle camera capable of photographing the front, and its field of view is represented by the field of view 1304. At this time, since the motorcycle 1303 is hidden in the blind spot of the oncoming vehicle 1302, it is not photographed by the front in-vehicle camera of the vehicle 1301. And in Fig. 16(B), when the vehicle 1305 was about to make a right turn, the motorcycle 1307 suddenly appeared from behind the oncoming vehicle 1306, and the detection was delayed, resulting in a collision with the vehicle 1305.

[0181] In order to reduce accidents such as those shown in Fig. 16, the blind spot accident reduction method according to Embodiment 2 performs the following processes (1) to (4) to prevent collisions in advance.

[0182] Process (1): Specify the search range (map coordinates) of unique identifiers where collision factors are likely to exist. Process (2): Create and save a list of related unique identifiers from the specified search range (map coordinates). Process (3): Determine whether there are collision factors from the created list of related unique identifiers and save them in the unique identifier of the right-turn lane. Process (4): The right-turn vehicle obtains information on collision factors from the unique identifier within the right-turn lane and determines the timing of the right turn.

[0183] The details of processes (1) to (4) will be described below.

[0184] <Process (1): Specify the search range (map coordinates) of unique identifiers where collision factors are likely to exist> Figs. 17(A) and (B) are diagrams for explaining the search range of collision factors in the blind spot accident reduction method according to Embodiment 2, showing the intersection as viewed from above. This intersection is selected from a plurality of intersections by obtaining road information from a road network data (not shown) on the Internet.

[0185] Here, the road network data is road information created from digital road map data, such as information created by the Road Map Association, etc. The method for selecting intersections in this embodiment determines places where accidents are likely to occur from the number of lanes, width, etc. obtained from the above road information and selects them in order.

[0186] Since it takes time to select and process all intersections, the number of selected intersections is limited according to the processing capacity of the conversion information holding device 14. The map information, intersection coordinates, and maximum speed of the selected intersections are acquired.

[0187] In FIGS. 17(A) and (B), a right-turn vehicle 1401 (first moving body) traveling from right to left on the paper surface is about to turn right upward on the paper surface at an intersection, showing the place where it is about to enter the right-turn lane.

[0188] The right-turn vehicle 1401 corresponds to the autonomous moving body 12 in FIG. 4. In FIG. 17(A), areas 1405, 1410, 1411, 1408, and 1409 are set.

[0189] These areas indicate areas where there is the highest possibility that a bike, bicycle, or person may enter the path of the right-turn vehicle when the right-turn vehicle 1401 turns right and approaches the intersection several seconds after the state in FIG. 17(A).

[0190] The purpose is to automatically detect collision factors from these areas. In this process, rectangles that include these areas are automatically set. The automatically set rectangles are shown in FIG. 17(B). The rectangles that include areas 1405, 1410, 1411, 1408, and 1409 are rectangles 1418, 1419, 1420, 1421, and 1422, respectively.

[0191] First, the method for setting the rectangle 1418 will be described. The rectangle 1418 is an area surrounded by a dashed line and is mainly an area for detecting motorcycles. Motorcycles that may collide with the right-turn vehicle 1401 only exist on the left side in FIG. 17 from the intersection in the current oncoming lane.

[0192] Therefore, the right end of the rectangle 1418 is set as the intersection. Since motorcycles travel on the road, the vertical width of the rectangle 1418 is the road width of the oncoming lane. What remains is the left end of the rectangle 1418. However, since the right-turn vehicle 1401 is still in front of the intersection, motorcycles that may collide with the right-turn vehicle are also traveling in front of the intersection.

[0193] Assume that in FIG. 17(B), the right-turn vehicle 1401 is at a position Tm seconds away from the intersection. Then, motorcycles that may collide with the right-turn vehicle are also at a position Tm seconds away from the intersection. However, since the speed of the motorcycle is unknown at this time, it is assumed that the speed is in the range of 0 to (the maximum speed of the road in use x 2).

[0194] The reason for setting it to twice the maximum speed is to detect motorcycles that are not traveling at the maximum speed, and it is an approximate coefficient. That is, when expressing the position of a motorcycle that may collide with the right-turn vehicle at the current time as the distance 1423 from the intersection by an equation, Distance 1423 = Tm x the maximum speed of the road in use [m / s] x 2 It is estimated to be somewhere there.

[0195] Furthermore, in order to detect motorcycles that may collide with the right-turn vehicle from the data in the format database 14-4, it is necessary to consider the update delay of this database. The update delay of this format database 14-4 will be described.

[0196] In order to enter information about the presence of motorcycles into this format database 14-4, a process is required in which the sensor node takes a picture of the motorcycle, recognizes the motorcycle through object recognition, generates data, and saves it in the format database 14-4.

[0197] Therefore, the information stored in the format database 14-4 will be information older than the current time information. FIGS. 18(A) and (B) are diagrams when the information currently held by the format database 14-4 according to Embodiment 2 is mapped.

[0198] FIG. 18(A) shows the current state of the real world. The positional relationships of the right-turn vehicle 1501, the oncoming vehicle 1502, and the motorcycle 1503 are as shown in the figure. At this time, the data stored in the format database 14-4 is information Ts seconds before the current time minus the update time, as shown in FIG. 18(B).

[0199] In this embodiment, this Ts is, for example, 1 second. Therefore, in the format database 14-4, the right-turn vehicle 1501, the oncoming vehicle 1512, and the motorcycle 1513 are stored at positions 1 second before, respectively. Therefore, further from the left end position of the rectangle 1418 shown above Distance 1424 = Ts x maximum speed of the driving road [m / s] x 2 The position extended leftward by this amount is the left end of the rectangle 1418.

[0200] In this embodiment, this length is set as length 1404. Let's actually calculate the length 1404. The maximum speed of the driving road is the value obtained by converting 30 km / h or 40 km / h determined for each road into m / s.

[0201] That is, in the case of 30 km / h, it is about 8.3 m / s, and in the case of 40 km / h, it is about 11.1 m / s. The safety factor is, for example, x2. Therefore, if the maximum speed of the driving road in FIG. 17 is 40 km / h, Ts = 1 second, and Tm = 3 seconds, Length 1404 = 3 s x 11.1 m x 2 + 1 s x 11.1 m x 2 = 88.8 m The left end of the rectangle 1418 is at a position 88.8 m along the road to the left of the paper surface from the intersection.

[0202] By setting the left end of rectangle 1418 to the above value, it is now possible to pick up almost all of the bicycles that may be present at the intersection. The coordinates of rectangle 1418 can be obtained by determining the starting coordinates at the upper right and the ending coordinates at the lower left of the rectangle based on the intersection coordinates of the road network data.

[0203] At this time, rectangle 1418 includes areas other than the road, but in the subsequent process (2), only the unique identifiers existing on the road in area 1405 are picked up.

[0204] Next, the area setting methods of rectangle 1419 including area 1410 and rectangle 1420 including area 1411 will be described. Areas 1410 and 1411 are areas for detecting bicycles and the like. 1416 and 1417 are buildings, and area 1410 indicates an inverted L-shaped range where there are bicycles coming from the upper side of the paper surface and bicycles coming from the left side of the paper surface, passing through the sidewalk and heading towards the intersection.

[0205] On the other hand, area 1411 indicates an L-shaped range where there are bicycles coming from the upper side of the paper surface and bicycles coming from the right side of the paper surface, passing through the sidewalk and heading towards the intersection. Although it is prohibited by the Road Traffic Law for bicycles to pass through the sidewalk, bicycles violating the law can also be detected from the perspective of accident prevention. Assume that the maximum speed of the bicycle is about 40 km / h. Calculating in the same way as above, the distance from the intersection is 3sx11.1m + 1sx11.1m = 44.4m becomes.

[0206] Therefore, in this embodiment, lengths 1407 and 1406 are set to approximately 44.4 m. By setting the lengths to the above values, it is now possible to pick up almost all of the bicycles that may be present at the intersection.

[0207] The upper right starting coordinates and the lower left ending coordinates of the area coordinates of each of the rectangle 1419 and the rectangle 1420 can be obtained based on the intersection coordinates of the road network data. At this point, the rectangle 1419 and the rectangle 1420 are in a form that includes the area 1410 and the area 1411, but in the following process (2), only the unique identifiers existing in the area 1410 and the area 1411 are picked up.

[0208] Next, a method for setting the areas of the rectangle 1421 that includes the area 1408 and the rectangle 1422 that includes the area 1409 will be described. The area 1408 and the area 1409 are areas for detecting people. Assuming that the running speed of a person is about 100 m in about 10 seconds, in this embodiment, the length 1412 and the length 1413 are set to about 10 m.

[0209] By setting the length 1412 and the length 1413 to the above values, it becomes possible to pick up almost all of the pedestrians who may currently be present at the intersection. The upper right starting coordinates and the lower left ending coordinates of the rectangles 1421 and 1422 can be calculated based on the intersection coordinates of the road network data.

[0210] Incidentally, at this point, the rectangle 1421 and the rectangle 1422 are in a form that includes the area 1408 and the area 1409 respectively, but in the following process (2), only the unique identifiers existing in the area 1408 and the area 1409 are picked up.

[0211] The starting coordinates and the ending coordinates obtained here are stored in the related unique identifier list header described in the following process (2). In this embodiment, a means for automatically describing the range is taken, but in the case where the shape of the intersection is complicated, it may be manually input.

[0212] <Process (2): Create and save a related unique identifier list from the specified search range (map coordinates)> In process (2), the unique identifiers existing in the valid area are picked up from the rectangle set in process (1), and a related unique identifier list is created and saved.

[0213] That is, in the above process (1), the coordinates of rectangles 1418, 1421, 1422, 1419, and 1420 that respectively include areas 1405, 1408, 1409, 1410, and 1411 were obtained. By checking the information of each unique identifier within these rectangles, it is determined whether the verified unique identifier is within each area.

[0214] First, area 1405 will be described. As shown in Tables 1203-1 and 1203-2, spatial type information as quasi-static information is recorded within the unique identifier. In the case of area 1405, it is checked whether this spatial type information indicates a road. If it is a road, it is determined to be within area 1405 and added to the related unique identifier list as a related unique identifier. When the search for all unique identifiers within rectangle 1418 is completed, the related unique identifier list is completed.

[0215] Similarly, by checking that areas 1410, 1411, 1408, and 1409 are sidewalks, a related unique identifier list is created. FIG. 19 is a diagram for explaining an example of a format for storing the completed data according to Embodiment 2.

[0216] The related unique identifier list created above is stored in the information storage unit 14-5 of the conversion information holding device 14 as a related unique identifier list as shown in Table 1601 for each area. Note that the ID included in Table 1601 is the ID of a related unique identifier of a predetermined spatial type (for example, a road) included within that area.

[0217] To facilitate the extraction of Table 1601, a related unique identifier list header for Table 1602 is also created. Table 1602 is the metadata of the related unique identifier list of Table 1601.

[0218] In Table 1602, area information is managed by a structure, and the structures are stored in a list form. The elements of the structure include "classification", "update time", "starting coordinates", "ending coordinates", "list start pointer", "number", "result", etc.

[0219] "Classification" is a number assigned to each area. In this embodiment, there are five related areas (Area 1405, Area 1410, Area 1411, Area 1408, Area 1409), and "Classification" 1 to 5 correspond to each of the five areas respectively. That is, "Classification" 1 is described as the header information of Area 1405.

[0220] At the update time, the time when the "Result" described later is updated is saved. In the list start pointer, the start address of the related unique identifier list of the area corresponding to "Classification" is saved. The number is the number of related unique identifiers described in the related unique identifier list.

[0221] In the "Result", the result of reading the related unique identifier list is described. The content of this "Result" will be described later. Next, the related unique identifier list header of the created Table 1602 is associated with the unique identifier of the right-turn lane.

[0222] As described in Tables 1203-1 and 1203-2 of FIG. 14, the information of the unique identifier has an item of related unique identifier information, and the start address information of the related unique identifier list header of Table 1602 can be registered here.

[0223] For example, the start address of the related unique identifier list header of Table 1602 is saved in the related unique identifier information of the unique identifier (the first unique identifier) of the right-turn lane shown by 1415 in FIG. 17(A). Thereby, the three-dimensional space (Area 1405, Area 1410, Area 1411, Area 1408, Area 1409) associated with the second unique identifier can be associated with the unique identifier of the right-turn lane. Note that the second unique identifier is different from the first unique identifier.

[0224] That is, when the right-turn vehicle 1401 as the first moving body exists in a predetermined three-dimensional space associated with the first unique identifier 1415, information regarding the three-dimensional space associated with a different second unique identifier can be output to the first moving body.

[0225] The information in Table 1601 generated by Process (1) and Process (2) this time is not information that changes in the short term, so it is only changed when road construction occurs. Therefore, confirmation and update may be performed about once a day.

[0226] <Process (3): Determine whether there is a collision factor from the created list of related unique identifiers and save it to the unique identifier of the right-turn lane> In the blind spot accident reduction method in Embodiment 2, for each area, it is checked whether there are no motorcycles, bicycles, or people, and the checked result is saved as blind spot information in the "Result" column of Table 1602 and in the column of object recognition information in Table 1203-2 of FIG. 14.

[0227] In Embodiment 2, the information saved as blind spot information is of four types: -1, 0, 1, and 2. -1 means no information. 0 means that information has been obtained, but it indicates that there are no motorcycles, bicycles, people, etc., and it is possible to drive safely. 1 means that there are motorcycles, bicycles, people, etc. in the obtained information, but there is no problem in terms of timing, indicating that it can proceed with caution.

[0228] 2 means that there are motorcycles, bicycles, and people in the obtained information, indicating that there is a possibility of collision in terms of timing.

[0229] FIG. 20 is a flowchart for explaining an example of a sequence in which the conversion information holding device 14 according to Embodiment 2 updates the "Result" of the related unique identifier list header associated with the unique identifier of the right-turn lane, and FIG. 21 is a flowchart for explaining an example of a subsequent sequence of FIG. 20. Note that the operations of each step in FIGS. 20 and 21 are sequentially performed when the CPU in the conversion information holding device 14 executes a computer program.

[0230] In the present embodiment, the conversion information holding device 14 functions as output means for outputting information to a right-turn vehicle 1401 as the first moving body, and updates the unique identifier of the right-turn lane, for example, at intervals of 1 ms. In step S1700, it is determined whether a related unique identifier list header as shown in Table 1203-1 of FIG. 14 is associated with the unique identifier of the right-turn lane.

[0231] Specifically, referring to the related unique identifier information in Tables 1203-1 and 1203-2, it is determined whether there is a related unique identifier list header (starting address information). If the related unique identifier information is not associated, the process proceeds to step S1710. In this case, since there is no related unique identifier information, in step S1710, the "result" of the related unique identifier list header in Table 1602 is set to -1, and the process proceeds to step S1712.

[0232] If it is determined YES in step S1700, the process proceeds to step S1701. In step S1701, referring to the related unique identifier list header stored in the related unique identifier information in Tables 1203-1 and 1203-2, the starting address of the related unique identifier list is acquired.

[0233] In step S1702 of FIG. 21, from within the related unique identifier list, the unique identifier of the area where a motorcycle or a person should be searched is acquired, and the direction information of the dynamic information of the collision factor to be searched for each area is acquired. It is assumed that the dynamic information in Tables 1203-1 and 1203-2 of FIG. 14 is listed in the related unique identifier list.

[0234] Next, in step S1703, it is determined whether the direction in which the collision factor is facing is facing the intersection. If it is facing the direction of the intersection, there is a possibility of entering the intersection, so the process proceeds to step S1704.

[0235] On the other hand, if it is not facing, it is assumed that there is no entry into the intersection, and the process proceeds to step S1711 to check the next list. In this case, since there is no collision factor, in step S1711, the "result" of the related unique identifier list header is set to 0, and then the process proceeds to step S1712.

[0236] In step S1704, it is determined whether the speed of the collision factor is greater than 0. If the result in step S1704 is NO, since it is stopped, the process proceeds to step S1711. Also in this case, since there is no collision factor, the "result" of the related identifier list header is set to 0, and then the process proceeds to step S1712. If the result in step S1704 is YES, the process proceeds to step S1705.

[0237] In step S1705, based on the coordinates of the intersection and the coordinates of the collision factor, the distance from the collision factor to the intersection is calculated. The intersection coordinates can be obtained from the road network data. In the identifier information of the related identifier list, the dynamic information and the position information of the identifier are stored. Using these two pieces of information, the distance D from the collision factor to the intersection is calculated.

[0238] In step S1706, from the distance D calculated in step S1705, the speed S of the collision factor obtained from the database, and the time difference Ts between the current time and the update time of the identifier, the predicted arrival time Tf until the collision factor reaches the intersection is calculated by the following formula. Tf = D / S - Ts

[0239] That is, since the distance D is information that is Ts seconds older than the current time, the time obtained by subtracting Ts seconds from the time obtained by (distance D / speed S) is the time to reach the intersection from the current time.

[0240] In step S1707, it is determined whether the difference |Tf - Tm| between Tf obtained in step S1706 and the predicted time Tm for the own vehicle to reach the intersection is less than a preset threshold T1. In this embodiment, T1 is set to, for example, 10 seconds.

[0241] If it is determined as YES in step S1707, the process proceeds to step S1709. In step S1709, since the collision factor existing in this identifier has a high collision risk, 2 is set in the "result" of the related identifier list header, and then the process proceeds to step S1712.

[0242] On the other hand, if it is determined as NO in step S1707, since the risk of collision is low, 1 is set to "result" in the related unique identifier list header in step S1708. Then, in step S1712, information other than the related unique identifier information is acquired and updated from a camera node or the like. The explanation of this update is as described in the autonomous movement control system, and the explanation here is omitted.

[0243] Steps S1708 and S1709 function as output steps for outputting information regarding the three-dimensional space associated with the second unique identifier to the first moving body when the first moving body exists in a predetermined three-dimensional space associated with the first unique identifier.

[0244] Next, in step S1713, it is determined whether the ID of the unique identifier to be searched in the related unique identifier list can be acquired. If YES, the process returns to step S1702. Otherwise, the flows of FIGS. 20 and 21 are terminated.

[0245] In the present embodiment, it is assumed that the processing time from the start of the flow of FIG. 20 to the end of the flow of FIG. 21 is, for example, several hundred milliseconds. Even after the flow ends, the flows of FIGS. 20 to 21 are executed at regular intervals every time the related unique identifier list is updated. In this way, by the conversion information holding device 14 on the server side periodically updating the information of each area, the dynamic information of each area can be confirmed from within the unique identifier of the right-turn lane.

[0246] <Process (4): The right-turn vehicle acquires information on collision factors from the unique identifier within the right-turn lane and determines the timing of the right turn>

[0247] FIG. 22 is a flowchart for explaining a sequence example executed by the autonomous mobile body 12 according to Embodiment 2. The operations of each step in FIG. 22 are sequentially performed by the CPU in the autonomous mobile body 12 executing a computer program. In Embodiment 2, the autonomous mobile body 12 also executes the sequence of FIG. 22 at regular intervals, for example, at intervals of 1 ms.

[0248] In step S1801, information on the unique identifier of the current location is acquired, and related unique identifier information on the route is acquired.

[0249] In step S1802, it is determined whether there is information in the related unique identifier information. If there is no information in the related unique identifier information, the flow of FIG. 22 ends. If it is determined as YES in step S1802, the process proceeds to step S1803. In step S1803, the "result" of the related unique identifier list header is referred to. If the "result" is -1, since there is no information, the process ends.

[0250] If the "result" is not -1, the process proceeds to step S1804. In step S1804, the "result" of the related unique identifier list header is referred to. If the "result" is 2, the process proceeds to step S1808. In step S1808, it is determined that there is a risk of collision, and a right turn stop command is sent to the drive unit 12-6. If the "result" is not 2 in step S1804, the process proceeds to step S1805.

[0251] In step S1805, it is determined whether the "result" of the related unique identifier list header is 1. If the "result" is 1, the process proceeds to step S1807. In step S1807, it is determined that there is no risk of collision but caution is required, and the determination is made in consideration of the situation and the margin until the arrival time. Basically, the right turn is not executed and waiting for the collision factor to disappear.

[0252] If the "result" is not 1 in step S1805, the process proceeds to step S1806. In step S1806, the right turn is executed as it is. Thus, in the present embodiment, the autonomous mobile body 12 can collect information on the blind spot area by referring to the unique identifier of the current location.

[0253] As described above, in the blind spot accident reduction method in Embodiment 2, road information is acquired from road network data, related spatial information is automatically associated, and the previous route situation is grasped in advance. However, Embodiment 2 can be applied not only to blind spot detection but also to applications where it is desired to acquire information on the route in advance.

[0254] <Embodiment 3> Next, in Embodiment 3, a method for detecting not only dead angle but also information on the route in advance (hereinafter referred to as the pre-information detection method) will be described.

[0255] Figs. 23(A) to (C) are diagrams for explaining the outline of the pre-information detection method according to Embodiment 3. An example is shown in which information 1901 on the bridge is pre-associated with at least one unique identifier 1904 of the position in the traveling direction of a moving body traveling toward the bridge.

[0256] Fig. 23(B) shows an example in which 1902 regarding a tunnel is associated with at least one unique identifier 1905 of the position in the traveling direction of the moving body. Fig. 23(C) shows an example in which parking information 1903 on a highway is associated with at least one unique identifier 1906 of the position in the traveling direction of the moving body.

[0257] Thus, in the pre-information detection method in Embodiment 3, information on the route can be received in advance from the unique identifier of the position in the traveling direction. Note that the configuration of the pre-information detection method is the same as that of the dead angle accident reduction method, in which an item of related unique identifier information is provided in the information of the unique identifier of the position in the traveling direction, and the related unique identifier list header and the related unique identifier list can be referenced.

[0258] The related unique identifier information may be the same as that shown in Tables 1203-1 and 1203-2 in Fig. 14. Also, the related unique identifier list header may be the same as that shown in Table 1602 in Fig. 19, and the related unique identifier list may be the same as that shown in Table 1601 in Fig. 19. Since these have been described in the dead angle accident reduction method, they will be omitted.

[0259] The difference between the pre-information detection method of Embodiment 3 and the blind spot accident reduction method in Embodiment 2 lies in the definition of the numbers used in the "Result" of the related unique identifier list header. FIG. 24 is a diagram for explaining an example of the types of "Result" of the related unique identifier list header according to Embodiment 3. The types of "Result" in FIG. 24 also include information for reducing blind spot accidents.

[0260] "Result number" -1 to 2 are the same as those described in the blind spot accident reduction method in Embodiment 2. "Result number" 3 indicates that there is an obstacle and the vehicle is in a difficult-to-drive state, and "Result number" 4 means that there is an obstacle and it is impossible to pass.

[0261] FIG. 25 is a flowchart for explaining an example of the sequence in which "Result numbers" 3 and 4 are determined in the pre-information detection method according to Embodiment 3. Note that the operations of each step in FIG. 25 are sequentially performed when the CPU in the conversion information holding device 14 executes a computer program.

[0262] In FIG. 25, an example in which the tunnel in FIG. 23(B) is ahead is described. In order for the conversion information holding device 14 to update the unique identifier 1905 of the position in the traveling direction of the moving body, step S2101 is executed at regular intervals (constant period).

[0263] In step S2101, it is checked whether a related unique identifier list header pointer is stored in the related unique identifier information. If not, the process proceeds to step S2106. If it is stored, the process proceeds to step S2102. In step S2102, the related unique identifier list registered in the related unique identifier list header is acquired.

[0264] In step S2103, individual unique identifier information is referred to from the acquired related unique identifier list, and it is determined whether there is a factor preventing passage. Examples of factors preventing passage include "heavy traffic jam" and "impossible to pass due to large falling objects". Whether there is a "heavy traffic jam" can be determined, for example, by acquiring "traffic jam" in the "road information" column in the unique identifier of FIG. 14.

[0265] Regarding traffic jam information, it may be obtained from road network data, or when the "speed" of "automobile" in the "dynamic information" in Table 1203-2 of FIG. 14 for the unique identifier of the position in the traveling direction of the moving object during travel is 0 or a value close to 0, it may be determined as "severe traffic jam". Regarding large falling objects, it may also be obtained from road network data, or may be determined based on the information of "others" in the "dynamic information".

[0266] If it is determined in step S2103 that there is an impassable factor, the process proceeds to step S2107. In step S2107, a flag 4 indicating travel prohibition is input to the "result" of the related unique identifier list header in the unique identifier 1905. Then, the process proceeds to step S2110. If there is no impassable factor in step S2103, the process proceeds to step S2104.

[0267] In step S2104, it is determined whether the vehicle is in a driving situation at or below a predetermined speed. The predetermined speed is set to, for example, 30 km / h. Examples of driving situations at or below the predetermined speed include a narrow road width and many parked cars on the driving route. Whether the road width is narrow can be obtained from the "road information" etc. in the unique identifier in Table 1203-1.

[0268] Whether there are parked cars can be determined that there are parked cars when, although the "road information" in the unique identifier on the driving route is not "traffic jam", there are cars with a "speed" of 0.

[0269] If it is determined in step S2104 that the vehicle is in a driving situation at or below the predetermined speed, the process proceeds to step S2108. In step S2108, a flag 3 indicating driving caution is input to the "result" of the related unique identifier list header in the unique identifier 1905. Then, the process proceeds to step S2110. If it is determined as NO in step S2104, the process proceeds to step S2105.

[0270] In step S2105, if there is no data in the unique identifier, or if the information in the unique identifier indicates that travel is possible, a discrimination result of NO is output. If a discrimination result of NO is output in step S2105, the process proceeds to step S2109. In step S2109, a flag - 1 indicating no information is input to the "result" of the related unique identifier list header in the unique identifier 1905, and then the process proceeds to step S2110.

[0271] If a discrimination result of YES is output in step S2105, the process proceeds to step S2106. In step S2106, a 0 indicating that travel is possible as normal is input to the "result" of the related unique identifier list header in the unique identifier 1905, and the process proceeds to step S2110.

[0272] In step S2110, information other than the related unique identifier information is updated and the process ends. By executing a flow as shown in FIG. 25, the "result" of the related unique identifier list header is updated.

[0273] FIG. 26 is a flowchart for explaining an example of a sequence executed by the autonomous mobile body 12 in Embodiment 3. Note that, by the CPU in the autonomous mobile body 12 executing a computer program, the operations of each step in FIG. 26 are sequentially performed.

[0274] In the present embodiment, the autonomous mobile body 12 also executes the sequence of FIG. 26, for example, at intervals of 1 ms (constant period). In step S2201, information on the unique identifier of the current location of the autonomous mobile body 12 is acquired, and the related unique identifier information therein is confirmed.

[0275] In step S2202, it is discriminated whether there is information in the related unique identifier information. If it is discriminated as NO, the flow of FIG. 26 ends. If there is information in the related unique identifier information, the process proceeds to step S2203.

[0276] In step S2203, refer to the "result" in the related unique identifier list header and determine whether the "result" is -1. If it is determined to be YES, since there is no information in the related unique identifier information, end the flow of FIG. 26. If it is determined to be NO in step S2203, proceed to step S2204.

[0277] In step S2204, refer to the "result" in the related unique identifier list header and determine whether the "result" is 2. If it is determined to be YES in step S2204, proceed to step S2208. In step S2208, it is determined that a driving inability factor has occurred on the route, and the information that it cannot proceed further is sent to the control unit 10-2 of the system control device 10. The control unit 10-2 makes a determination on whether to change the route or stop driving.

[0278] If it is determined to be NO in step S2204, proceed to step S2205. In step S2205, refer to the "result" in the related unique identifier list header and determine whether the "result" is 1. If it is determined to be YES in step S2205, proceed to step S2207. In step S2207, since there are many obstacles and caution is required, the control unit 12-2 controls to reduce the speed to a speed that can handle sudden jumps, etc.

[0279] If it is determined to be NO in step S2205, proceed to step S2206. In step S2206, since it is possible to drive normally, the driving continues as it is. Then end the flow of FIG. 26. As described above, in this embodiment, the autonomous mobile body 12 can acquire in advance the information ahead on the route by referring to the unique identifier of the current location, and can perform operations such as changing the driving in advance with a margin.

[0280] <Embodiment 4> Next, an example of a method for reducing blind spot accidents according to the behavior of an autonomous mobile body using the autonomous mobile body control system in Embodiment 4 will be described.

[0281] FIG. 27 is a top view of an intersection. The autonomous mobile body 3000 as the first mobile body is traveling from right to left on the paper surface, and it is possible to go straight or turn right at the intersection without changing direction. Area 3001, which is the area surrounded by the dashed line, is mainly an area for detecting motorcycles, and the setting method of area 3001 is the same as the setting of rectangle 1418.

[0282] Areas 3002 and 3003, which are the areas surrounded by the dashed line, are areas for detecting bicycles, 3005 and 3006 are buildings, and the setting methods of areas 3002 and 3003 are the same as the settings of rectangles 1419 and 1420.

[0283] Areas 3001, 3002, and 3003 are associated with area 3004. That is, similar to the blind spot accident reduction method, in the information of the unique identifier, items of related unique identifier information are provided as in Table 1203-1 of FIG. 14, and it is configured to be able to refer to the related unique identifier list header and the related unique identifier list.

[0284] Since the related unique identifier information is the same as Tables 1203-1 and 1203-2 of FIG. 14, the related unique identifier list header is the same as Table 1602 of FIG. 19, and the related unique identifier list is the same as Table 1601 of FIG. 19, the description is omitted.

[0285] When the autonomous mobile body 3000 goes straight or turns right at the intersection, it can turn right safely by using the blind spot accident reduction method using the above-described autonomous mobile body control system and referring to the information of area 3004.

[0286] However, although the autonomous mobile body 3000 may pass through area 3004 and go straight, in such a case, in the blind spot accident reduction method using the autonomous mobile body control system, the information of area 3004 will be referred to meaninglessly.

[0287] Furthermore, in the blind spot accident reduction method using the autonomous driving control system, the conversion information holding device 14 updates the unique identifier of the right-turn lane, for example, at intervals of 1 ms. As a result, the autonomous driving control system performs unnecessary calculations, leading to heavy processing.

[0288] Therefore, in Embodiment 4, in such a case, according to a predetermined operation before the autonomous vehicle 3000 makes a right turn, it is determined whether to refer to the information of Area 3004. When it is determined to refer, the conversion information holding device 14 updates the unique identifier of the right-turn lane at intervals of 1 ms. Also, when it is determined not to refer, the update interval is widened.

[0289] Here, the predetermined operations include operations such as turning on the direction indicator for making a right turn, decelerating the autonomous vehicle 3000, starting the autonomous vehicle, turning right or left at an intersection, merging into the main lane of the road or entering an intersection, and during driving control (when running on a determined route or when changing the route).

[0290] When such a predetermined operation is detected or predicted in Area 3004, the autonomous vehicle 3000 refers to the information of Area 3004.

[0291] Hereinafter, an example of the processing when the autonomous vehicle 3000 according to Embodiment 4 turns on the direction indicator and then makes a right turn at, for example, a T-junction will be described using a sequence diagram. Note that Embodiment 4 is not limited to the case of a T-junction.

[0292] FIG. 28 is a flowchart showing an example of the operation sequence of the conversion information holding device 14 according to Embodiment 4, and FIG. 29 is a flowchart for explaining a subsequent sequence example of FIG. 28. The operations of each step in FIGS. 28 and 29 are sequentially performed when the CPU in the conversion information holding device 14 executes a computer program.

[0293] FIGS. 28 and 29 show an example of a sequence for updating the "result" of the related unique identifier list header associated with the unique identifier of the right-turn lane at a T-junction.

[0294] The flow of FIG. 28 starts when the autonomous mobile body 3000 approaches area 3004 to turn right at a T-junction.

[0295] Next, in step S3010, the sensor node determines whether it has detected the lighting of the right-turn direction indicator of the autonomous mobile body 3000. If it has thereby detected or predicted a predetermined operation (right-turn operation) of the autonomous mobile body, it proceeds to step S3011; if not, it returns to step S3010. Here, the sensor node functions as acquisition means for acquiring information regarding the movement of the first mobile body, and acquires information indicating the lighting of the direction indicator of the first mobile body.

[0296] Incidentally, for example, at the time of detecting the lighting of the right-turn direction indicator, the right-turn operation may not have started yet, in which case the right-turn operation is being predicted. Here, step S3010 functions as a prediction step (prediction means) for predicting a predetermined operation of the first mobile body. Also, the prediction means predicts a predetermined operation of the mobile body based on the information acquired by the acquisition means.

[0297] Next, in step S3011, the conversion information holding device 14 updates the unique identifier of area 3004 at 1 ms intervals. Since the subsequent steps S3012 to S3025 correspond to the steps S1700 to S1713 of FIG. 20 respectively, the description thereof is omitted.

[0298] Incidentally, step S3012 functions as a step for determining a second unique identifier based on the prediction result of the prediction means. Also, steps S3020, S3021, etc. function as output steps for outputting information regarding the three-dimensional space associated with the second unique identifier to the first mobile body when the first mobile body exists in a predetermined three-dimensional space associated with the first unique identifier.

[0299] In this way, when the conversion information holding device 14 detects a predetermined operation of the autonomous mobile body 3000 (such as the lighting of the direction indicator), by updating the information of each area, it is possible to efficiently confirm the dynamic information of other related areas from within the unique identifier of area 3004. That is, an information processing device that efficiently uses information regarding the three-dimensional space associated with the unique identifier can be realized.

[0300] Note that the predetermined operation by the autonomous mobile body 3000 is not limited to detecting the lighting of the direction indicator by the sensor node, and it may also transmit the fact that a predetermined operation has been performed from the autonomous mobile body 3000 to the system control device 10.

[0301] FIG. 30 is a flowchart for explaining an example of the operation sequence of the autonomous mobile body 12 and the conversion information holding device 14 according to Embodiment 4. Note that the operations of each step in FIG. 30 are sequentially performed when the CPUs in the autonomous mobile body 12 and the conversion information holding device 14 execute a computer program.

[0302] First, the autonomous mobile body 3000 starts, for example, when approaching area 3004 in order to turn right at a T-junction.

[0303] Next, in step S3025, it is determined whether a predetermined operation (lighting of the right-turn direction indicator) of the autonomous mobile body 3000 is detected. If a predetermined operation is detected, the process proceeds to step S3026, and if it is determined as NO in step S3025, the process returns to step S3025.

[0304] Next, in step S3026, the conversion information holding device 14 updates the unique identifier of area 3004 at 1 ms intervals. Since the subsequent steps S3027 to S3034 are the same as the processes of steps S1801 to S1808 in FIG. 22, the description thereof is omitted.

[0305] In this way, the autonomous mobile body 3000 can collect appropriate area information at a certain point according to its own predetermined operations (such as the lighting of the direction indicator). Note that the above area information includes not only automobiles, motorcycles, bicycles, and people, but also weather information, road conditions, and the like.

[0306] <Embodiment 5> Next, in Embodiment 5, a method of controlling the departure of an autonomous driving bus from a bus stop according to a predetermined operation of an autonomous mobile body using an autonomous mobile body control system will be described.

[0307] Article 31-2 of the Road Traffic Law of Japan stipulates that when a bus (hereinafter abbreviated as a bus) attempts to depart from a bus stop, a vehicle behind must not obstruct the bus's path. However, there are also vehicles that violate this.

[0308] In the autonomous mobile body control system in Embodiment 4, information on unique identifiers associated with a certain point is collected according to a predetermined operation of the autonomous mobile body. In Embodiment 5, this sequence is applied not only to blind spot detection but also to the use of safely departing the bus.

[0309] FIG. 31 is a top view of a bus stop and is for explaining the outline of the method of departing a bus stop of an autonomous driving bus. 3100 is an autonomous driving bus as the first mobile body, and 3104 is a bus stop. Also, area 3101, which is an area surrounded by a dashed line, is an area for detecting automobiles, motorcycles, etc. mainly coming from behind.

[0310] Note that the method of setting area 3101 is the same as the method of setting rectangle 1418 in FIG. 17(B). Area 3102, which is an area surrounded by a dashed line, is an area for detecting bicycles, pedestrians, etc., and the method of setting area 3102 is the same as the methods of setting rectangles 1419 and 1420.

[0311] Area 3101 and Area 3102 are associated with Area 3103. That is, similar to the blind spot accident reduction method in Embodiment 2, these configurations are provided with items of related unique identifier information in the information of the unique identifier as shown in Table 1203-1 of FIG. 14, and are configured to be able to refer to the related unique identifier list header and the related unique identifier list.

[0312] That is, here, Area 3103 functions as a predetermined three-dimensional space associated with the first unique identifier, and the bus as the first moving body is associated with the first unique identifier.

[0313] Since the related unique identifier information may be the same as that in Tables 1203-1 and 1203-2 of FIG. 14, the related unique identifier list header may be the same as that in Table 1602 of FIG. 19, and the related unique identifier list may be the same as that in Table 1601 of FIG. 19, the description thereof is omitted.

[0314] Hereinafter, the process when the autonomous driving bus 3100 merges from the bus stop 3104 onto the main line of the road will be described with reference to FIG. 32.

[0315] FIG. 32 is a flowchart for explaining an example of the operation sequence of the conversion information holding device 14 according to Embodiment 5, and FIG. 33 is a flowchart for explaining a subsequent sequence example of FIG. 32. The operations of each step in FIGS. 32 and 33 are sequentially performed when the CPU in the conversion information holding device 14 executes a computer program.

[0316] FIGS. 32 and 33 show a flow for updating the "result" of the related unique identifier list header associated with the unique identifier of the bus stop. Also, the flow of FIG. 32 starts when the autonomous driving bus 3100 approaches the area 3103 of the bus stop 3104 in order to pick up and drop off passengers.

[0317] Next, in step S3110, when the autonomous driving bus 3100 finishes the boarding and alighting of passengers and turns on the direction indicator to merge into the main lane of the road, the sensor node detects it. If the lighting of the direction indicator of the autonomous driving bus is detected in step S3110, the process proceeds to step S3111; if not, the process returns to step S3110.

[0318] Next, in step S3111, the conversion information holding device 14 updates the unique identifier of area 3103 at 1 ms intervals. Then, in step S3112, it is determined whether the related identifier list header (start address information) is associated with the unique identifier of the area of the bus stop 3104.

[0319] That is, referring to the item of the related identifier information in Table 1203-1 of FIG. 14, it is determined whether there is related identifier list header (start address information) information. If the related identifier information is not associated, the process proceeds to step S3122. In this case, since there is no information in the related identifier information, in step S3122, the "result" of the related identifier list header is set to -1 and the process proceeds to step S3124. If it is associated, the process proceeds to step S3113.

[0320] In step S3113, referring to the related identifier list header stored in the related identifier information of Tables 1203-1 and 1203-2, the start address of the related identifier list is obtained.

[0321] Next, in step S3114 of FIG. 33, from within the related identifier list, the unique identifier of the area where a motorcycle or a person should be searched is obtained, and the direction information of the dynamic information of the collision factor to be searched for each area is obtained. It is assumed that the dynamic information in Tables 1203-1 and 1203-2 of FIG. 14 is listed in the related identifier list.

[0322] Next, in step S3115, it is determined whether the direction in which the collision factor is facing is the driving route direction of the autonomous driving bus 3100 (the direction of the route for the bus to merge into the traffic on the main line or the driving lane after departing from the bus stop). If the collision factor is facing the driving route direction of the autonomous driving bus 3100, there is a possibility of a rear-end collision, so the process proceeds to step S3116.

[0323] If the collision factor is not facing the driving route direction of the bus, it is considered that there is no rear-end collision, and the process proceeds to step S3123 to check the next list. In this case, since there is no collision factor, the "result" in the related unique identifier list header is set to 0, and then the process proceeds to step S3124.

[0324] Next, in step S3116, it is determined whether the speed of the collision factor is greater than 0. If the answer in step S3116 is NO, that is, if the collision factor is stationary, the process proceeds to step S3123. Also in this case, since there is no collision factor, the "result" in the related unique identifier list header is set to 0, and the process proceeds to step S3124.

[0325] If the answer in step S3116 is YES, that is, if the collision factor is moving, there is a possibility of a collision with the bus, so the process proceeds to step S3117. In step S3117, the distance between the collision factor and the bus stop 3104 is calculated.

[0326] Note that the coordinates of the bus stop 3104 can be obtained from the road network data. The unique identifier information in the related unique identifier list stores dynamic information and the position information of the unique identifier. Using these two pieces of information, the distance D' from the collision factor to the bus stop 3104 is calculated.

[0327] Next, in step S3118, based on the distance D' calculated in step S3117, the speed S' of the collision factor obtained from the database, and the time difference Ts' between the current time and the update time of the unique identifier, the predicted time Tf' until the collision factor arrives at the bus stop is calculated. The predicted time Tf' can be calculated from the following formula. Tf’=D’ / S’-Ts’

[0328] Since the distance D’ is information that is Ts’ seconds older than the current time, the time obtained by subtracting Ts’ seconds from the time obtained by dividing the distance D’ by the speed S’ is the time to reach the bus stop 3104 from the current time.

[0329] Next, in step S3119, using the difference between Tf‘ obtained in step S3118 and the predicted time Tm’ for the autonomous driving bus 3100 to reach the main line of the road from the bus stop 3104, a determination is made as to whether there is a collision factor with the autonomous driving bus 3100.

[0330] That is, in step S3119, it is determined whether |Tf’ - Tm’| < the threshold value T1’. If the result in step S3119 is YES, it is determined that there is a high possibility of a collision. In this embodiment, T1’ is set to, for example, 10 seconds. If the result in step S3119 is YES, the process proceeds to step S3121.

[0331] In step S3121, since the collision factor existing in this unique identifier has a high collision risk, 2 is input to the "result" of the related unique identifier list header, and the process proceeds to step S3124. On the other hand, if it is determined as NO in step S3119, since the collision risk is low, 1 is input to the "result" of the related unique identifier list header in step S3120.

[0332] Next, in step S3124, information other than the related unique identifier information is updated from a camera node or the like. Since this update is the same as that described in the autonomous movement control system of FIG. 21, the description is omitted. Then, in step S3125, it is determined whether the ID of the unique identifier to be searched within the related unique identifier list can be obtained. If the ID of the unique identifier can be obtained, the process proceeds to step S3114, and if it cannot be obtained, the flow of FIG. 33 ends.

[0333] Note that the determination as YES in step S3111 of FIG. 32 is not limited to when a predetermined operation (such as the turn signal lighting) of the autonomous driving bus 3100 is detected. For example, it may be determined as YES when a predetermined time or a time before or after that time is reached.

[0334] That is, the predetermined operation includes, for example, the departure operation of the bus, and it may be determined as YES at the departure time in the timetable or the times before and after it, which is the time when the departure operation is planned. In this way, information regarding the operation plan such as the timetable of the first moving body may be acquired, and based on the information regarding the operation plan, the timing for outputting information to the first moving body may be determined.

[0335] FIG. 34 is a flowchart for explaining an example of the operation sequence of the autonomous mobile body 12 and the conversion information holding device 14 according to Embodiment 5. Note that the operations of each step in FIG. 34 are sequentially performed when the CPU in the autonomous mobile body 12 and the conversion information holding device 14 executes a computer program.

[0336] The flowchart in FIG. 34 starts from when the automated driving bus 3100 approaches the area 3103 of the bus stop 3104 in order to pick up and drop off passengers.

[0337] Next, in step S3125, it is determined whether the automated driving bus 3100 has detected the lighting of the direction indicator in order to merge into the main line of the road. If YES in step S3125, the process proceeds to step S3126, and if NO in step S3125, the process returns to step S3125.

[0338] Next, in step S3126, the conversion information holding device 14 updates the unique identifier of the area 3103 at 1 ms intervals. The processing from the subsequent steps S3127 to S3134 is the same as the processing from steps S1801 to S1808 in FIG. 22, and thus the description thereof is omitted.

[0339] In this way, when the automated driving bus 3100 according to Embodiment 5 merges from the bus stop into the main line of the road, it can collect appropriate area information according to its predetermined operation and depart safely.

[0340] As described above, the present invention has been described in detail based on its preferred embodiments. However, the present invention is not limited to the above embodiments, and various modifications and combinations of the above embodiments are possible based on the gist of the present invention, and they are not excluded from the scope of the present invention. The present invention includes the following combinations.

[0341] (Configuration 1) An information holding means for holding, in association with a unique identifier, spatial information including information on the position and velocity of a moving body existing in each of a plurality of divided three-dimensional spaces, and an output means for outputting information to a first moving body, wherein when the first moving body exists in a predetermined three-dimensional space associated with a first unique identifier, the output means outputs to the first moving body information on a three-dimensional space associated with a second unique identifier different from the first unique identifier. An information processing apparatus characterized by the above.

[0342] (Configuration 2) Further comprising prediction means for predicting a predetermined operation of the first moving body, wherein the output means determines the second unique identifier based on the prediction result of the prediction means. The information processing apparatus according to Configuration 1, characterized by the above.

[0343] (Configuration 3) Further comprising acquisition means for acquiring information on the movement of the first moving body, wherein the prediction means predicts the predetermined operation of the moving body based on the information acquired by the acquisition means. The information processing apparatus according to Configuration 2, characterized by the above.

[0344] (Configuration 4) The information processing apparatus according to Configuration 3, characterized in that the acquisition means acquires information indicating the lighting of a direction indicator of the first moving body.

[0345] (Configuration 5) The acquisition means acquires information on the operation plan of the first moving body, and the output means determines the timing for outputting information to the first moving body based on the information on the operation plan. The information processing apparatus according to Configuration 3 or 4, characterized by the above.

[0346] (Method) An information processing method using an information processing apparatus including information holding means for holding space information including information on the position and velocity of a moving object existing in each of a plurality of divided three-dimensional spaces in association with a unique identifier, and output means for outputting information to a first moving object, the method comprising: an output step of outputting, by the output means, information on a three-dimensional space associated with a second unique identifier different from the first unique identifier to the first moving object when the first moving object exists in a predetermined three-dimensional space associated with the first unique identifier.

[0347] (Program) A computer program for controlling each means of the information processing apparatus according to any one of Configurations 1 to 5 by a computer.

[0348] Note that, in order to implement part or all of the control in the above-described embodiment, a computer program for realizing the functions of the above-described embodiment may be supplied to an information processing apparatus or the like via a network or various storage media. Then, a computer (or a CPU, MPU, etc.) in the information processing apparatus or the like may read and execute the program. In that case, the program and the storage medium storing the program will constitute the present invention.

Description of Reference Numerals

[0349] 10: System control device 11: User interface 12: Autonomous mobile body 13: Route determination device 14: Conversion information holding device 15: Sensor node 16: Internet 20: Transmission bus 21: CPU 22: Random access memory 23: Read only memory 24: Network interface 25: Video RAM 26: Display device 27: Controller 28: External input device 29: Hard disk drive 30: External input / output device 31: Magnetic recording medium 40: Departure, transit, arrival input screen 40 41: Input field for "departure place" 42: Input field for "transit place 1" 43: Input field for "arrival place" 44: Button to add transit place 45: Decision button 50: Status confirmation screen 51: Input field for "departure place" 52: Input field for "transit place 1" 53: Input field for "arrival place" 54: Button to change transit place / arrival place 55: Map display button 56: Current location 57: Update button 60: Map display screen 61: Return button 62: Current location

Claims

1. Information holding means for holding, in association with a unique identifier, space information including information on the position and velocity of a moving object existing in each of a plurality of divided three-dimensional spaces; Output means for outputting information to a first moving object; comprising: when the first moving object exists in a predetermined three-dimensional space associated with a first unique identifier, the output means outputs to the first moving object information on a three-dimensional space associated with a second unique identifier different from the first unique identifier; An information processing apparatus characterized by the above.

2. Further comprising prediction means for predicting a predetermined operation of the first moving object; the output means determines the second unique identifier based on the prediction result of the prediction means; The information processing apparatus according to claim 1, characterized by the above.

3. Further comprising acquisition means for acquiring information on the movement of the first moving object; the prediction means predicts the predetermined operation of the moving object based on the information acquired by the acquisition means; The information processing apparatus according to claim 2, characterized by the above.

4. The information processing apparatus according to claim 3, characterized in that the acquisition means acquires information indicating the lighting of a direction indicator of the first moving object.

5. The acquisition means acquires information on the operation plan of the first moving object, and the output means determines the timing for outputting information to the first moving object based on the information on the operation plan. The information processing apparatus according to claim 3, characterized by the above.

6. Information holding means for holding, in association with a unique identifier, space information including information on the position and velocity of a moving object existing in each of a plurality of divided three-dimensional spaces; Output means for outputting information to the first moving body, An information processing method using an information processing apparatus comprising: An output step of outputting, by the output means, information regarding a three-dimensional space associated with a second unique identifier different from the first unique identifier to the first moving body when the first moving body exists in a predetermined three-dimensional space associated with the first unique identifier. An information processing method characterized by the above.

7. A computer program for controlling each means of the information processing apparatus according to any one of claims 1 to 5 by a computer.

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