Information processing device, control device, control system, information processing method, and program

Abstract

To provide an information processing device, control device, control system, information processing method, and program, which make it easier to identify actual vehicles.SOLUTION: An information processing device is provided, comprising an information acquisition unit for acquiring first detection information related to a first vehicle, second detection information related to a second vehicle preceding the first vehicle, and third detection information related to a third vehicle preceding the first vehicle on the basis of detection information detected by a roadside sensor capable of detecting vehicles traveling on a road, and a determination unit for determining whether the third vehicle is a mirror image of the second vehicle reflected by the first vehicle or not on the basis of the first detection information, the second detection information, and the third detection information.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to an information processing device, a control device, a control system, an information processing method, and a program. [Background technology]

[0002] For example, an autonomous vehicle traveling on a road such as a highway or a driver of a traveling vehicle needs to check the status of other vehicles traveling on the same road or other roads. For this reason, the driver of an autonomous vehicle or a vehicle needs to accurately identify the situation of other vehicles.

[0003] As a device used in such a situation, for example, a device such as that disclosed in Patent Document 1 is known. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-157795 Summary of the Invention [Problem to be solved by the invention]

[0005] The device disclosed in Patent Document 1 uses an area sensor to detect vehicles traveling on a road. However, when a mirror image appears on the side of a vehicle such as a truck, the device disclosed in Patent Document 1 may detect a mirror image vehicle that is not the actual vehicle, which can make it difficult to identify the actual vehicle.

[0006] The object of the present disclosure has been made to solve the above-mentioned problem, and is to provide an information processing device, a control device, a system, an information processing method, and a program that make it easy to identify an actual vehicle. [Means for solving the problem]

[0007] In order to solve the above problem, the information processing device of the present disclosure includes an information acquisition unit that acquires first detection information about a first vehicle, second detection information about a second vehicle preceding the first vehicle, and third detection information about a third vehicle preceding the first vehicle based on detection information detected by a roadside sensor capable of detecting vehicles traveling on a road, and a discrimination unit that determines whether the third vehicle is a mirror image of the second vehicle reflected by the first vehicle based on the first detection information, the second detection information, and the third detection information.

[0008] In order to solve the above problem, the control device of the present disclosure includes the above-mentioned information processing device and an information generation unit that generates support information that can support driving on the road based on the first detection information, the second detection information, and the third detection information.

[0009] In order to solve the above problem, the control system of the present disclosure includes the above-mentioned control device and the roadside sensor.

[0010] In order to solve the above problem, the information processing method disclosed herein acquires first detection information regarding a first vehicle, second detection information regarding a second vehicle preceding the first vehicle, and third detection information regarding a third vehicle preceding the first vehicle based on detection information detected by a roadside sensor capable of detecting vehicles traveling on a road, and determines whether the third vehicle is a mirror image of the second vehicle reflected by the first vehicle based on the first detection information, the second detection information, and the third detection information.

[0011] In order to solve the above problem, the program disclosed herein causes a computer to acquire first detection information regarding a first vehicle, second detection information regarding a second vehicle preceding the first vehicle, and third detection information regarding a third vehicle preceding the first vehicle based on detection information detected by a roadside sensor capable of detecting vehicles traveling on a road, and to determine whether the third vehicle is a mirror image of the second vehicle reflected by the first vehicle based on the first detection information, the second detection information, and the third detection information. [Effects of the Invention]

[0012] According to the information processing device, control device, control system, information processing method, and program of the present disclosure, it is easy to identify an actual vehicle. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is an overall view of a control system according to an embodiment. [Figure 2] FIG. 1 is a block diagram of a control system according to an embodiment. [Figure 3] FIG. 2 is a plan view illustrating a process performed by the information processing device according to the embodiment. [Figure 4] FIG. 2 is a plan view illustrating a process performed by the information processing device according to the embodiment. [Figure 5] FIG. 2 is a plan view illustrating a process performed by the information processing device according to the embodiment. [Figure 6] 1 is a flowchart of an information processing method according to an embodiment. [Figure 7] 1 is a flowchart of an information processing method according to an embodiment. [Figure 8] 1 is a flowchart of an information processing method according to an embodiment. [Figure 9] 1 illustrates an example of a hardware configuration of a computer included in a control device or an information processing device according to each embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] <Embodiment> Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In all drawings, the same or corresponding components are designated by the same reference numerals, and common descriptions will be omitted.

[0015] (Overall configuration of the control system) The control system 100 is a system for assisting a vehicle traveling on a merging road RM that merges with a road RR in driving operations in the merging section with the road RR according to the situation of the vehicle traveling on the road RR. Road RR has multiple lanes LL on each side. On the opposite side of road RR from merging road RM, there is a side wall surface WS. Road RR is a main road such as an expressway. The merging road RM is a ramp that merges onto a main road such as an expressway, and is a road on which a plurality of vehicles traveling to merge onto the main road travel.

[0016] As shown in FIG. 1, the control system 100 includes a control device 1, a roadside sensor 2, a roadside wireless device 3, and an in-vehicle device VMa mounted on each vehicle traveling on a merging road RM. In the following description, a vehicle traveling on road RR will also be referred to as a "vehicle VV," and a vehicle traveling on merging road RM will also be referred to as a "merging vehicle VM." In FIG. 1, each vehicle is traveling in the direction indicated by the arrow. The merging vehicle VM according to this embodiment may be, for example, an automatically driven vehicle or a vehicle driven by a driver.

[0017] Hereinafter, the direction in which the road RR extends will be referred to as the lane direction. Furthermore, the direction in which each vehicle travels among the lane directions of road RR is also referred to as the Y direction or traveling direction. In addition, the width direction of the road RR, that direction away from the merging road RM, is also referred to as the X direction.

[0018] (Control device configuration) As shown in FIG. 2, the control device 1 includes an information processing device 10 and an information generating unit 19. The control device 1 is communicably connected to the roadside sensor 2 via a dedicated communication line or a public communication line. The control device 1 is communicably connected to the roadside wireless device 3 via a dedicated communication line or a public communication line. For example, the control device 1 may be installed on a road RR, which is a main road of a road (such as a highway), near a merging section where a merging road RM merges, or may be set in a remote location away from the merging section. For example, a computer may function as the control device 1 by executing a program described below.

[0019] (Roadside sensor configuration) The roadside sensor 2 is installed on the merging road RM side of the road RR. The roadside sensor 2 is capable of detecting a vehicle VV traveling on a road RR. The roadside sensor 2 captures an image looking down on a predetermined area AA of the road RR, and detects detection information DT including image data of the predetermined area AA of the road RR including a plurality of vehicles VV. The roadside sensor 2 is set so that the predetermined area AA is an area that can accommodate a plurality of vehicles VV traveling on the road RR in the Y direction. The roadside sensor 2 is set so that the predetermined area AA is an area that can accommodate a plurality of lanes LL in the width direction of the road RR. The roadside sensor 2 repeatedly captures images at predetermined times and acquires a plurality of image data sets over different times. For example, the roadside sensor 2 may include a LiDAR (Light Detection And Ranging) sensor capable of detecting three-dimensional information. For example, the roadside sensor 2 may include an area sensor such as a camera that can detect two-dimensional information, in addition to a LiDAR that can detect three-dimensional information. For example, the predetermined area AA may be set immediately before the merging section of the road RR and the merging road RM. The roadside sensor 2 provides the acquired detection information DT to the control device 1 via a communication line.

[0020] (Configuration of roadside radio device) The roadside wireless device 3 acquires the assistance information DA from the control device 1 via a communication line. The roadside wireless device 3 transmits the acquired assistance information DA to an in-vehicle device VMa mounted on a merging vehicle VM traveling on the merging road RM, thereby notifying the automatically driven vehicle, the driver, and the like. For example, the assistance information DA may be merging assistance information for the merging vehicle VM to merge onto the road RR and travel there. For example, the roadside wireless device and the vehicle-mounted device VMa may perform wireless communication based on the Dedicated Short Range Communications (DSRC) technology. For example, the roadside radio 3 may transmit the assistance information DA to an onboard device VMa mounted on the merging vehicle VM, or may transmit the assistance information DA to a signboard or the like set up on the roadside, and notify the merging vehicle VM traveling on the merging road RM of the assistance information DA by display or voice via a signboard, speaker, or the like.

[0021] (Configuration of information processing device) As shown in FIG. 2, the information processing device 10 includes an information acquisition unit 11, a determination unit 12, and a notification unit 18. For example, a computer may function as the information processing device 10 by executing a program described below.

[0022] (Configuration of information acquisition unit) The information acquisition unit 11 acquires the detection information DT from the roadside sensor 2, and acquires first detection information DT1 related to a certain vehicle, a first vehicle VA, based on the acquired detection information DT. Specifically, the information acquisition unit 11 acquires the first detection information DT1 as follows. For example, the first vehicle VA may be a vehicle such as a truck.

[0023] First, the information acquisition unit 11 individually identifies the multiple vehicles VV included in the image data of the detection information DT, and assigns a vehicle ID to each identified vehicle VV that enables the vehicle VV to be distinguished from other vehicles VV. For example, the information acquisition unit 11 may perform matching processing for each vehicle VV between a plurality of image data at different times, and assign the same vehicle ID to vehicles VV that can be identified. For example, the information acquisition unit 11 may determine the order in which multiple vehicles VV pass through a specified area AA from the changes over time between multiple image data acquired at different times, and assign vehicle IDs in the chronological order in which they pass through the specified area AA. For example, the plurality of vehicles VV may include a vehicle such as a truck having a side surface that is prone to mirror images. Furthermore, the representative point RP set for each identified vehicle VV may be, for example, as shown in Figure 3, in a planar view of the XY plane viewed from above, the representative point RP may be the rear corner of the rectangular area QQ, which is the corner closest to the roadside sensor 2, when the outline of each vehicle is viewed as a rectangle.

[0024] Next, for one vehicle, the first vehicle VA, among the multiple vehicles VV to which vehicle IDs have been assigned, the information acquisition unit 11 identifies the position of the representative point RP of the first vehicle VA as first detection information DT1 based on the image data of the detection information DT, and associates it with the vehicle ID of the first vehicle VA. For example, in a planar view of the XY plane from above, the vehicle side of the first vehicle VA facing the roadside sensor 2, which may reflect the second vehicle VB described below, may be located on the side of the pair of sides extending in the Y direction of the rectangular area QQ facing the roadside sensor 2. For example, the first vehicle VA may be a vehicle, such as a truck, that has a side surface that is prone to mirror images.

[0025] Furthermore, for one vehicle, the first vehicle VA, among the multiple vehicles VV assigned with vehicle IDs, the information acquisition unit 11 identifies the vehicle width, vehicle height, vehicle length, speed, etc. of the first vehicle VA as first detection information DT1, based on the image data of the detection information DT, and associates it with the vehicle ID of the first vehicle VA.

[0026] The information acquisition unit 11 acquires the detection information DT from the roadside sensor 2, and based on the acquired detection information DT, acquires second detection information DT2 relating to the second vehicle VB preceding the first vehicle VA. As with the first detection information DT1, the information acquisition unit 11 identifies the position of the representative point RP of the second vehicle VB preceding the first vehicle VA based on the image data of the detection information DT, as second detection information DT2, and associates it with the vehicle ID of the second vehicle VB. Furthermore, similar to the first detection information DT1, the information acquisition unit 11 identifies the vehicle width, vehicle height, vehicle length, speed, etc. of the second vehicle VB preceding the first vehicle VA based on the image data of the detection information DT as second detection information DT2, and associates it with the vehicle ID of the second vehicle VB. For example, the second vehicle VB may be a vehicle traveling immediately before the first vehicle VA, among vehicles traveling at a position closer to the roadside where the roadside sensor 2 is installed in the width direction of the road RR than the first vehicle VA.

[0027] The information acquisition unit 11 acquires the detection information DT from the roadside sensor 2, and based on the acquired detection information DT, acquires third detection information DT3 relating to a third vehicle VC preceding the first vehicle VA. As with the first detection information DT1, the information acquisition unit 11 identifies the position of the representative point RP of the third vehicle VC preceding the first vehicle VA based on the image data of the detection information DT, as third detection information DT3, in association with the vehicle ID of the third vehicle VC. Furthermore, similar to the first detection information DT1, the information acquisition unit 11 identifies the vehicle width, vehicle height, vehicle length, speed, etc. of the third vehicle VC preceding the first vehicle VA based on the image data of the detection information DT as third detection information DT3, and associates it with the vehicle ID of the third vehicle VC. For example, the third vehicle VC may be a vehicle traveling just before the first vehicle VA, among vehicles traveling farther from the roadside where the roadside sensor 2 is installed than the first vehicle VA in the width direction of the road RR.

[0028] (Configuration of the discrimination unit) The discrimination unit 12 has the function of discriminating between the multiple vehicles detected by the roadside sensor 2 and a vehicle that is a mirror image of the second vehicle VB reflected by the first vehicle VA and is not a vehicle (actual vehicle) actually traveling on the road RR.

[0029] In this embodiment, when a second vehicle VB is traveling diagonally in front of a first vehicle VA, ahead of the first vehicle VA, light reflected by the second vehicle VB may be specularly reflected by the side of the first vehicle VA. For this reason, the mirror image of the second vehicle VB may appear in the image detected by the roadside sensor 2 as an image of a vehicle separate from the first vehicle VA and the second vehicle VB. For example, if the roadside sensor 2 includes a 3D-LiDAR, the laser light emitted from the 3D-LiDAR may be reflected off the side of a vehicle such as a truck, and reflected back to the rear of the vehicle in front, creating a mirror image that makes it appear as if there is a vehicle on the other side of the truck.

[0030] Hereinafter, "actual vehicle" refers to a vehicle that is actually traveling on the road RR. In addition, hereinafter, the mirror image of the second vehicle VB reflected by the first vehicle VA will be referred to as the "mirror image vehicle." For example, the mirror image vehicle may be a mirror image of the second vehicle VB reflected off a reflective surface on the first vehicle VA. For example, the reflective surface of the first vehicle VA may be the side surface of the first vehicle VA facing the roadside sensor 2 of the first vehicle VA, facing in the direction opposite to the X direction.

[0031] The determination unit 12 determines whether or not the third vehicle VC is a mirror image vehicle based on the first detection information DT1, the second detection information DT2, and the third detection information DT3. Specifically, the determination unit 12 determines whether the third vehicle VC is a mirror image vehicle by determining whether the layout of the third vehicle VC in the XY plane is a layout specific to a mirror image vehicle. The discrimination unit 12 includes an overlap discrimination unit 13 , a width direction discrimination unit 14 , a parallel running discrimination unit 15 , an abnormal proximity discrimination unit 16 , and a sidewall distance discrimination unit 17 .

[0032] (Configuration of overlap determination unit) The overlap determination unit 13 has a function for checking whether the first vehicle VA and the third vehicle VC are in a positional relationship that can only occur in the case of mirror image vehicles. The overlap determination unit 13 determines whether the first vehicle VA and the third vehicle VC overlap. 3, the overlap determination unit 13 may compare a first distance α in the Y direction between the representative point RP of the first vehicle VA and the representative point RP of the third vehicle VC with the vehicle length W of the first vehicle VA, and determine whether the first distance α is within the vehicle length W of the first vehicle VA. In this case, if the first distance α is within the vehicle length W of the first vehicle VA, the overlap determination unit 13 may determine that there is a possibility that the first vehicle VA and the third vehicle VC overlap.

[0033] Furthermore, when it is determined that there is a possibility that the first vehicle VA and the third vehicle VC overlap, the overlap determination unit 13 may, for example, compare the third distance β with the vehicle width L of the first vehicle VA, as shown in FIG. 4, and determine whether the third distance β is smaller than the vehicle width L of the first vehicle VA. Here, the third distance β is the distance in the width direction of the road RR of the second vehicle VB from the representative point RP of the first vehicle VA.

[0034] (Configuration of width direction discrimination unit) The width direction determining unit 14 has a function of checking whether the positional relationship between the second vehicle VB and the third vehicle VC is a mirror image relationship in the width direction of the road RR. The width direction determining unit 14 determines the positional relationship of the second vehicle VB and the third vehicle VC with respect to the end of the first vehicle VA on the roadside sensor 2 side in the width direction of the road RR. For example, as shown in FIG. 3, the width direction discriminator 14 may make such a discrimination by comparing the third distance β with the second distance γ and discriminating whether the third distance β and the second distance γ are substantially equal. For example, if the third distance β and the second distance γ are substantially equal, the width direction discriminator 14 may determine that the second vehicle VB and the third vehicle VC are in a mirror image positional relationship.

[0035] Here, the third distance β is the distance in the width direction of the road RR of the second vehicle VB from the end of the first vehicle VA on the roadside sensor 2 side. The second distance γ is the distance in the width direction of the road RR of the second vehicle VB from the end of the first vehicle VA on the roadside sensor 2 side. For example, the end of the first vehicle VA on the roadside sensor 2 side may be a point on the side of the vehicle on the roadside sensor 2 side of the first vehicle VA, where an image of the second vehicle VB may be reflected, when viewed from above on the XY plane. For example, the end of the first vehicle VA on the roadside sensor 2 side may be the representative point RP of the first vehicle VA.

[0036] (Configuration of parallel running discrimination unit) The parallel running determination unit 15 has a function for checking the degree to which the second vehicle VB and the third vehicle VC are running side by side in the lane direction. The parallel running determination unit 15 determines whether the second vehicle VB and the third vehicle VC are running side by side. For example, the parallel running determination unit 15 may determine whether the absolute value of the positional deviation θ in the lane direction between the second vehicle VB and the third vehicle VC as shown in FIG. 3 is smaller than a predetermined value a. Here, the positional deviation amount θ is the difference in the Y direction between the position of the representative point RP of the second vehicle VB and the position of the representative point RP of the third vehicle VC.

[0037] (Configuration of abnormal approach determination unit) The abnormal approach determination unit 16 has a function for checking for abnormal approach between the first vehicle VA and the third vehicle VC, which can only occur with mirror image vehicles. The abnormal approach determination unit 16 determines whether the first vehicle VA and the third vehicle VC are abnormally close to each other in the lane direction of the road RR. For example, the abnormal approach determination unit 16 may determine whether the value obtained by subtracting the vehicle length W of the first vehicle VA from the first distance α in the Y direction between the representative point RP of the first vehicle VA and the representative point RP of the third vehicle VC as shown in Figure 3 is smaller than a predetermined value b, and may determine that an abnormal approach has occurred if the value obtained by subtracting the vehicle length W of the first vehicle VA from the first distance α is smaller than the predetermined value b.

[0038] (Configuration of sidewall distance determination unit) The side wall distance determination unit 17 has a function for checking the position of the third vehicle VC relative to the side wall surface WS. The side wall distance determination unit 17 determines the distance between the side wall surface WS and the third vehicle VC. Here, the side wall surface WS is on the opposite side of the lane LL from the roadside sensor 2, and therefore the side wall surface WS is on the opposite side of the first vehicle from the roadside sensor 2. For example, the sidewall distance determination unit 17 may determine, in the width direction of the road RR, whether the sidewall distance δ between the representative point RP of the third vehicle VC and the sidewall surface WS as shown in Figure 5 is smaller than a predetermined value c.

[0039] (Configuration of notification section) The notification unit 18 has a function for notifying information about the mirror image vehicle. The notification unit 18 notifies the third vehicle VC that has been determined to be a mirror image vehicle. For example, if the third vehicle VC is determined to be a mirror image vehicle, the information processing device 10, in accordance with the notification from the notification unit 18, may maintain the third detection information DT3 related to the determined third vehicle VC, and may notify the information generation unit 19 or another device of a detection result flag indicating that the determined third vehicle VC has been detected as a mirror image vehicle, in association with the third detection information DT3.

[0040] (Configuration of the information generation unit) The information generating unit 19 generates support information DA that can support traveling on the road RR based on the first detection information DT1, the second detection information DT2, and the third detection information DT3. For example, the information generating unit 19 may generate, as the assistance information DA, information indicating the position of the actual vehicle in a merging section on a plurality of lanes LL.

[0041] (operation) An example of the operation of the information processing device 10 of this embodiment will be described. The operation of the information processing device 10 corresponds to an example of the information processing method of this embodiment.

[0042] To determine whether the third vehicle VC is a mirror image vehicle, methods can be used to determine whether the first vehicle VA and the third vehicle VC are approaching abnormally close to each other, or whether the first vehicle VA and the third vehicle VC overlap. In this case, if the third vehicle VC is a mirror image vehicle, it can be confirmed that the Y coordinates (positions in the lane direction on road RR) of the second vehicle VB and the third vehicle VC are the same, and this can be used to determine whether the vehicle is a mirror image. If it is determined that the first vehicle VA and the third vehicle VC are abnormally close to each other or that the first vehicle VA and the third vehicle VC are overlapping, the third vehicle VC can be determined to be a mirror image vehicle. Specifically, the mirror image vehicle is identified in the following steps.

[0043] First, as shown in FIG. 6, the information acquisition unit 11 acquires detection information DT from the roadside sensor 2, and based on the acquired detection information DT, acquires first detection information DT1 regarding the first vehicle VA, second detection information DT2 regarding the second vehicle VB, and third detection information DT3 regarding the third vehicle VC (ST01: step of acquiring detection information).

[0044] After performing ST01, the discrimination unit 12 discriminates whether the third vehicle VC is a mirror image vehicle based on the first detection information DT1, the second detection information DT2, and the third detection information DT3 (ST02: first discrimination step). ST02 includes ST02-1, ST02-2, ST02-3, and ST02-4 shown below.

[0045] In ST02, first, the overlap determination unit 13 determines whether the first vehicle VA and the third vehicle VC overlap (ST02-1: overlap determination step). ST02-1 includes ST02-1A, ST02-1B, and ST02-1C shown below.

[0046] In ST02-1, first, as shown in FIG. 3, the overlap determination unit 13 determines whether the first distance α in the Y direction between the representative point RP of the first vehicle VA and the representative point RP of the third vehicle VC is greater than the vehicle length W of the first vehicle VA (ST02-1A: first overlap condition determination step). For example, if the first vehicle VA is a truck, the length W of the first vehicle VA may be 11 m.

[0047] If the overlap determination unit 13 determines that the first distance α is not greater than the vehicle length W of the first vehicle VA (if the first distance α is within the vehicle length W of the first vehicle VA; ST02-1A: NO), the overlap determination unit 13 proceeds to the determination in ST02-1B, as there is a possibility that the first vehicle VA and the third vehicle VC overlap.

[0048] If the overlap determination unit 13 determines that the first distance α is greater than the vehicle length W of the first vehicle VA (ST02-1A: YES), the width direction determination unit 14 compares the third distance β with the second distance γ, as shown in Fig. 3, and determines whether the third distance β and the second distance γ are approximately equal (ST02-2: first width direction determination step). At this time, measurement points farther from the roadside sensor 2 may be measured shorter.

[0049] If the width direction discrimination unit 14 determines that the third distance β and the second distance γ are not approximately equal (ST02-2: NO), the discrimination unit 12 determines that the third vehicle VC is an actual vehicle rather than a mirror image vehicle, and the information acquisition unit 11 maintains the vehicle ID numbering of the third vehicle VC (ST03).

[0050] If the width direction discrimination unit 14 determines that the third distance β and the second distance γ are approximately equal (ST02-2: YES), the third vehicle VC is likely to be a mirror image vehicle, and the parallel running discrimination unit 15 performs ST02-3.

[0051] In ST02-3, the parallel running determination unit 15 determines whether the absolute value of the positional deviation θ in the lane direction between the second vehicle VB and the third vehicle VC as shown in Figure 3 is smaller than a predetermined value a (ST02-3: first parallel running determination step). The predetermined value a is a threshold value that is optimized using the characteristics of a mirror image vehicle that tends to appear in a position parallel to the second vehicle VB, and may be, for example, 1 m.

[0052] If the parallel running discrimination unit 15 determines that the absolute value of the positional deviation amount θ is not smaller than the predetermined value a (ST02-3: NO), the discrimination unit 12 determines that the third vehicle VC is an actual vehicle and not a mirror image vehicle, and the information acquisition unit 11 maintains the vehicle ID number assigned to the third vehicle VC (ST03).

[0053] If the parallel running determination unit 15 determines that the absolute value of the positional deviation amount θ is smaller than the predetermined value a (ST02-3: YES), the third vehicle VC is likely to be a mirror image vehicle, and the abnormal proximity determination unit 16 performs ST02-4.

[0054] In ST02-3, the abnormal approach determination unit 16 determines whether the value obtained by subtracting the vehicle length W of the first vehicle VA from the first distance α in the Y direction between the representative point RP of the first vehicle VA and the representative point RP of the third vehicle VC as shown in Figure 3 is smaller than a predetermined value b (ST02-4: abnormal approach determination step). The predetermined value b is a threshold value that is optimized by utilizing the characteristics of mirrored vehicles that tend to appear abnormally close to the first vehicle VA, and may be, for example, 1 m.

[0055] If the abnormal approach determination unit 16 determines that the value obtained by subtracting the vehicle length W of the first vehicle VA from the first distance α is not smaller than the predetermined value b (ST02-4: NO), the determination unit 12 determines that the third vehicle VC is an actual vehicle and not a mirror image vehicle, and the information acquisition unit 11 maintains the vehicle ID number assigned to the third vehicle VC (ST03).

[0056] If the abnormal approach determination unit 16 determines that the value obtained by subtracting the vehicle length W of the first vehicle VA from the first distance α is smaller than the predetermined value b (ST02-4: YES), the determination unit 12 determines that the third vehicle VC is a mirror image vehicle, and the notification unit 18 notifies the determined third vehicle VC as a mirror image vehicle (ST04: first notification step).

[0057] After performing ST03 or ST04, the information processing device 10 returns to performing ST01 and repeats each step again.

[0058] By performing the process of FIG. 6, the information processing device 10 can treat the third vehicle VC, which satisfies the mirror image condition and is abnormally close to the first vehicle VA, as a mirror image vehicle.

[0059] On the other hand, in ST02-1B, the overlap determination unit 13 determines whether or not the third distance β is smaller than the vehicle width L of the first vehicle VA, as shown in FIGS. 4 and 7 (ST02-1B: second overlap condition determination step). For example, if the first vehicle VA is a truck, the width L of the first vehicle VA may be 2.5 m.

[0060] If the overlap determination unit 13 determines that the third distance β is not smaller than the vehicle width L of the first vehicle VA (ST02-1B: NO), the width direction determination unit 14 determines whether the third distance β and the second distance γ are approximately equal (ST02-1C: second width direction determination step).

[0061] If the width direction discrimination unit 14 determines that the third distance β and the second distance γ are not approximately equal (ST02-1C: NO), the discrimination unit 12 determines that the third vehicle VC is an actual vehicle and not a mirror image vehicle, and the information acquisition unit 11 maintains the vehicle ID numbering of the third vehicle VC (ST05).

[0062] If the width direction discrimination unit 14 determines that the third distance β and the second distance γ are approximately equal (ST02-1C: YES), the information acquisition unit 11 maintains the vehicle ID numbering of the third vehicle VC and adds information that the third vehicle VC may be a mirror image vehicle to the third detection information DT3 of the third vehicle VC (ST06).

[0063] On the other hand, in ST02-1, if the overlap determination unit 13 determines that the third distance β is smaller than the vehicle width L of the first vehicle VA (ST02-1B: YES), the determination unit 12 determines that the third vehicle VC is a mirror image vehicle, and the notification unit 18 notifies the determined third vehicle VC as a mirror image vehicle (ST07: second notification step).

[0064] After performing ST05, ST06, or ST07, the information processing device 10 returns to performing ST01 and repeats each step again.

[0065] By performing the process shown in FIG. 7, the information processing device 10 can treat the third vehicle VC, which overlaps with the first vehicle VA and which does not occur in the actual vehicle, as a mirror image vehicle.

[0066] On the other hand, the discrimination steps performed following ST01 include ST08 in addition to ST02. After performing ST01, as another determination step parallel to the processing of ST02, as shown in Figures 5 and 8, the determination unit 12 determines whether the third vehicle VC is a mirror image vehicle based on the first detection information DT1, the second detection information DT2, and the third detection information DT3 (ST08: second determination step). ST08 includes ST08-1 and ST08-2, which are shown below.

[0067] In ST08, first, the sidewall distance determination unit 17 determines whether or not the sidewall distance δ between the representative point RP of the third vehicle VC and the sidewall surface WS in the width direction of the road RR is smaller than a predetermined value c (ST08-1: sidewall distance determination step). The predetermined value c is a threshold value optimized by utilizing the characteristics of mirrored vehicles that tend to appear close to the side wall surface WS, and may be, for example, 1 m.

[0068] If the sidewall distance determination unit 17 determines that the sidewall distance δ is not smaller than the predetermined value c (ST08-1: NO), the determination unit 12 determines that the third vehicle VC is an actual vehicle and not a mirror image vehicle, and the information acquisition unit 11 maintains the vehicle ID numbering of the third vehicle VC (ST09).

[0069] If the sidewall distance determination unit 17 determines that the sidewall distance δ is smaller than the predetermined value c (ST08-1: YES), the parallel running determination unit 15 determines that the third vehicle VC may be a mirror image vehicle, and the abnormal proximity determination unit 16 performs ST08-2.

[0070] In ST08-2, the parallel running determination unit 15 determines whether the absolute value of the positional deviation amount θ between the second vehicle VB and the third vehicle VC in the lane direction is smaller than a predetermined value a (ST08-2: second parallel running determination step).

[0071] If the parallel running discrimination unit 15 determines that the absolute value of the positional deviation amount θ is not smaller than the predetermined value a (ST08-2: NO), the discrimination unit 12 determines that the third vehicle VC is an actual vehicle and not a mirror image vehicle, and the information acquisition unit 11 maintains the vehicle ID number assigned to the third vehicle VC (ST09).

[0072] If the parallel running determination unit 15 determines that the absolute value of the positional deviation amount θ is smaller than the predetermined value a (ST08-2: YES), the information acquisition unit 11 maintains the vehicle ID numbering of the third vehicle VC and adds information to the third detection information DT3 of the third vehicle VC that there is a high possibility that the third vehicle VC is a mirror image vehicle (ST10).

[0073] After performing ST09 or ST10, the information processing device 10 returns to performing ST01 and repeats each step again.

[0074] (Action and effect) According to this embodiment, the determination unit 12 determines whether the third vehicle VC is a mirror image vehicle. Therefore, the information processing device 10 can easily identify the actual vehicle.

[0075] Furthermore, according to this embodiment, the overlap determination unit 13 can determine the placement of the third vehicle VC relative to the first vehicle VA, which would not occur in an actual vehicle. Therefore, the overlap determination unit 13 can determine that the third vehicle VC is disposed in a manner specific to a mirror image vehicle. Therefore, the information processing device 10 makes it easy to identify the mirror image vehicle.

[0076] Furthermore, according to this embodiment, the width direction discriminator 14 can determine whether the position of the third vehicle VC satisfies the condition for a mirror image of the second vehicle VB reflected by a reflecting surface in the first vehicle VA. Therefore, the width direction discriminator 14 can determine whether the third vehicle VC is likely to be a mirror image vehicle or not. Therefore, the information processing device 10 makes it easy to identify the actual vehicle.

[0077] Furthermore, according to this embodiment, the parallel running determination unit 15 can determine whether the position of the third vehicle VC satisfies the condition of a mirror image of the second vehicle VB reflected by a reflecting surface on the first vehicle VA. Therefore, the parallel running determination unit 15 can determine whether the third vehicle VC is likely to be a mirror image vehicle or not. Therefore, the information processing device 10 makes it easy to identify the actual vehicle.

[0078] Furthermore, according to this embodiment, the abnormal approach determination unit 16 can determine whether the first vehicle VA is approaching the third vehicle VC abnormally, which is unlikely to occur in an actual vehicle. Therefore, the abnormal approach determination unit 16 can determine that the third vehicle VC is positioned in a manner specific to a mirror image vehicle. Therefore, the information processing device 10 makes it easy to identify the mirror image vehicle.

[0079] Furthermore, according to this embodiment, the side wall distance determination unit 17 can determine the positional relationship of the third vehicle VC with respect to the side wall surface WS, which is unlikely to occur in an actual vehicle. Therefore, the sidewall distance determination unit 17 can determine that the third vehicle VC is disposed in a manner specific to a mirror image vehicle. Therefore, the information processing device 10 makes it easy to identify the mirror image vehicle.

[0080] Furthermore, according to this embodiment, the notification unit 18 can notify information about the mirror image vehicle. Therefore, the information processing device 10 makes it easy to identify the actual vehicle.

[0081] Furthermore, according to this embodiment, the information generating unit 19 can generate support information that can support traveling on road RR and can support merging from merging road RM onto road RR, based on information about the actual vehicle. Therefore, the control device 1 can support the merging vehicle VM traveling on the merging road RM in accordance with the actual traffic conditions on the road RR.

[0082] (Variation) In the above-described embodiment, the information processing device 10 associates a flag of the detection result indicating that the third vehicle VC has been detected as a mirror image vehicle with the third detection information DT3 and notifies the information generation unit 19 or another device, but the information processing device 10 may be configured in any way as long as it can identify the actual vehicle. As a modified example, the information processing device 10 may delete the third detection information DT3 related to the third vehicle VC that has been determined to be a mirror image vehicle. However, the third vehicle VC that is determined to be a mirror image vehicle may be perfectly determined to be a mirror image, but may also be an actual vehicle that happens to match the determination, such as in the case of a motorcycle. For example, merging assistance requires providing information on the presence, location, speed, etc. of moving vehicles to not only ensure smooth merging but also to prevent accidents. In such cases, it may be more important to convey information about vehicles that may be present to the merging vehicle VM, even if it is noise, than to provide information about vehicles that are definitely present. Therefore, as another variant, the information processing device 10 may not delete the third detection information DT3 related to the third vehicle VC that has been determined to be a mirror image vehicle, and the notification unit 18 may notify the third detection information DT3 related to the third vehicle VC that has been determined to be a mirror image vehicle by adding a message to the effect that it is a candidate for deletion (high possibility of being a mirror image), etc. As yet another modified example, the information processing device 10 may broadly classify the third vehicles VC into three categories: (1) actual vehicles, (2) mirror image vehicle candidates that may be noise, and (3) vehicles that are certain not to affect the driving line of the merging vehicle VM, for example, vehicles that overlap with the coordinates of a side wall that is certain to exist. In this case, the control device 1 may provide assistance information DA including information on the third detection information DT3 of the third vehicles VC classified into categories (1) and (2) to other devices including the roadside wireless device 3. On the other hand, the control device 1 may exceptionally delete information on the third detection information DT3 of the third vehicles VC classified into category (3), and provide assistance information DA that does not include information on the third detection information DT3 of the third vehicles VC classified into category (3) to other devices including the roadside wireless device 3.

[0083] In the above embodiment, the discrimination unit 12 performs each discrimination in the order of ST02-2, ST02-3, and ST02-4, but any discrimination may be performed as long as it can discriminate an actual vehicle. As a modified example, the determination unit 12 may perform the determinations in ST02-2, ST02-3, and ST02-4 in any order.

[0084] In the above embodiment, the discrimination unit 12 performs each discrimination in the order of ST08-1 and ST08-2, but any discrimination may be performed as long as it can discriminate an actual vehicle. As a modified example, the determination unit 12 may perform each determination in the order of ST08-2 and ST08-1.

[0085] In the above embodiment, the representative point RP is the rear corner of the four corners of the rectangular area QQ on the roadside sensor 2 side, but the representative point RP may be any point as long as it can identify the third vehicle VC. As a modified example, the representative point RP may be one of the four corners of the square area QQ, which is the front corner on the roadside sensor 2 side.

[0086] In the above-described embodiment, the overlap determination unit 13 determines whether the first distance α in the lane direction of the road RR between the representative point RP of the first vehicle VA and the representative point RP of the third vehicle VC is within the vehicle length W of the first vehicle VA, but any determination may be made as long as it can determine the possibility of overlap between the first vehicle VA and the third vehicle VC. As a modified example, the overlap determination unit 13 may determine whether the distance in the lane direction of the road RR between the front end of the first vehicle VA and the front end of the third vehicle VC is within the vehicle length of the third vehicle VC.

[0087] In the above-described embodiment, the abnormal approach determination unit 16 determines whether an abnormal approach has occurred based on the value obtained by subtracting the vehicle length W of the first vehicle VA from the first distance α in the lane direction of the road RR between the representative point RP of the first vehicle VA and the representative point RP of the third vehicle VC, but any method may be used as long as it can determine whether an abnormal approach has occurred between the first vehicle VA and the third vehicle VC. As a variant, the abnormal approach determination unit 16 may determine the abnormal approach based on the value obtained by subtracting the vehicle length of the third vehicle VC from the distance in the lane direction of the road RR between the front of the third vehicle VC and the front of the first vehicle VA. As another modification, the abnormal approach determination unit 16 may determine that an abnormal approach has occurred based on the distance in the Y direction between the front of the first vehicle VA and the rear end of the third vehicle VC.

[0088] In the above-described embodiment, the information processing device 10 is provided in the control device 1, but the information processing device 10 may be configured in any manner as long as it can identify the actual vehicle. As a modification, the information processing device 10 may be provided separately from the control device 1. As another modification, the information processing device 10 may be provided on a merging road and a non-merging road. In this case, the information processing device 10 may provide information about the identified actual vehicle to a monitoring panel of a control center or the like, or to an on-board device of a vehicle ahead, behind, or nearby.

[0089] In the above-described embodiment, the control system 100 provides assistance to vehicles traveling on the merging road RM according to the situation of vehicles traveling on the road RR, but if assistance can be provided to vehicles traveling on roads, the control system 100 may also provide assistance to vehicles traveling on various roads according to the situation of vehicles traveling on those roads.

[0090] (Computer Configuration) In each of the above-described embodiments, a program for realizing the functions of the control device 1 or the information processing device 10 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system and executed to perform various processes. Here, various processing steps of the CPU of the computer system are stored in the form of a program on a computer-readable recording medium, and the computer reads and executes the program to perform the various processes. The computer-readable recording medium refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, etc. Alternatively, the computer program may be distributed to a computer via a communication line, and the computer that receives the program may execute the program.

[0091] In each of the above-described embodiments, an example of the hardware configuration of a computer that executes a program for realizing the functions of the control device 1 or the information processing device 10 will be described.

[0092] As shown in FIG. 9, the computer 90 provided in the control device 1 or the information processing device 10 includes a CPU 91, a memory 92, a storage / playback device 93, an input / output interface (hereinafter referred to as "IO I / F") 94, and a communication interface (hereinafter referred to as "communication I / F") 95.

[0093] The memory 92 is a medium such as a random access memory (hereinafter referred to as "RAM") that temporarily stores data used by programs executed by the control device 1 or the information processing device 10. The storage / playback device 93 is a device for storing data and the like in external media such as CD-ROMs, DVDs, and flash memories, and for playing back data and the like from external media. The IO I / F 94 is an interface for inputting and outputting information between the control device 1 and other devices, or between the information processing device 10 and other devices. The communication I / F 95 is an interface for communicating with other devices via a communication line such as the Internet or a dedicated communication line.

[0094] Although several embodiments of the present disclosure have been described above, these embodiments are presented as examples and are not intended to limit the scope of the disclosure. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the disclosure. These embodiments and their modifications are intended to be included within the scope and spirit of the disclosure, as well as within the scope of the claims and their equivalents.

[0095] <Additional Notes> The information processing device, the control device, the control system, the information processing method, and the program described in each embodiment can be understood, for example, as follows.

[0096] (1) The information processing device 10 according to the first aspect includes an information acquisition unit 11 that acquires, based on detection information DT detected by a roadside sensor 2 capable of detecting a vehicle VV traveling on a road RR, first detection information DT1 regarding a first vehicle VA, second detection information DT2 regarding a second vehicle VB preceding the first vehicle VA, and third detection information DT3 regarding a third vehicle VC preceding the first vehicle VA, and a discrimination unit 12 that determines, based on the first detection information DT1, the second detection information DT2, and the third detection information DT3, whether the third vehicle VC is a mirror image of the second vehicle VB reflected by the first vehicle VA.

[0097] According to this aspect, the determination unit 12 determines whether or not the third vehicle VC is a mirror image vehicle. Therefore, the information processing device 10 makes it easy to identify the actual vehicle.

[0098] (2) The information processing device 10 according to a second aspect is the information processing device 10 of (1), in which the discrimination unit 12 includes an overlap discrimination unit 13 that discriminates whether the first vehicle and the third vehicle overlap.

[0099] According to this aspect, the overlap determination unit 13 can determine the arrangement of the third vehicle VC relative to the first vehicle VA, which would not occur in an actual vehicle. Therefore, the overlap determination unit 13 can determine that the third vehicle VC is disposed in a manner specific to a mirror image vehicle. Therefore, the information processing device 10 makes it easy to identify the mirror image vehicle.

[0100] (3) The information processing device 10 according to the third aspect is the information processing device 10 of (1) or (2), in which the discrimination unit 12 is provided with a width direction discrimination unit 14 that discriminates the positional relationship between the second vehicle VB and the third vehicle VC relative to the end of the first vehicle VA on the roadside sensor 2 side in the width direction of the road RR.

[0101] According to this aspect, the width direction discriminator 14 can determine whether the third vehicle VC is likely to be a mirror image vehicle or not. Therefore, the information processing device 10 makes it easy to identify the actual vehicle.

[0102] (4) The information processing device 10 according to the fourth aspect is any one of the information processing devices 10 of (1) to (3), in which the discrimination unit 12 is equipped with a parallel running discrimination unit 15 that discriminates whether the second vehicle VB and the third vehicle VC are running side by side.

[0103] According to this aspect, the parallel running determination unit 15 can determine whether the position of the third vehicle VC satisfies the condition of a mirror image of the second vehicle VB reflected by a reflecting surface on the first vehicle VA. Therefore, the parallel running determination unit 15 can determine whether the third vehicle VC is likely to be a mirror image vehicle or not. Therefore, the information processing device 10 makes it easy to identify the actual vehicle.

[0104] (5) The information processing device 10 according to the fifth aspect is any one of the information processing devices 10 of (1) to (4), in which the discrimination unit 12 is provided with an abnormal proximity discrimination unit 16 that discriminates abnormal proximity between the first vehicle VA and the third vehicle VC in the lane direction of the road RR.

[0105] According to this aspect, the abnormal approach determination unit 16 can determine whether the first vehicle VA is approaching the third vehicle VC abnormally, which is unlikely to occur in an actual vehicle. Therefore, the abnormal approach determination unit 16 can determine that the third vehicle VC is positioned in a manner specific to a mirror image vehicle. Therefore, the information processing device 10 makes it easy to identify the mirror image vehicle.

[0106] (6) The information processing device 10 according to the sixth aspect is any one of the information processing devices 10 of (1) to (5), in which the discrimination unit 12 is provided with a sidewall distance discrimination unit 17 that discriminates the sidewall distance δ between the sidewall surface WS of the road RR located on the opposite side of the roadside sensor 2 relative to the first vehicle VA and the third vehicle VC.

[0107] According to this aspect, the side wall distance determination unit 17 can determine the positional relationship of the third vehicle VC with respect to the side wall surface WS, which is unlikely to occur in an actual vehicle. Therefore, the sidewall distance determination unit 17 can determine that the third vehicle VC is disposed in a manner specific to a mirror image vehicle. Therefore, the information processing device 10 makes it easy to identify the mirror image vehicle.

[0108] (7) The information processing device 10 according to the seventh aspect is any one of the information processing devices 10 of (1) to (6), further comprising a notification unit 18 that notifies the third vehicle VC that has been determined to be the mirror image.

[0109] According to this aspect, the notification unit 18 can notify information about the mirror image vehicle. Therefore, the information processing device 10 makes it easy to identify the actual vehicle.

[0110] (8) The control device 1 according to the eighth aspect includes an information processing device 10 of any one of (1) to (7), and an information generation unit 19 that generates support information DA that can support driving on the road RR based on the first detection information DT1, the second detection information DT2, and the third detection information DT3.

[0111] According to this aspect, the information generating unit 19 can generate support information that can support driving on the road RR based on the information of the actual vehicle. Therefore, the control device 1 can support traveling on the road RR in accordance with the actual traffic conditions on the road RR.

[0112] (9) A control system 100 according to a ninth aspect includes the control device 1 of (8) and the roadside sensor 2.

[0113] According to this aspect, the information generating unit 19 can generate information that can support driving on road RR based on information about the actual vehicle. Therefore, the control system 100 can support driving on the road RR in accordance with the actual traffic conditions on the road RR.

[0114] (10) The information processing method of the tenth aspect acquires first detection information DT1 regarding a first vehicle VA, second detection information DT2 regarding a second vehicle VB preceding the first vehicle VA, and third detection information DT3 regarding a third vehicle VC preceding the first vehicle VA based on detection information DT detected by a roadside sensor 2 capable of detecting a vehicle VV traveling on a road RR, and determines whether the third vehicle VC is a mirror image of the second vehicle VB reflected by the first vehicle VA based on the first detection information DT1, the second detection information DT2, and the third detection information DT3.

[0115] According to this aspect, the information processing method determines whether the third vehicle VC is a mirror image vehicle. Therefore, the information processing method makes it easy to identify the actual vehicle.

[0116] (11) The program according to the eleventh aspect causes the computer 90 to acquire, based on detection information DT detected by a roadside sensor 2 capable of detecting a vehicle VV traveling on a road RR, first detection information DT1 regarding a first vehicle VA, second detection information DT2 regarding a second vehicle VB preceding the first vehicle VA, and third detection information DT3 regarding a third vehicle VC preceding the first vehicle VA, and to determine, based on the first detection information DT1, the second detection information DT2, and the third detection information DT3, whether the third vehicle VC is a mirror image of the second vehicle VB reflected by the first vehicle VA.

[0117] According to this aspect, the program determines whether the third vehicle VC is a mirror image vehicle. Therefore, the program makes it easy to identify the actual vehicle. [Explanation of symbols]

[0118] 1. Control device 2 Roadside sensors 3 Roadside radio 10. Information processing equipment 11 Information acquisition department 12 Discrimination part 13 Discrimination part 14 Width direction discrimination section 15 Parallel running discrimination section 16 Abnormal approach determination unit 17 Side wall distance determination section 18 Notification Department 19 Information generation section 91 CPU 92 memory 93 Storage / playback device 94 IO I / F 95 Communication I / F 100 Control System AA specified area DA Support Information DT detection information DT1 First detection information DT2 Second detection information DT3 Third detection information LL Lane QQ square area RM confluence road RP representative point RR road VA First Car VB second vehicle VC Third Car VM Merging vehicle VMa on-board equipment VV vehicle WS side wall

Claims

1. an information acquisition unit that acquires first detection information about a first vehicle, second detection information about a second vehicle preceding the first vehicle, and third detection information about a third vehicle preceding the first vehicle based on detection information detected by a roadside sensor that can detect vehicles traveling on a road; a determination unit that determines whether the third vehicle is a mirror image of the second vehicle reflected by the first vehicle based on the first detection information, the second detection information, and the third detection information; Equipped with Information processing device.

2. the determination unit includes an overlap determination unit that determines whether the first vehicle and the third vehicle overlap, The information processing device according to claim 1 .

3. the determination unit includes a width direction determination unit that determines a positional relationship between the second vehicle and the third vehicle with respect to an end of the first vehicle on the roadside sensor side in a width direction of the road, The information processing device according to claim 1 .

4. the determination unit includes a parallel running determination unit that determines whether the second vehicle and the third vehicle are running side by side, The information processing device according to claim 1 .

5. the determination unit includes an abnormal proximity determination unit that determines abnormal proximity between the first vehicle and the third vehicle in a lane direction of the road. The information processing device according to claim 1 .

6. the determination unit includes a sidewall distance determination unit that determines a sidewall distance between the third vehicle and a sidewall surface of the road that is located on the opposite side of the roadside sensor with respect to the first vehicle, The information processing device according to claim 1 .

7. a notification unit that notifies the third vehicle that has been determined to be the mirror image, The information processing device according to claim 1 .

8. An information processing device according to any one of claims 1 to 7; an information generation unit that generates support information capable of supporting traveling on the road based on the first detection information, the second detection information, and the third detection information; Equipped with Control device.

9. The control device according to claim 8 ; The roadside sensor; Equipped with Control system.

10. based on detection information detected by a roadside sensor capable of detecting vehicles traveling on a road, acquiring first detection information regarding a first vehicle, second detection information regarding a second vehicle preceding the first vehicle, and third detection information regarding a third vehicle preceding the first vehicle; determining whether the third vehicle is a mirror image of the second vehicle reflected by the first vehicle based on the first detection information, the second detection information, and the third detection information; Information processing methods.

11. On the computer, based on detection information detected by a roadside sensor capable of detecting vehicles traveling on a road, acquiring first detection information regarding a first vehicle, second detection information regarding a second vehicle preceding the first vehicle, and third detection information regarding a third vehicle preceding the first vehicle; determining whether the third vehicle is a mirror image of the second vehicle reflected by the first vehicle based on the first detection information, the second detection information, and the third detection information; To make it happen, program.

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