Information processing device, system and method

Abstract

To improve a technique related to a roadside device.SOLUTION: An information processing device 30 comprises a control unit 33 which: when a vehicle 10 approaches a roadside device 20 that notifies a target person of the presence of a vehicle and / or pedestrian, acquires an image of the roadside device 20 taken by a photographing unit 11 provided in the vehicle 10; acquires vehicle position information indicating a position of the vehicle 10 at a time the image was taken; analyzes the image to acquire relative position information indicating a relative positional relation between the vehicle 10 and the roadside device 20 at the time the image was taken; calculates calculated position information for indicating a calculated position of the roadside device 20 based on the vehicle position information and the relative position information; and transmits the calculated position information to a storage unit of an information storage device that stores position information of the roadside device 20.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to an information processing apparatus, a system, and a method.

Background Art

[0002] Conventionally, technologies related to roadside devices that notify the presence of vehicles or pedestrians to target persons such as pedestrians, vehicle drivers, and driving assistants are known. For example, Patent Document 1 discloses a notification system that performs notifications such as passage permission or warning to vehicles or pedestrians other than the automated driving vehicle according to the behavior of an automated driving vehicle scheduled to pass through a predetermined traffic area.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a roadside device incorporates a GPS (Global Positioning System), for example, due to factors such as the accuracy of the GPS, an error may occur in the position information of the roadside device. Due to this error, for example, there is a risk that a vehicle approaching the roadside device cannot be correctly detected.

[0005] In view of such circumstances, an object of the present disclosure is to improve the technology related to roadside devices.

Means for Solving the Problems

[0006] An information processing apparatus according to an embodiment of the present disclosure, when a vehicle approaches a roadside device that notifies the presence of a vehicle and / or a pedestrian to a target person, acquires an image of the roadside device taken by an imaging unit provided in the vehicle, Obtain vehicle position information indicating the position of the vehicle at the time of image capture, analyze the image to obtain relative position information indicating the relative positional relationship between the vehicle and the roadside device at the time of image capture, calculate calculated position information indicating the calculated position of the roadside device based on the vehicle position information and the relative position information, a control unit that transmits the calculated position information to a storage unit of an information storage device that stores the position information of the roadside device and includes.

[0007] A system according to an embodiment of the present disclosure includes the vehicle, the roadside device, the information processing device, and includes.

[0008] A method according to an embodiment of the present disclosure is a method executed by an information processing device that modifies position information of a roadside device that notifies a target person of the presence of a vehicle and / or a pedestrian, and includes: (1) When a vehicle approaches a roadside device, obtaining an image of the roadside device captured by a camera provided in the vehicle; (2) obtaining vehicle position information indicating the position of the vehicle at the time of image capture; (3) analyzing the image to obtain relative position information indicating the relative positional relationship between the vehicle and the roadside device at the time of image capture; (4) calculating calculated position information indicating the calculated position of the roadside device based on the vehicle position information and the relative position information; (5) transmitting the calculated position information to a storage unit of the roadside device or a server device and includes.

Advantages of the Invention

[0009] According to an embodiment of the present disclosure, the technology related to roadside devices is improved.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Mode for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present disclosure will be described.

[0012] With reference to FIG. 1, the outline of a system 1 according to an embodiment of the present disclosure will be described. The system 1 includes a vehicle 10, a roadside device 20, and an information processing device 30. The vehicle 10, the roadside device 20, and the information processing device 30 are communicably connected to a network 40 including, for example, the Internet and a mobile communication network.

[0013] The vehicle 10 is a connected car having a communication function with the network 40. The driving of the vehicle 10 is automated at an arbitrary level. The level of automation may be, for example, any one of levels 1 to 5 in the level classification of the SAE (Society of Automotive Engineers). The vehicle 10 may be driven by a driver. The vehicle 10 is, for example, an automobile such as a BEV (Battery Electric Vehicle), an HEV (Hybrid Electric Vehicle), a PHEV (Plug-in Hybrid Electric Vehicle), or an FCEV (Fuel Cell Electric Vehicle), but is not limited thereto and may be any vehicle. The number of vehicles 10 included in the system 1 may be arbitrarily determined.

[0014] The vehicle 10 is equipped with a camera for photographing the roadside device 20. The vehicle 10 may be equipped with a camera and a distance measuring device such as a millimeter wave radar or LiDAR (Light Detection and Ranging).

[0015] The vehicle 10 incorporates a receiver compatible with the GPS (Global Positioning System). The vehicle 10 can obtain more accurate position information (hereinafter also referred to as "high-precision position information") than when using only GPS by, for example, using GPS and any other satellite positioning system (e.g., the quasi-zenith satellite system) or using GPS and high-precision map information.

[0016] When the roadside device 20 detects a pedestrian with the mounted camera, it notifies the pedestrian of the presence of the vehicle 10 approaching the self-device (roadside device 20). The roadside device 20 may further notify the driver or driving assistant of the vehicle 10 of the presence of the pedestrian. The roadside device 20 notifies the pedestrian of the presence of the autonomous vehicle by, for example, displaying an image using a display mounted on the self-device, emitting light from an electronic display board, or outputting sound using a speaker. The roadside device 20 further notifies the driver or driving assistant of the presence of the pedestrian, for example, via the mobile terminal of the driver or driving assistant of the vehicle 10. The roadside device 20 is installed near the boundary between the road and the sidewalk, such as near a crosswalk or an intersection. The roadside device 20 may be installed near a road with poor visibility, such as a blind spot of a building or a curve. The roadside device 20 may be fixed to the road or the sidewalk, or may not be fixed. For example, the roadside device 20 may just be placed on the road or the sidewalk.

[0017] The roadside device 20 incorporates a receiver compatible with the GPS (Global Positioning System). If the roadside device 20 incorporates GPS, the position information of the roadside device 20 can be easily obtained at the time of installation. Therefore, it is not necessary for the user to manually set the position information of the roadside device 20. The roadside device 20 may have an autonomous driving function for automatic movement. In such a case, the roadside device 20 can be installed automatically.

[0018] The information processing device 30 calculates the corrected position information of the roadside device 20 by using the image of the roadside device 20 captured by the camera of the vehicle 10 and the high-precision position information of the vehicle 10. When there is a displacement in the position information of the roadside device 20, the position information of the roadside device 20 before correction is corrected by using the calculated position information.

[0019] The information processing device 30 according to the present embodiment is a mobile terminal. The mobile terminal is, for example, a smartphone, a tablet, a laptop computer, or the like.

[0020] First, the outline of the present embodiment will be described, and the details will be described later. When the vehicle 10 approaches the roadside device 20 that notifies the presence of a vehicle or a pedestrian to the target person, the information processing device 30 acquires an image of the roadside device 20 captured by the camera provided in the vehicle 10. The information processing device 30 acquires vehicle position information indicating the position of the vehicle 10 at the time of image capture. The information processing device 30 analyzes the image and acquires relative position information indicating the relative positional relationship between the vehicle 10 and the roadside device 20 at the time of image capture. The information processing device 30 calculates calculated position information indicating the calculated position of the roadside device 20 based on the vehicle position information and the relative position information. Then, the information processing device 30 transmits the calculated position information to the storage unit of the information storage device that stores the position information of the roadside device 20.

[0021] As described above, according to this embodiment, when a vehicle approaches the roadside device 20, the calculated position information of the roadside device 20 calculated based on the vehicle position information is transmitted to the information storage device. Therefore, the information storage device can, for example, compare the stored position information of the roadside device 20 with the calculated information to determine whether an error has occurred in the stored position information. Therefore, even in a place where the accuracy of GPS is low, such as the shadow of a building or the gap between high-rise buildings, it is possible to obtain accurate position information of the roadside device 20 without a dedicated device such as a receiver for a high-precision satellite-side system. When the roadside device 20 is equipped with a receiver compatible with a high-precision satellite positioning system, the cost of the receiver increases as the number of installed roadside devices 20 increases. Therefore, this embodiment is preferable from the perspective of cost. Also, when the roadside device 20 is equipped with a built-in battery, the power consumption of the built-in battery increases when using a high-precision satellite positioning system. Therefore, this embodiment is also preferable from the perspective of the power consumption of the roadside device 20.

[0022] Furthermore, according to this embodiment, even if the roadside device 20 does not have a built-in receiver compatible with GPS, it is possible to obtain high-precision position information of the roadside device 20. Thereby, the labor and cost for providing a receiver compatible with GPS in the roadside device 20 can be reduced. A roadside device 20 without a receiver compatible with GPS may be installed in a place where the accuracy of GPS is expected to be low (for example, a place near an obstacle such as a high-rise building). A roadside device 20 with a built-in GPS may be installed in a place where the accuracy of GPS is expected to be sufficiently high (for example, a place with few obstacles). By determining in advance the presence or absence of GPS according to the installation position, the labor and cost for installing the roadside device 20 can be reduced.

[0023] From the above, according to this embodiment, the technology related to the roadside device 20 is improved.

[0024] Next, each component of the system 1 will be described in detail.

[0025] As shown in FIG. 2, the vehicle 10 includes a photographing unit 11, a positioning unit 12, a storage unit 13, a communication unit 14, and a control unit 15.

[0026] The photographing unit 11 includes one or more cameras capable of photographing a subject and generating an image. The camera may be a front camera, a side camera, a rear camera, or the like. The photographing unit 11 may include a camera and / or a distance measuring device such as a millimeter wave radar or LiDAR. The image generated by the camera may be one or more still images or one or more moving images.

[0027] The positioning unit 12 includes a receiver corresponding to a satellite positioning system. Specifically, the positioning unit 12 includes a receiver corresponding to GPS. The positioning unit 12 may be able to acquire position information of the vehicle 10 with higher accuracy than when using only GPS. For example, the positioning unit 12 may include a receiver corresponding to other satellite positioning systems such as QZSS (Quasi-Zenith Satellite System), BeiDou, GLONASS (Global Navigation Satellite System), Galileo, etc. The satellites of QZSS are called quasi-zenith satellites. The positioning unit 12 may use GPS and high-precision map data. That is, the positioning unit 12 may acquire rough position information of the vehicle 10 by GPS and further perform self-position estimation (localization) by referring to the high-precision map data. The high-precision map data is stored in, for example, the storage unit 13 of the vehicle 10. The positioning unit 12 may further include a sensor for measuring the orientation of the vehicle 10, such as an orientation sensor. The orientation sensor can measure the orientation by detecting the magnetic force of the geomagnetism, for example.

[0028] The storage unit 13 includes one or more memories. Each memory included in the storage unit 13 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 13 stores any information used for the operation of the vehicle 10. For example, the storage unit 13 may store a system program, an application program, a database, position information of the vehicle 10, map information, etc.

[0029] The communication unit 14 includes one or more communication interfaces connected to the network 40. This communication interface corresponds to, for example, mobile communication standards such as 4G (4th Generation) or 5G (5th Generation), but is not limited thereto. In the present embodiment, the vehicle 10 communicates with the information processing device 30 via the communication unit 14 and the network 40.

[0030] The control unit 15 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The processor is, for example, a general-purpose processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), or a dedicated processor specialized for specific processing, but is not limited thereto. The programmable circuit is, for example, an FPGA (Field-Programmable Gate Array), but is not limited thereto. The dedicated circuit is, for example, an ASIC (Application Specific Integrated Circuit), but is not limited thereto. The control unit 15 controls the operation of the entire vehicle 10.

[0031] (Configuration of the roadside device 20) As shown in FIG. 3, the roadside device 20 includes a detection unit 21, a notification unit 22, a positioning unit 23, a storage unit 24, a communication unit 25, and a control unit 26.

[0032] The detection unit 21 includes one or more cameras for photographing pedestrians near the roadside device 20. The camera may be two 180-degree cameras, one 360-degree camera, or any other camera.

[0033] The notification unit 22 includes one or more notification devices for notifying pedestrians near the roadside device 20 of the presence of the vehicle. The notification device is, for example, a display, an electric bulletin board, or a speaker. The notification unit 22 may include any other notification device.

[0034] The positioning unit 23 includes a receiver corresponding to GPS. The map data used by the positioning unit 23 is stored, for example, in the storage unit 24 of the roadside device 20.

[0035] The storage unit 24 includes one or more memories. Each memory included in the storage unit 24 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 24 stores any information used for the operation of the roadside device 20. For example, the storage unit 24 may store a system program, an application program, embedded software, map information, and the like. The information stored in the storage unit 24 may be updated with information obtained from the network 40 via the communication unit 25, for example.

[0036] The communication unit 25 includes one or more communication interfaces for connecting to the network 40. This communication interface corresponds to, for example, a mobile communication standard such as 4G (4th Generation) or 5G (5th Generation), but is not limited thereto. In the present embodiment, the roadside device 20 communicates with the information processing device 30 via the communication unit 25 and the network 40.

[0037] The control unit 26 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The control unit 26 controls the operation of the entire roadside device 20.

[0038] (Configuration of the information processing device 30) As shown in FIG. 4, the information processing device 30 includes a storage unit 31, a communication unit 32, and a control unit 33.

[0039] The storage unit 31 includes one or more memories. Each memory included in the storage unit 31 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 31 stores any information used for the operation of the information processing device 30. For example, the storage unit 31 may store a system program, an application program, and embedded software, and the like.

[0040] The communication unit 32 includes one or more communication interfaces for connecting to the network 40. This communication interface is compatible with mobile communication standards such as, for example, 4G (4th Generation) or 5G (5th Generation), but is not limited thereto. In the present embodiment, the information processing apparatus 30 communicates with the vehicle 10 and the roadside apparatus 20 via the communication unit 32 and the network 40.

[0041] The control unit 33 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The control unit 33 controls the operation of the entire information processing apparatus 30.

[0042] (Operation flow of the information processing apparatus 30)

[0043] With reference to FIG. 5, the operation of the information processing apparatus 30 according to the present embodiment will be described.

[0044] S101: The control unit 33 of the information processing apparatus 30 acquires an image of the roadside apparatus 20 taken by the imaging unit 11 provided in the vehicle 10 when the vehicle 10 approaches the roadside apparatus 20 that notifies the target person of the presence of the vehicle and / or the pedestrian.

[0045] The roadside apparatus 20 may be photographed when the vehicle 10 is closest to the roadside apparatus 20. The photographing of the roadside apparatus 20 may be performed continuously or at regular time intervals during a certain period from when the vehicle 10 approaches the roadside apparatus 20 until it moves away. That is, the image may be one or more still images or one or more moving images. The roadside apparatus 20 may be photographed at the installation stage of the roadside apparatus 20 or at the stage when the roadside apparatus 20 is actually in use.

[0046] The imaging unit 11 is one or more cameras. Instead of a camera, the imaging unit 11 may use a millimeter-wave radar or LiDAR. The imaging unit 11 may also use a camera together with a millimeter-wave radar and / or LiDAR, etc. Further, the imaging of the roadside device 20 may be performed using, for example, other cameras (such as street cameras or surveillance cameras). Which camera to use may be determined, for example, by comparing the accuracy of the camera of the imaging unit 11 with the accuracy of other cameras, or by comparing the accuracy of the position information of the vehicle 10 with the accuracy of the position information of other cameras. This determination may be made by the control unit 15.

[0047] The control unit 33 of the information processing device 30 may receive an image from the imaging unit 11 of the vehicle 10 via the communication unit 32 of the information processing device 30 and the network 40.

[0048] S102: The control unit 33 acquires vehicle position information indicating the position of the vehicle 10 at the time of image capture.

[0049] The vehicle position information is measured by the positioning unit 12 of the vehicle 10. The vehicle position information includes the latitude and longitude of the vehicle 10 at the time of image capture. The vehicle position information may also include the azimuth of the vehicle 10 at the time of image capture. The azimuth of the vehicle 10 may be measured, for example, by an azimuth sensor provided in the positioning unit 12.

[0050] The control unit 33 may receive the vehicle position information from the vehicle 10 via the communication unit 32 and the network 40. When the server device is monitoring the vehicle position information, the control unit 33 may receive the vehicle position information from the server device via the communication unit 32 and the network 40.

[0051] S103: The control unit 33 analyzes the image to acquire relative position information indicating the relative positional relationship between the vehicle 10 and the roadside device 20 at the time of image capture.

[0052] In image analysis, landmarks or the like included in the image may be used. The landmark is, for example, a building, a sign, or a mark on a road. In order to obtain more accurate relative position information, the control unit 33 may analyze the image and data measured by a millimeter wave radar and / or LiDAR or the like to obtain relative position information.

[0053] The relative position information may include the distance between the vehicle 10 and the roadside device 20 and the direction of the roadside device 20 as seen from the vehicle 10. The control unit 33 may calculate the distance between the vehicle 10 and the roadside device 20 by, for example, any ranging algorithm using a camera. The control unit 33 may calculate the direction of the roadside device 20 as seen from the vehicle 10 based on, for example, the direction of the vehicle 10 indicated by an azimuth sensor and the direction of the imaging unit 11 as seen from the vehicle 10. The relative position information may further include the direction of the roadside device 20 in the image. The direction of the roadside device 20 in the image may be calculated from, for example, a feature such as a mark provided on the roadside device 20.

[0054] S104: The control unit 33 calculates calculation position information indicating the calculated position of the roadside device 20 based on the vehicle position information and the relative position information.

[0055] The calculation position information is, for example, according to the following formula x = X + Lx, y = Y + Ly Here, x is the latitude of the calculated roadside device 20, y is the longitude of the calculated roadside device 20, X is the latitude of the vehicle 10 at the time of image capture, Y is the longitude of the vehicle 10 at the time of image capture, Lx is the distance in the latitude direction between the vehicle 10 and the roadside device 20 at the time of image capture, and Ly is the distance in the longitude direction between the vehicle 10 and the roadside device 20 at the time of image capture. The latitude X and longitude Y of the vehicle 10 are calculated based on the vehicle position information. The distances Lx and Ly between the vehicle 10 and the roadside device 20 are calculated based on the relative position information. These positions and distances may be calculated in meters (m). The calculation position information may be calculated using any other method.

[0056] S105: The control unit 33 transmits the calculated position information to the storage unit of the information storage device that stores the position information of the roadside device 20.

[0057] In the operation flow shown in FIG. 5, the control unit 33 transmits the calculated position information without determining whether there is a positional deviation between the position information of the roadside device (registered position information) pre-registered in the device that registers the position information of the roadside device 20 and the calculated position information calculated in S104. That is, the information processing device 30 leaves the determination of the positional deviation to a device other than the information processing device 30.

[0058] The control unit 33 may transmit the calculated position information via the communication unit 32 of the information processing device 30 and the network 40. The information storage device may be the roadside device 20 or the server device. In order to reduce power consumption, it is preferable that the information storage device is the device that executes S104 for calculating the calculated position information. The information storage device may be any other device. The calculated position information of the roadside device 20 may be transmitted to any other device for further processing.

[0059] As shown in FIG. 6, the information processing device 30 may determine whether there is a positional deviation between the registered position and the calculated position of the roadside device 20. Specifically, S104 may include the following S104a to S104c.

[0060] S104a: The control unit 33 acquires the registered position information of the roadside device 20 from the information storage device.

[0061] The control unit 33 may receive the registered position information of the roadside device 20 via the communication unit 32 or the network 40.

[0062] S104b: The control unit 33 calculates the positional deviation between the position of the roadside device 20 indicated by the registered position information and the position of the roadside device 20 indicated by the calculated position information.

[0063] The positional deviation is, for example, the following formula Δ = (a^2 + b^2)^(1 / 2), where a = x - x' = (X + Lx) - x', and b = y - y' = (Y + Ly) - y' It is calculated according to the following. Here, Δ is the displacement, a is the displacement in the latitude direction, b is the displacement in the longitude direction, x' is the latitude of the roadside device 20 included in the registered position information, y' is the longitude of the roadside device 20 included in the registered position information, x is the calculated latitude of the roadside device 20, y is the calculated longitude of the roadside device 20, X is the latitude of the vehicle 10 at the time of image capture, Y is the longitude of the vehicle 10 at the time of image capture, Lx is the distance between the vehicle 10 and the roadside device 20 in the latitude direction at the time of image capture, and Ly is the distance between the vehicle 10 and the roadside device 20 in the longitude direction at the time of image capture. These positions and distances may be calculated in meters (m). The displacement may be calculated using any other method.

[0064] S104c: The control unit 33 determines whether the displacement exceeds the threshold value.

[0065] The threshold value of the displacement may be set based on the distance resolution of the imaging unit 11 provided in the vehicle 10. The threshold value may be set based on the distance resolution of a camera, millimeter wave radar, or LiDAR. The threshold value may be, for example, a value of 20 m or less, 10 m or less, 5 m or less, 1 m or less, 0.1 m or less, or 0.01 m or less. The threshold value may be set based on any other feature amount.

[0066] When S104 includes S104a to S104c, S105 may include the following S105a.

[0067] S105a: When the displacement exceeds the threshold value of the displacement, the control unit 33 transmits the calculated position information to the storage unit of the information storage device.

[0068] That is, the control unit 33 may determine whether to transmit the calculated position information after determining whether the displacement exceeds the threshold value. When the displacement does not exceed the threshold value, the control unit 33 may not transmit the calculated position information.

[0069] When the camera provided in the roadside device cannot capture the entire area, that is, when the viewing angle of the camera is less than 360 degrees, less than 180 degrees, less than 90 degrees, etc., the roadside device can also register the direction it faces on the map to ensure the detection of pedestrians or vehicles. For example, the information storage device may store the registered direction of the pre-registered roadside device. In this case, there may be a deviation between the registered direction and the actual direction. Therefore, the calculated position information may include the calculated direction of the roadside device 20 calculated based on the vehicle position information and the relative position information. Specifically, the calculated direction may be calculated based on the direction of the vehicle 10 at the time of image capture included in the vehicle position information, the azimuth of the roadside device 20 as seen from the vehicle 10 at the time of image capture included in the relative position information, and the direction of the roadside device 20 in the image. Thereby, the direction of the roadside device 20 can be corrected.

[0070] As further shown in FIG. 6, the information processing device 30 may determine whether there is an azimuth deviation between the registered direction and the calculated direction of the roadside device 20. Specifically, S104 may further include the following S104d to S104e.

[0071] S104d: The control unit 33 calculates the azimuth deviation between the registered direction and the calculated direction of the roadside device 20.

[0072] The azimuth deviation may be calculated using any method.

[0073] S104e: The control unit 33 determines whether the azimuth deviation exceeds a threshold value.

[0074] The threshold value of the azimuth deviation may be set based on the field of view size and angular resolution of the camera provided in the vehicle 10. The threshold value of the azimuth deviation may be, for example, a value of 10 degrees or less, 1 degree or less, 0.1 degree or less, or 0.01 degree or less. The threshold value of the azimuth deviation may be set based on any other characteristic quantity.

[0075] When S104 includes S104d to S104e, S105 may further include the following S105b.

[0076] S105b: When the azimuth deviation exceeds the azimuth deviation threshold, the control unit 33 transmits the calculated position information to the storage unit of the information storage device.

[0077] That is, the control unit 33 may determine whether to transmit the calculated position information after determining whether the position deviation exceeds the threshold. When the azimuth deviation does not exceed the threshold, the control unit 33 may not transmit the calculated position information.

[0078] S101 to S105 may be repeated until the position deviation and / or azimuth deviation of the roadside device 20 becomes equal to or less than the threshold. S101 to S105 may be repeated, for example, three or more times. When the position deviation and / or azimuth deviation of the roadside device 20 becomes equal to or less than the threshold, the position information of the roadside device 20 may be fixed. Each time S101 to S105 are repeated, the accuracy of the position information of the roadside device 20 can be improved. S101 to S105 may be repeatedly executed by a single information processing device 30, or may be executed once by a plurality of information processing devices 30. S101 to S105 may be executed at the stage of installing the roadside device 20 or at the stage of performing notification using the roadside device 20 (for example, when a pedestrian is near the roadside device 20). S101 to S105 may be executed when the communication between the information processing device 30 and the roadside device 20 or the vehicle 10 is not busy, that is, when the communication speed is equal to or higher than a certain value. For safety reasons, the roadside device 20 may suspend the notification to pedestrians and the like until the position deviation and / or azimuth deviation of the roadside device 20 becomes equal to or less than the threshold.

[0079] As described above, according to this embodiment, even when an error occurs in the position information of the roadside device 20 indicated by GPS, more accurate position information can be provided. Therefore, even in places where the accuracy of GPS is low, such as the shadow of a building or the gap between high-rise buildings, it is possible to obtain accurate position information of the roadside device 20 without a dedicated device such as a receiver for a high-precision satellite-side system. When the roadside device 20 is equipped with a receiver compatible with a high-precision satellite positioning system, the cost of the receiver increases as the number of installed roadside devices 20 increases. Therefore, this embodiment is preferable from the perspective of cost. Also, when the roadside device 20 is equipped with a built-in battery, the power consumption of the built-in battery increases when using a high-precision satellite positioning system. Therefore, this embodiment is also preferable from the perspective of the power consumption of the roadside device 20.

[0080] Furthermore, according to this embodiment, even if the roadside device 20 does not have a built-in receiver compatible with GPS, it is possible to obtain high-precision position information of the roadside device 20. This can reduce the labor and cost for providing a receiver compatible with GPS in the roadside device 20. In a place where the accuracy of GPS is expected to be low (for example, a place near an obstacle such as a high-rise building), a roadside device 20 without a receiver compatible with GPS may be installed. In a place where the accuracy of GPS is expected to be sufficiently high (for example, a place with few obstacles), a roadside device 20 with built-in GPS may be installed. By determining in advance the presence or absence of GPS according to the installation location, the labor and cost for installing the roadside device 20 can be reduced.

[0081] From the above, according to this embodiment, the technology related to the roadside device is improved.

[0082] Although the present disclosure has been described based on the drawings and examples, it should be noted that those skilled in the art may make various modifications and alterations based on the present disclosure. Therefore, it should be noted that these modifications and alterations are included in the scope of the present disclosure. For example, the functions included in each component or each process, etc. can be rearranged so as not to be logically contradictory, and it is possible to combine or divide a plurality of components or processes, etc. into one.

[0083] In this embodiment, the information processing apparatus 30 is a mobile terminal. The information processing apparatus 30 may use a server apparatus different from the information processing apparatus 30, and the server apparatus may monitor the position information of the vehicle 10 indicated by the GPS. In another embodiment, the information processing apparatus 30 may be a server apparatus. In still another embodiment, the information processing apparatus 30 may be the vehicle 10 or the roadside apparatus 20. That is, the storage unit 31, the communication unit 32, and the control unit 33 of the information processing apparatus 30 and the storage unit, the communication unit, and the control unit of the vehicle 10 or the roadside apparatus 20 may be common.

[0084] For example, in the above-described embodiment, an embodiment in which the configuration and operation of the information processing apparatus 30 are distributed to a plurality of computers capable of communicating with each other is also possible. For example, the control unit 15 of the vehicle 10 may execute S103 to acquire relative position information by image analysis, and the control unit 33 of the information processing apparatus 30 may execute S104 to calculate the calculated position information.

[0085] In addition, for example, an embodiment in which a general-purpose computer functions as the information processing apparatus 30 according to the above-described embodiment is also possible. Specifically, a program describing the processing content for realizing each function of the information processing apparatus according to the above-described embodiment is stored in the memory of a general-purpose computer, and the program is read out and executed by a processor. Therefore, the present disclosure can also be realized as a program executable by a processor or a non-transitory computer-readable medium storing the program.

[0086] Some embodiments of the present disclosure will be illustrated below. However, it should be noted that the embodiments of the present disclosure are not limited to these. [Appendix 1] When a vehicle approaches a roadside apparatus that notifies a target person of the presence of a vehicle and / or a pedestrian, an image of the roadside apparatus taken by a photographing unit provided in the vehicle is acquired, vehicle position information indicating the position of the vehicle at the time of image capturing is acquired, Analyze the image to obtain relative position information indicating the relative positional relationship between the vehicle and the roadside device at the time of image capture. Based on the vehicle position information and the relative position information, calculate calculated position information indicating the calculated position of the roadside device. A control unit that transmits the calculated position information to a storage unit of an information storage device that stores the position information of the roadside device. An information processing device comprising the same. [Appendix 2] The vehicle position information includes the latitude and longitude of the vehicle at the time of image capture. The relative position information includes the distance between the vehicle and the roadside device at the time of image capture and the azimuth of the roadside device as seen from the vehicle at the time of image capture. The information processing device according to Appendix 1. [Appendix 3] The control unit Obtains registered position information of the roadside device from the information storage device. Calculates the positional deviation between the position of the roadside device indicated by the registered position information and the position of the roadside device indicated by the calculated position information. Determines whether the positional deviation exceeds a threshold value. The sending of the calculated position information means that when the positional deviation exceeds the threshold value of the positional deviation, the calculated position information is sent to the storage unit of the information storage device. The information processing device according to Appendix 1 or 2. [Appendix 4] The threshold value of the positional deviation is set based on the distance resolution of the camera provided in the vehicle. The information processing device according to Appendix 3. [Appendix 5] The vehicle position information includes the azimuth of the vehicle at the time of image capture. The relative position information includes the azimuth of the roadside device as seen from the vehicle at the time of image capture and the azimuth of the roadside device in the image. The calculated position information includes the calculated azimuth of the roadside device calculated based on the vehicle position information and the relative position information. The information processing device according to any one of Appendices 1 to 4. [Appendix 6] The information storage device stores the registered orientation of the roadside device registered in advance. The control unit further calculates the orientation deviation between the registered orientation and the calculated orientation, determines whether the orientation deviation exceeds the threshold value, Sending the calculated position information includes, when the orientation deviation exceeds the threshold value of the orientation deviation, sending the calculated position information to the storage unit of the information storage device, the information processing device described in Supplementary Note 5. [Supplementary Note 7] The information storage device is the roadside device or the server device, the information processing device described in Supplementary Notes 1 to 6. [Supplementary Note 8] An information processing device, A roadside device that notifies a target person of the presence of a vehicle and / or a pedestrian, A system comprising: the information processing device and the roadside device communicate with each other, The information processing device When a vehicle approaches the roadside device, acquires an image of the roadside device captured by a photographing unit provided in the vehicle, Acquires vehicle position information indicating the position of the vehicle at the time of image capture, Analyzes the image to acquire relative position information indicating the relative positional relationship between the vehicle and the roadside device at the time of image capture, Based on the vehicle position information and the relative position information, calculates calculated position information indicating the calculated position of the roadside device, A system that transmits the calculated position information to a storage unit of an information storage device that stores the position information of the roadside device. [Supplementary Note 9] The vehicle position information includes the latitude and longitude of the vehicle at the time of image capture, The relative position information includes the distance between the vehicle and the roadside device at the time of image capture and the azimuth of the roadside device as seen from the vehicle at the time of image capture, the system described in Supplementary Note 8. [Supplementary Note 10] The information processing device Acquires registered position information of the roadside device from the information storage device, Calculate the displacement between the position of the roadside device indicated by the registered position information and the position of the roadside device indicated by the calculated position information, Determine whether the displacement exceeds a threshold value, The method of transmitting the calculated position information is, when the displacement exceeds the threshold value of the displacement, to transmit the calculated position information to the storage unit of the information storage device, the system described in Supplementary Note 8 or 9. [Supplementary Note 11] The threshold value of the displacement is set based on the distance resolution of the camera provided in the vehicle, the system described in Supplementary Note 10. [Supplementary Note 12] The vehicle position information includes the orientation of the vehicle at the time of image capture, The relative position information includes the azimuth of the roadside device as seen from the vehicle at the time of image capture and the azimuth of the roadside device in the image, The calculated position information includes the calculated azimuth of the roadside device calculated based on the vehicle position information and the relative position information, the system described in any one of Supplementary Notes 8 to 11. [Supplementary Note 13] The information storage device stores in advance the registered azimuth of the roadside device, The information processing device further, Calculate the azimuth deviation between the registered azimuth and the calculated azimuth, Determine whether the azimuth deviation exceeds the threshold value, The method of transmitting the calculated position information is, when the azimuth deviation exceeds the threshold value of the azimuth deviation, to transmit the calculated position information to the storage unit of the information storage device, the system described in Supplementary Note 12. [Supplementary Note 14] The information storage device is the roadside device or the server device, the system described in any one of Supplementary Notes 8 to 13. [Supplementary Note 15] A method executed by an information processing device that corrects position information of a roadside device that notifies a target person of the presence of a vehicle and / or a pedestrian, (1) When a vehicle approaches a roadside device, obtaining an image of the roadside device captured by a camera provided in the vehicle; (2) Obtaining vehicle position information indicating the position of the vehicle at the time of image capture; (3) Analyzing the image to obtain relative position information indicating the relative positional relationship between the vehicle and the roadside device at the time of image capture; (4) Calculating calculated position information indicating the calculated position of the roadside device based on the vehicle position information and the relative position information; (5) Transmitting the calculated position information to a storage unit of an information storage device that stores the position information of the roadside device; A method comprising the above. [Appendix 16] The vehicle position information includes the latitude and longitude of the vehicle at the time of image capture, The relative position information includes the distance between the vehicle and the roadside device at the time of image capture and the azimuth of the roadside device as seen from the vehicle at the time of image capture. The method according to Appendix 15. [Appendix 17] The calculating includes: (4a) Obtaining registered position information of the roadside device from the information storage device; (4b) Calculating a displacement between the position of the roadside device indicated by the registered position information and the position of the roadside device indicated by the calculated position information; (4c) Determining whether the displacement exceeds a threshold value; Including, The transmitting includes, in the case where the displacement exceeds the displacement threshold value, transmitting the calculated position information to the storage unit of the information storage device. The method according to Appendix 15 or 16. [Appendix 18] The displacement threshold value is set based on the distance resolution of a camera provided in the vehicle. The method according to Appendix 17. [Appendix 19] The vehicle position information includes the azimuth of the vehicle at the time of image capture, The relative position information includes the azimuth of the roadside device as seen from the vehicle at the time of image capture and the orientation of the roadside device within the image. The calculated position information includes the calculated azimuth of the roadside device calculated based on the vehicle position information and the relative position information, and is the method described in any one of Appendices 15 to 18. [Appendix 20] The information storage device stores the registered azimuth of the roadside device registered in advance. The calculating further includes (4d) calculating the azimuth deviation between the registered azimuth and the calculated azimuth; (4e) determining whether the azimuth deviation exceeds a threshold value; and includes The transmitting includes, when the azimuth deviation exceeds the threshold value of the azimuth deviation, transmitting the calculated position information to the storage unit of the information storage device, and is the method described in Appendix 19.

Explanation of Signs

[0087] 1 System 10 Vehicle 11 Imaging Unit 12 Positioning Unit 13 Storage Unit 14 Communication Unit 15 Control Unit 20 Roadside Device 21 Detection Unit 22 Notification Unit 23 Positioning Unit 24 Storage Unit 25 Communication Unit 26 Control Unit 30 Information Processing Device 31 Storage Unit 32 Communication Unit 33 Control Unit 40 Network

Claims

1. When a vehicle approaches a roadside device that notifies a target person of the presence of a vehicle and / or a pedestrian, an image of the roadside device taken by an imaging unit provided in the vehicle is acquired, vehicle position information indicating the position of the vehicle at the time of image capture is acquired, the image is analyzed to acquire relative position information indicating the relative positional relationship between the vehicle and the roadside device at the time of image capture, calculated position information indicating the calculated position of the roadside device is calculated based on the vehicle position information and the relative position information, a control unit that transmits the calculated position information to a storage unit of an information storage device that stores the position information of the roadside device An information processing apparatus comprising:

2. The vehicle position information includes the latitude and longitude of the vehicle at the time of image capture, The relative position information includes the distance between the vehicle and the roadside device at the time of image capture and the azimuth of the roadside device as seen from the vehicle at the time of image capture. The information processing apparatus according to claim 1.

3. The control unit acquires registration position information of the roadside device from the information storage device, calculates a positional deviation between the position of the roadside device indicated by the registration position information and the position of the roadside device indicated by the calculated position information, determines whether the positional deviation exceeds a threshold value, The transmitting of the calculated position information is to transmit the calculated position information to the storage unit of the information storage device when the positional deviation exceeds the threshold value of the positional deviation. The information processing apparatus according to claim 1.

4. The threshold value of the positional deviation is set based on the distance resolution of a camera provided in the vehicle. The information processing apparatus according to claim 3.

5. The vehicle position information includes the azimuth of the vehicle at the time of image capture, The relative position information includes the azimuth of the roadside device as seen from the vehicle at the time of image capture and the azimuth of the roadside device in the image, The calculated position information includes the calculated azimuth of the roadside device calculated based on the vehicle position information and the relative position information. The information processing apparatus according to claim 3.

6. The information storage device stores a registered azimuth of the roadside device registered in advance, The control unit further calculates an azimuth deviation between the registered azimuth and the calculated azimuth, determines whether the azimuth deviation exceeds the threshold value, The transmitting of the calculated position information includes transmitting the calculated position information to a storage unit of the information storage device when the azimuth deviation exceeds a threshold value of the azimuth deviation. The information processing apparatus according to claim 5.

7. The information storage device is the roadside device or the server device. The information processing apparatus according to claim 1.

8. An information processing apparatus, A roadside device that notifies a target person of the presence of a vehicle and / or a pedestrian, A system comprising: The information processing apparatus and the roadside device communicate with each other, The information processing apparatus, When a vehicle approaches the roadside device, obtains an image of the roadside device taken by an imaging unit provided in the vehicle, Obtains vehicle position information indicating the position of the vehicle at the time of image shooting, Analyzes the image to obtain relative position information indicating a relative positional relationship between the vehicle and the roadside device at the time of image shooting, Based on the vehicle position information and the relative position information, calculates calculated position information indicating the calculated position of the roadside device, A system that transmits the calculated position information to a storage unit of an information storage device that stores position information of the roadside device.

9. The vehicle position information includes the latitude and longitude of the vehicle at the time of image shooting, The relative position information includes the distance between the vehicle and the roadside device at the time of image shooting and the azimuth of the roadside device as seen from the vehicle at the time of image shooting. The system according to claim 8.

10. The information processing apparatus, Obtains registered position information of the roadside device from the information storage device, Calculates a positional deviation between the position of the roadside device indicated by the registered position information and the position of the roadside device indicated by the calculated position information, Determines whether the positional deviation exceeds a threshold value, The transmitting of the calculated position information includes transmitting the calculated position information to a storage unit of the information storage device when the positional deviation exceeds a threshold value of the positional deviation. The system according to claim 8.

11. The threshold value of the positional deviation is set based on the distance resolution of a camera provided in the vehicle. The system according to claim 10.

12. The vehicle position information includes the azimuth of the vehicle at the time of image shooting, The relative position information includes the azimuth of the roadside device as seen from the vehicle at the time of image shooting and the azimuth of the roadside device in the image. The system according to claim 10, wherein the calculated position information is calculated based on the vehicle position information and the relative position information and includes the calculated orientation of the roadside device.

13. The information storage device stores in advance the registered orientation of the roadside device, The information processing device further calculates an orientation deviation between the registered orientation and the calculated orientation, determines whether the orientation deviation exceeds the threshold, Sending the calculated position information means, when the orientation deviation exceeds the threshold of the orientation deviation, sending the calculated position information to the storage unit of the information storage device, according to the system of claim 12.

14. The system according to claim 8, wherein the information storage device is the roadside device or the server device.

15. A method executed by an information processing device that corrects position information of a roadside device that notifies a target person of the presence of a vehicle and / or a pedestrian, (1) When a vehicle approaches the roadside device, obtaining an image of the roadside device taken by a camera provided in the vehicle; (2) Obtaining vehicle position information indicating the position of the vehicle at the time of image capture; (3) Analyzing the image to obtain relative position information indicating a relative positional relationship between the vehicle and the roadside device at the time of image capture; (4) Calculating calculated position information indicating the calculated position of the roadside device based on the vehicle position information and the relative position information; (5) Sending the calculated position information to a storage unit of an information storage device that stores the position information of the roadside device.

16. The vehicle position information includes the latitude and longitude of the vehicle at the time of image capture, The relative position information according to claim 15 includes the distance between the vehicle and the roadside device at the time of image capture and the azimuth of the roadside device as seen from the vehicle at the time of image capture.

17. The calculating includes (4a) Obtaining registered position information of the roadside device from the information storage device; (4b) Calculating a position deviation between the position of the roadside device indicated by the registered position information and the position of the roadside device indicated by the calculated position information; (4c) Determining whether the position deviation exceeds a threshold; including, The sending includes, when the position deviation exceeds the threshold of the position deviation, sending the calculated position information to the storage unit of the information storage device, according to the method of claim 15.

18. The method according to claim 17, wherein the threshold value of the misalignment is set based on the distance resolution of a camera provided in the vehicle.

19. The vehicle position information includes the orientation of the vehicle at the time of the image capture, The relative position information includes the azimuth of the roadside device as seen from the vehicle at the time of the image capture and the azimuth of the roadside device in the image, The method according to claim 17, wherein the calculated position information includes the calculated azimuth of the roadside device calculated based on the vehicle position information and the relative position information.

20. The information storage device stores in advance the registered azimuth of the roadside device, The calculating further includes (4d) calculating an azimuth misalignment between the registered azimuth and the calculated azimuth, and (4e) determining whether the azimuth misalignment exceeds a threshold value, and The transmitting includes, in the case where the azimuth misalignment exceeds the threshold value of the azimuth misalignment, transmitting the calculated position information to a storage unit of the information storage device, according to the method of claim 19.

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