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

Abstract

To provide an information processing system capable of reducing processing load when reproducing a real-world traffic environment in virtual space.SOLUTION: An information processing system includes a processing device, a communication device, and a storage device. The communication device acquires moving body information, which indicates a position of a moving body present in the real world, from an update area 20 (step S10). The processing device sets an area for each moving body 800 on the basis of the moving body information acquired by the communication device. Then, the processing device allocates an update cycle label for each area on the basis of the moving speed of the moving body 800 in the area (step 11). The processing device calculates predictive moving body information, which indicates the position of the moving body after a time at which the moving body information is acquired, for each area in an update cycle corresponding to the update cycle label (step 14). Then, the processing device transmits the predictive moving body information calculated for each area to a storage device 200.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to an information processing system, an information processing method, and an information processing program for reproducing a real-world traffic environment in a virtual space. [Background technology]

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

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-013557 Summary of the Invention [Problem to be solved by the invention]

[0004] In order to accurately reproduce the position of each moving object in the real world in a virtual space, it is conceivable to set the update period for the position of each moving object in the virtual world as short as possible, but this increases the processing load on the device that updates the positions of the moving objects. [Means for solving the problem]

[0005] The means for solving the above problems and their effects will be described below. An information processing system for solving the above problem acquires mobile object information, which is information indicating the positions of multiple mobile objects existing in the real world. The information processing system acquires, based on the mobile object information, predictive mobile object information, which is information indicating the positions of the multiple mobile objects after the time the mobile object information is acquired, at a predetermined interval. The information processing system sets the interval of the predictive mobile object information acquired in at least one area among multiple areas in which the mobile objects exist, to be longer than the interval of the predictive mobile object information in other areas.

[0006] An information processing method for solving the above problem includes a step in which a communication device acquires mobile object information, which is information indicating the positions of multiple mobile objects existing in the real world. This information processing method includes a step in which a processing device acquires, based on the mobile object information, predictive mobile object information, which is information indicating the positions of the multiple mobile objects after the time the mobile object information is acquired, at a predetermined interval. This information processing method includes a step in which the processing device sets the interval of the predictive mobile object information acquired in at least one area out of multiple areas in which the mobile objects exist, to be longer than the interval of the predictive mobile object information in other areas.

[0007] An information processing program for solving the above problem causes a processing circuit to set the period of predicted moving body information obtained in at least one of multiple areas in which moving bodies exist to be longer than the period of the predicted moving body information in other areas. [Effects of the Invention]

[0008] According to the information processing system, information processing method, and information processing program described above, the processing load on the processing device is reduced compared to when the predicted moving object information for the entire update area is updated at the same update period. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram illustrating an information processing system according to an embodiment. [Figure 2] FIG. 2 is a schematic diagram showing a processing device, a communication device, and a storage device that constitute the information processing system of the embodiment. [Figure 3] FIG. 3 is a schematic diagram illustrating a manner in which the information processing system according to the embodiment acquires predicted moving object information. [Figure 4] FIG. 4 is a flowchart showing the flow of processing executed by the information processing system according to the embodiment. [Figure 5] FIG. 5 is a schematic diagram illustrating an example of an update area in which the information processing system according to the embodiment updates the predictive moving object information. [Figure 6] FIG. 6 is a table showing the relationship between the moving speed of a moving body, the update period label, and the update period of predicted moving body information. [Figure 7] FIG. 7 is a table showing the moving speed, area, and update period of each moving object in the update area illustrated in FIG. [Figure 8] FIG. 8 is a table showing the adjustment of the update period label by the processing unit. DETAILED DESCRIPTION OF THE INVENTION

[0010] An embodiment of an information processing system will be described below with reference to FIGS. <Outline of Information Processing System 10> The information processing system 10 acquires, at multiple times, moving body information that indicates the positions and behaviors of multiple moving bodies 800 in the real world. The multiple moving bodies 800 include, for example, vehicles 600, pedestrians 700, bicycles, animals, etc. The vehicles 600 include two-wheeled vehicles.

[0011] The information processing system 10 uses the acquired mobile object information to calculate, at a predetermined update period, predicted mobile object information, which is the position of the mobile object 800 after the time the mobile object information is acquired. The predicted mobile object information is a reproduction of the traffic environment in the real world in a virtual space.

[0012] As shown in FIG. 1, the information processing system 10 is capable of communicating with a plurality of information processing terminals 500, a plurality of vehicles 600, and a plurality of road sensors 900 via an external communication network 400.

[0013] The information processing terminal 500 can collect, as mobile object information, position information of the pedestrian 700 carrying the information processing terminal 500. The position information is coordinate values ​​of latitude and longitude. The information processing terminal 500 can transmit the collected position information of the pedestrian 700 to the information processing system 10 via the external communication network 400. The information processing terminal 500 is, for example, a smartphone carried by the pedestrian 700. The information processing terminal 500 also includes a wearable terminal, a tablet terminal, and the like. Examples of wearable terminals include a ring-type terminal worn on the wrist and a necklace-type terminal worn around the neck.

[0014] The vehicle 600 is equipped with an on-board sensor 610. The vehicle 600 can transmit moving body information collected by the on-board sensor 610 to the information processing system 10 via the external communication network 400. The on-board sensor 610 is, for example, a vehicle speed sensor, an accelerator sensor, a brake sensor, a steering sensor, and an acceleration sensor. The acceleration sensor is, for example, an IMU (Inertial Measurement Unit).

[0015] Furthermore, vehicle 600 is equipped with an exterior camera, sonar, and a position information acquisition system as on-board sensors 610. The exterior camera and sonar mounted on vehicle 600 collect information on the distance to other objects located around vehicle 600 and generate observation data. Vehicle 600 may also be equipped with a LiDAR (Light Detection And Ranging) sensor that performs the same function as the exterior camera and sonar. The position information acquisition system is, for example, a GNSS (Global Navigation Satellite System), RTK (Real Time Kinematic), LiDAR, etc.

[0016] The on-board sensor 610 collects, as moving body information, for example, vehicle information such as the VIN (Vehicle Identification Number) of the vehicle 600, trajectory information, which is the speed, direction of travel, and travel path of the vehicle 600, and position information.

[0017] The road sensors 900 are a plurality of sensors installed on a road. The road sensors 900 include a plurality of traffic lights 910, a plurality of road cameras 920, and LiDAR installed on the road. The traffic lights 910 can transmit information related to changes in the state of the traffic infrastructure, such as the timing at which the traffic light 910 changes to green and the number of seconds that the traffic light 910 remains green, to the information processing system 10 via the external communication network 400.

[0018] The road camera 920 collects observation data around the road camera 920. The observation data includes mobile object information of the mobile object 800 that exists around the road camera 920. The road camera 920 is, for example, a visible light camera or an infrared camera. The LiDAR installed on the road acquires point cloud data arranged in chronological order by continuous observation at regular time intervals. The LiDAR installed on the road also collects mobile object information of the mobile object 800 that exists around the LiDAR.

[0019] <Configuration of Information Processing System 10> As shown in FIG. 2, the information processing system 10 includes a processing device 100, a storage device 200, and a communication device 300.

[0020] The processing device 100 includes a first processing circuit 101, a first storage circuit 102, and a first communication circuit 103. A program is stored in the first storage circuit 102. The first processing circuit 101 executes the program stored in the first storage circuit 102 to perform various processes. The first processing circuit 101 includes a processor. The processing device 100 is connected to an external communication network 400 via the first communication circuit 103.

[0021] The storage device 200 includes a second processing circuit 201, a second storage circuit 202, and a second communication circuit 203. A program is stored in the second storage circuit 202. The second processing circuit 201 executes the program stored in the second storage circuit 202 to perform various processes. The second processing circuit 201 includes a processor. The storage device 200 is connected to an external communication network 400 via the second communication circuit 203.

[0022] The communication device 300 includes a third processing circuit 301, a third storage circuit 302, and a third communication circuit 303. A program is stored in the third storage circuit 302. The third processing circuit 301 executes the program stored in the third storage circuit 302 to perform various processes. The third processing circuit 301 includes a processor. The communication device 300 is connected to an external communication network 400 via the third communication circuit 303.

[0023] The configuration of the information processing system 10 is not limited to the configuration shown in Fig. 2. For example, the processing device 100, the storage device 200, and the communication device 300 may be provided in a single server. For example, the processing device 100, the storage device 200, and the communication device 300 may be connected to each other via wired connections so that they can communicate with each other.

[0024] 2 illustrates a first vehicle 601 and a second vehicle 602 as examples of mobile objects 800 for which the information processing system 10 calculates predicted mobile object information. The first vehicle 601 includes a first on-board sensor 611 that transmits mobile object information of the first vehicle 601 to the information processing system 10 via the external communication network 400. Similarly, the second vehicle 602 includes a second on-board sensor 612 that transmits mobile object information of the second vehicle 602 to the information processing system 10 via the external communication network 400.

[0025] The communication device 300 acquires mobile object information transmitted from a sensor at a predetermined acquisition period via the third communication circuit 303. The communication device 300 stores the acquired mobile object information in the third storage circuit 302. The third processing circuit 301 of the communication device 300 transmits the mobile object information stored in the third storage circuit 302 to the processing device 100 via the third communication circuit 303.

[0026] The processing device 100 acquires moving object information from the communication device 300 via the first communication circuit 103. The processing device 100 stores the received moving object information in the first memory circuit 102. The first processing circuit 101 of the processing device 100 calculates predicted moving object information using the moving object information. The processing device 100 transmits the predicted moving object information to the memory device 200 via the first communication circuit 103.

[0027] The storage device 200 receives the predicted moving object information via the second communication circuit 203. The storage device 200 stores the acquired predicted moving object information in the second storage circuit 202. The second processing circuit 201 of the storage device 200 provides the predicted moving object information stored in the second storage circuit 202 in response to a request via the external communication network 400.

[0028] The first vehicle 601 and the second vehicle 602 are examples of moving objects 800 for which the information processing system 10 calculates predicted moving object information. For example, the information processing system 10 calculates the predicted moving object information of the first vehicle 601 based on moving object information acquired from a first in-vehicle sensor 611. For example, the information processing system 10 calculates the predicted moving object information of the second vehicle 602 based on moving object information acquired from a second in-vehicle sensor 612.

[0029] <Calculation of Predicted Mobile Object Information by Information Processing System 10> 3, a manner in which the information processing system 10 calculates predicted moving object information will be described. The communication device 300 of the information processing system 10 acquires the moving object information of the first vehicle 601 from the first on-board sensor 611 of the first vehicle 601 every 0.1 seconds. That is, the communication device 300 acquires the moving object information of the first vehicle 601 from the first on-board sensor 611 at an acquisition cycle of "0.1 seconds."

[0030] The first mobile object information DAT_1, second mobile object information DAT_2, third mobile object information DAT_3, fourth mobile object information DAT_4, fifth mobile object information DAT_5, and sixth mobile object information DAT_6 shown in FIG. 3 are mobile object information of the first vehicle 601 acquired at an acquisition period of 0.1 seconds. The first mobile object information DAT_1 is the mobile object information of the first vehicle 601 acquired at time T0. The second mobile object information DAT_2 is the mobile object information of the first vehicle 601 acquired at time T1. Time T1 is the time 0.1 seconds after time T0. The third mobile object information DAT_3 is the mobile object information of the first vehicle 601 acquired at time T2. Time T2 is the time 0.1 seconds after time T1. The fourth mobile object information DAT_4 is the mobile object information of the first vehicle 601 acquired at time T3. Time T3 is 0.1 seconds after time T2. Fifth moving object information DAT_5 is moving object information of the first vehicle 601 acquired at time T4. Time T4 is 0.1 seconds after time T3. Sixth moving object information DAT_6 is moving object information of the first vehicle 601 acquired at time T5. Time T5 is 0.1 seconds after time T4.

[0031] The communication device 300 of the information processing system 10 acquires the moving object information of the second vehicle 602 every 0.5 seconds from the second on-board sensor 612 of the second vehicle 602. That is, the communication device 300 acquires the moving object information of the second vehicle 602 from the second on-board sensor 612 at an acquisition cycle of "0.5 seconds."

[0032] 3, the mobile object information of the second vehicle 602 acquired at an acquisition cycle of 0.5 seconds is shown as seventh mobile object information DAT_7 and eighth mobile object information DAT_8. The seventh mobile object information DAT_7 is the mobile object information of the second vehicle 602 acquired at time T0. The eighth mobile object information DAT_8 is the mobile object information of the second vehicle 602 acquired at time T5. Time T5 is 0.5 seconds after time T0.

[0033] The third memory circuit 302 of the communication device 300 stores the acquired mobile object information. The communication device 300 transmits the mobile object information stored in the third memory circuit 302 to the processing device 100 via the third communication circuit 303.

[0034] 3, the processing device 100, which has acquired the moving object information via the first communication circuit 103, updates the predicted moving object information of the first vehicle 601 and the second vehicle 602 every 0.1 seconds based on the acquired moving object information. The first predicted moving object information PRE_1, the second predicted moving object information PRE_2, the third predicted moving object information PRE_3, the fourth predicted moving object information PRE_4, the fifth predicted moving object information PRE_5, and the sixth predicted moving object information PRE_6 shown in FIG. 3 are the predicted moving object information of the first vehicle 601 and the second vehicle 602 updated by the first processing circuit 101 every 0.1 seconds.

[0035] The processing device 100 transmits the updated predicted moving object information to the storage device 200 via the first communication circuit 103. The storage device 200, which has acquired the predicted moving object information via the second communication circuit 203, stores the acquired predicted moving object information in the second storage circuit 202.

[0036] 3, when the communication device 300 acquires the moving object information of the second vehicle 602 at time T0, the communication device 300 next acquires the moving object information of the second vehicle 602 at time T5, 0.5 seconds later. Therefore, based on the moving object information of the moving object 800, the processing device 100 calculates calculation data CAL, which is the position information of the moving object 800 at a time when there is no moving object information of the moving object 800.

[0037] 3, the processing device 100 calculates first calculated data CAL_1, which is position information of the second vehicle 602 at time T1, based on seventh moving object information DAT_7 of the second vehicle 602 at time T0 stored in the first memory circuit 102. The processing device 100 calculates second calculated data CAL_2, which is position information of the second vehicle 602 at time T2, based on the seventh moving object information DAT_7. The processing device 100 calculates third calculated data CAL_3, which is position information of the second vehicle 602 at time T3, based on the seventh moving object information DAT_7. The processing device 100 calculates fourth calculated data CAL_4, which is position information of the second vehicle 602 at time T4, based on the seventh moving object information DAT_7. Then, the first processing circuit 101 of the processing device 100 calculates predicted moving object information based on the moving object information and the calculated data CAL.

[0038] As shown by the dashed double-dashed line in FIG. 3 , the processing device 100 calculates first predicted mobile object information PRE_1 based on the first mobile object information DAT_1 and the seventh mobile object information DAT_7 at time T0. The processing device 100 calculates second predicted mobile object information PRE_2 based on the second mobile object information DAT_2 and the first calculation data CAL_1 at time T1. The processing device 100 calculates third predicted mobile object information PRE_3 based on the third mobile object information DAT_3 and the second calculation data CAL_2 at time T2. The processing device 100 calculates fourth predicted mobile object information PRE_4 based on the fourth mobile object information DAT_4 and the third calculation data CAL_3 at time T3. The processing device 100 calculates fifth predicted mobile object information PRE_5 based on the fifth mobile object information DAT_5 and the fourth calculation data CAL_4 at time T4. At time T5, the processing device 100 calculates sixth predicted moving object information PRE_6 based on the sixth moving object information DAT_6 and the eighth moving object information DAT_8.

[0039] If the update period in which the information processing system 10 updates the predicted moving object information is short, the amount of predicted moving object information updated by the information processing system 10 per unit time increases. In other words, if the default update period in which the information processing system 10 updates the predicted moving object information is short, the processing load on the information processing system 10 increases. Therefore, the information processing system 10 determines an appropriate update period for the predicted moving object information for each moving object 800 by performing the process described below.

[0040] <Processing Executed by Information Processing System 10> Hereinafter, with reference to FIGS. 4 to 8, a process flow for determining the update period for updating the predictive moving object information by the information processing system 10 will be specifically described.

[0041] 4 is a flowchart showing the flow of a series of processes executed by the information processing system 10. The information processing system 10 repeatedly executes this series of processes. <Acquisition of mobile information> As shown in Fig. 4, when this series of processes starts, the information processing system 10 first acquires moving body information within the update area 20 in step S10. Specifically, the communication device 300 acquires the moving body information within the update area 20 shown in Fig. 5 via the third communication circuit 303. The moving body information acquired by the information processing system 10 includes position information for each moving body 800, the moving speed V for each moving body 800, the traveling direction for each moving body 800, and the type of each moving body 800.

[0042] 5 is a schematic diagram illustrating an update area 20 from which the information processing system 10 acquires mobile object information. Nine mobile objects 800 are shown in FIG. 5: a first mobile object 801, a second mobile object 802, a third mobile object 803, a fourth mobile object 804, a fifth mobile object 805, a sixth mobile object 806, a seventh mobile object 807, an eighth mobile object 808, and a ninth mobile object 809. The first mobile object 801, the third mobile object 803, the fifth mobile object 805, and the eighth mobile object 808 are vehicles 600. The second mobile object 802, the fourth mobile object 804, the sixth mobile object 806, the seventh mobile object 807, and the ninth mobile object 809 are pedestrians 700. The information processing system 10 acquires mobile object information of the mobile objects 800 present in the update area 20 from a plurality of sensors. After the communication device 300 acquires the mobile object information within the update area 20, the process proceeds to step S11.

[0043] <Split of Update Area 20> In step S11, the processing device 100 of the information processing system 10 acquires moving body information for each moving body 800 from the communication device 300. In step S11, the processing device 100 sets an area for each moving body 800 based on the location information, moving speed V, and traveling direction of each moving body 800. That is, the processing device 100 divides the update area 20 so that one moving body 800 exists in one area. The range of the area set for each moving body 800 includes the range in which the moving body 800 may exist.

[0044] As shown in FIG. 5, the processing device 100 sets a first area AR_1 for the first moving body 801. The processing device 100 sets a second area AR_2 for the second moving body 802. The processing device 100 sets a third area AR_3 for the third moving body 803. The processing device 100 sets a fourth area AR_4 for the fourth moving body 804. The processing device 100 sets a fifth area AR_5 for the fifth moving body 805. The processing device 100 sets a sixth area AR_6 for the sixth moving body 806. The processing device 100 sets a seventh area AR_7 for the seventh moving body 807. The processing device 100 sets an eighth area AR_8 for the eighth moving body 808. The processing device 100 sets a ninth area AR_9 for the ninth moving body 809.

[0045] The processing device 100 sets the size of the area to be set for the moving body 800 in accordance with the moving speed V of the moving body 800 acquired from the communication device 300. Specifically, the processing device 100 sets a smaller area to be set for the moving body 800 as the moving speed V of the moving body 800 becomes slower.

[0046] As shown in Fig. 7, the moving speed V of the first moving body 801 is 50 kilometers per hour. The moving speed V of the eighth moving body 808 is 20 kilometers per hour. Therefore, as shown in Fig. 5, the processing device 100 sets the eighth area AR_8 set for the eighth moving body 808 to be narrower than the first area AR_1 set for the first moving body 801.

[0047] The processing device 100 may change the range of the area set for the moving body 800 depending on the type of the moving body 800. As shown in Fig. 5 , the processing device 100 sets areas for the second moving body 802, the fourth moving body 804, the sixth moving body 806, the seventh moving body 807, and the ninth moving body 809, which are pedestrians 700, narrower than the areas set for the first moving body 801, the third moving body 803, the fifth moving body 805, and the eighth moving body 808, which are vehicles 600.

[0048] The processing device 100 calculates the predicted path based on the acquired information on the traveling direction of the moving body 800. The processing device 100 sets an area so that the predicted path side is wider. For example, the predicted path of the fifth moving body 805 is to the front right of the vehicle. The processing device 100 sets a fifth area AR_5 for the fifth moving body 805, which has a wider predicted path side. The centroid of the fifth area AR_5 set for the fifth moving body 805 is located closer to the predicted path side of the fifth moving body 805 than the center of the fifth moving body 805.

[0049] The processing device 100 does not need to calculate predicted moving body information of a moving body 800 for a range in the real world that is assumed to be inaccessible to the moving body 800. In other words, the processing device 100 does not need to set an area for the moving body 800 in a range that is assumed to be inaccessible to the moving body 800. For example, as shown in Fig. 5, the processing device 100 sets the area of ​​each moving body 800 so as not to overlap with the shaded area in the update area 20, which is the range where buildings exist.

[0050] <Assignment of update interval label> The processing device 100 sets an area for updating the predicted moving body information for each moving body 800, and then assigns an update period label to the area set for each moving body 800 based on the moving speed V of the moving body 800.

[0051] FIG. 6 is a table showing the relationship between the moving speed V of a moving body 800, the update period label, and the update period. The processing device 100 assigns "ID_1" as the update period label to a moving body 800 whose moving speed V is 0.5 kilometers per hour or less. The update period of the predicted moving body information of the moving body 800 assigned "ID_1" is set to 10 seconds. The processing device 100 assigns "ID_2" as the update period label to a moving body 800 whose moving speed V is faster than 0.5 kilometers per hour and less than 5 kilometers per hour. The update period of the predicted moving body information of the moving body 800 assigned "ID_2" is set to 1 second. The processing device 100 assigns "ID_3" as the update period label to a moving body 800 whose moving speed V is faster than 5 kilometers per hour and less than 10 kilometers per hour. The update period of the predicted moving body information of the moving body 800 assigned "ID_3" is set to 0.5 seconds. The processing device 100 assigns "ID_4" as the update period label to a moving body 800 whose movement speed V is faster than 10 kilometers per hour and equal to or less than 30 kilometers per hour. The update period of the predicted moving body information of the moving body 800 assigned "ID_4" is set to 0.2 seconds. The processing device 100 assigns "ID_5" as the update period label to a moving body 800 whose movement speed V is faster than 30 kilometers per hour. The update period of the predicted moving body information of the moving body 800 assigned "ID_5" is set to 0.1 seconds.

[0052] FIG. 7 shows update period labels assigned to each moving object 800 in the update area 20 shown in FIG. 5. The moving speed V of the first moving object 801 is 50 kilometers per hour. Therefore, the update period label of the first area AR_1 set for the first moving object 801 is "ID_5." The moving speed V of the second moving object 802 is 4 kilometers per hour. Therefore, the update period label of the second area AR_2 set for the second moving object 802 is "ID_2." The moving speed V of the third moving object 803 is 40 kilometers per hour. Therefore, the update period label of the third area AR_3 set for the third moving object 803 is "ID_5." The moving speed V of the fourth moving object 804 is 3 kilometers per hour. Therefore, the update period label of the fourth area AR_4 set for the fourth moving object 804 is "ID_2." The moving speed V of the fifth moving object 805 is 8 kilometers per hour. Therefore, the update period label of the fifth area AR_5 set for the fifth moving body 805 is "ID_3". The movement speed V of the sixth moving body 806 is 4 kilometers per hour. Therefore, the update period label of the sixth area AR_6 set for the sixth moving body 806 is "ID_2". The movement speed V of the seventh moving body 807 is 0.1 kilometers per hour. Therefore, the update period label of the seventh area AR_7 set for the seventh moving body 807 is "ID_1". The movement speed V of the eighth moving body 808 is 20 kilometers per hour. Therefore, the update period label of the eighth area AR_8 set for the eighth moving body 808 is "ID_4". The movement speed V of the ninth moving body 809 is 2 kilometers per hour. Therefore, the update period label of the ninth area AR_9 set for the ninth moving body 809 is "ID_2".

[0053] After the processing device 100 assigns an update period label to the area set for each moving object 800 based on the moving speed V of each moving object 800, the process proceeds to step S13. <Adjusting the update cycle set for the area> In step S13, the processing device 100 adjusts the update period of the predicted moving object information determined for each area in step S11. Specifically, when a part of an area with a short update period overlaps with a part of an area with a long update period, the processing device 100 changes the update period of the area with the long update period to the update period of the area with the short update period.

[0054] 5, a part of the first area AR_1 and a part of the second area AR_2 overlap in the update area 20. Therefore, the processing device 100 adjusts the update period of the first area AR_1 and the update period of the second area AR_2.

[0055] As shown in FIG. 8, the moving speed V of the first moving body 801 is 50 kilometers per hour. The moving speed V of the second moving body 802 is 4 kilometers per hour. The update period label of the first moving body 801 is "ID_5". The update period label of the second moving body 802 is "ID_2". In the processing of step S13, the processing device 100 changes the update period label of the second area AR_2 to "ID_5" in order to change the update period of the second area AR_2 to the update period of the first area AR_1. After the processing device 100 adjusts the update period, the processing proceeds to step S14.

[0056] <Updating predicted moving body information for each moving body 800> In step S14, the processing device 100 updates the predicted moving object information for each area at an update period set in accordance with the update period label assigned to each area. Thereafter, the processing device 100 transmits the predicted moving object information updated for each area to the storage device 200.

[0057] For example, assume that the update period label assigned to the area where the second vehicle 602 shown in FIG. 3 is located is "ID_3." When the update period label is "ID_3," the update period of the predicted moving object information is "0.5 seconds." When the update period of the predicted moving object information is "0.5 seconds," the processing device 100 updates the predicted moving object information every 0.5 seconds. That is, at time T0, the processing device 100 calculates the predicted moving object information of the area where the second vehicle 602 is located based on the seventh moving object information DAT_7. Then, the processing device 100 transmits the calculated predicted moving object information to the storage device 200. Thereafter, at time T5, the processing device 100 calculates the predicted moving object information of the area where the second vehicle 602 is located based on the eighth moving object information DAT_8. Then, the processing device 100 transmits the calculated predicted moving object information to the storage device 200.

[0058] Between "0.1 seconds" and "0.4 seconds," the processing device 100 does not update the predicted moving object information for the area where the second vehicle 602 is located. Therefore, the processing device 100 does not need to calculate the first calculation data CAL_1, the second calculation data CAL_2, the third calculation data CAL_3, and the fourth calculation data CAL_4.

[0059] After the processing device 100 executes the process of step S14, the processing device 100 ends this series of processes. <Calculation of predicted moving object information for update area 20> The second processing circuit 201 of the storage device 200 generates predicted moving object information for the entire update area 20 based on the predicted moving object information for each area acquired from the processing device 100. The second processing circuit 201 of the storage device 200 stores the predicted moving object information for the entire update area 20 in the second storage circuit 202.

[0060] <Operation of this embodiment> The longer the update period for updating the predicted moving object information, the smaller the processing load on the information processing system 10. According to the above configuration, the processing load on the information processing system 10 is reduced compared to when all update areas 20 are continuously updated at the same period.

[0061] <Effects of this embodiment> (1) The information processing system 10 can continuously update the predicted moving object information with a small processing load.

[0062] (2) The processing device 100 of the information processing system 10 divides the update area 20 so that one area is assigned to one moving body 800. The range of the area set for each moving body 800 includes the range in which the moving body 800 may be located. This allows the processing device 100 to change the update period of the predicted moving body information for each moving body 800. The information processing system 10 can reflect real-world moving body information in the predicted moving body information with a small processing load.

[0063] (3) The communication device 300 of the information processing system 10 acquires the moving speed V of each moving body 800 as moving body information. The processing device 100 of the information processing system 10 lengthens the update period for an area in which a moving body 800 with a slow moving speed V is located. The slower the moving speed V of the moving body 800, the smaller the change in the position of the moving body 800. Therefore, when the moving speed V of the moving body 800 is slow, even if the update period for the area in which the moving body 800 is located is lengthened, the deviation between the traffic environment in the real world and the predicted moving body information is small. Furthermore, the longer the update period, the smaller the processing load on the processing device 100 of the information processing system 10. As a result, the information processing system 10 can calculate predicted moving body information with a reduced processing load according to the moving speed V of the moving body 800.

[0064] (4) The communication device 300 of the information processing system 10 acquires the moving speed V of each moving object 800 as moving object information. The processing device 100 of the information processing system 10 narrows the area in which the moving object 800 with a slow moving speed V exists. When the moving speed V of the moving object 800 is slow, the change in the position of the moving object 800 is smaller than when the moving speed V of the moving object 800 is fast. In other words, when the moving speed V of the moving object 800 is slow, even if the area set for the moving object 800 is narrowed, the moving object 800 does not move beyond the area. The narrower the area updated by the processing device 100 of the information processing system 10, the lower the processing load on the processing device 100 of the information processing system 10. As a result, the information processing system 10 can calculate predicted moving object information with a reduced processing load according to the moving speed V of the moving object 800 existing in a traffic environment in the real world.

[0065] (5) The processing device 100 of the information processing system 10 acquires information about the traveling direction of the moving body 800 as moving body information. The processing device 100 calculates the predicted course of each moving body 800 from the moving body information. The processing device 100 sets, as the area of ​​the moving body 800, an area whose centroid is located closer to the predicted course than the center of the moving body 800. This allows the processing device 100 of the information processing system 10 to update the predicted moving body information in the traveling direction of the moving body 800 without imposing an excessive processing load.

[0066] (6) When providing transportation services based on predicted mobile object information, it may be necessary to ascertain the distance between mobile objects 800. However, if the update cycle of the predicted mobile object information for each mobile object 800 differs, it is difficult to accurately ascertain the distance between the mobile objects 800. When an area with a short update cycle overlaps with an area with a long update cycle, the processing device 100 of the information processing system 10 unifies the update cycle of each area to the update cycle of the area with the short update cycle. This causes the update cycles of the predicted mobile object information for multiple mobile objects 800 located close to each other to match. This allows the information processing system 10 to accurately reflect the positional relationship between mobile objects 800 located close to each other in the predicted mobile object information.

[0067] (7) In the real world, there are places where the vehicle 600 cannot enter, such as places where buildings exist. The processing device 100 of the information processing system 10 does not set areas in such places where the vehicle 600 cannot enter. This reduces the processing load on the processing device 100 of the information processing system 10.

[0068] (8) When the processing device 100 of the information processing system 10 outputs the calculation data CAL, the processing device 100 is subjected to a processing load due to the calculation of the calculation data CAL. The processing device 100 does not calculate the calculation data CAL when the calculation data CAL is not necessary. This reduces the processing load on the processing device 100 compared to when the processing device 100 always outputs the calculation data CAL.

[0069] (9) The information processing method executed by the information processing system 10 includes a step (step S10) in which the communication device 300 acquires mobile object information, which is information indicating the positions of multiple mobile objects 800 that exist in the real world. The information processing method executed by the information processing system 10 includes a step (step S11) in which the processing device 100 sets an update period for the predicted mobile object information in at least one of the multiple areas to a period longer than the update period for the predicted mobile object information in the other areas. The information processing method executed by the information processing system 10 includes a step (step S14) in which the processing device 100 acquires, at a predetermined period, the predicted mobile object information, which is information indicating the positions of the multiple mobile objects 800 after the time the mobile object information is acquired, based on the mobile object information. The longer the update period for updating the predicted mobile object information, the lower the processing load on the information processing system 10. By executing such an information processing method, the processing load on the information processing system 10 is reduced compared to when all update areas 20 are continuously updated at the same period. The information processing system 10 can continue to update the predicted mobile object information with a small processing load.

[0070] (10) The first storage circuit 102 of the processing device 100 of the information processing system 10 stores an information processing program that causes the first processing circuit 101 of the processing device 100 to execute processing. The information processing program causes the first processing circuit 101 of the processing device 100 to set an update period for predictive moving object information in at least one of a plurality of areas to a period longer than the update period for predictive moving object information in other areas. The longer the update period for updating the predictive moving object information, the lower the processing load on the information processing system 10. According to the above information processing program, the processing load on the information processing system 10 is reduced compared to when all update areas 20 are continuously updated at the same period. The information processing system 10 can continue to update the predictive moving object information with a small processing load.

[0071] <Example of change> This embodiment can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility.

[0072] The processing device 100 of the information processing system 10 may divide the update area 20 into an area where the moving object 800 is present and an area where the moving object 800 is not present. In this case, the processing device 100 sets a longer update period for the predicted moving object information in the area where the moving object 800 is not present than a longer update period for the predicted moving object information in the area where the moving object 800 is present. The real-world traffic environment in the area where the moving object 800 is not present is less likely to change than the real-world traffic environment in the area where the moving object 800 is present. Therefore, even if the update period for the area where the moving object 800 is not present is longer, a discrepancy is less likely to occur between the real-world traffic environment and the predicted moving object information. This allows the information processing system 10 to continue updating the predicted moving object information with a small processing load without causing a large discrepancy between the real-world traffic environment and the predicted moving object information.

[0073] The processing device 100 of the information processing system 10 may divide the update area 20 into a plurality of areas so that a single area contains a plurality of moving objects 800. For example, in FIG. 5, the update area 20 may be divided into a plurality of areas so that a first moving object 801 and a third moving object 803 are both present in a single area.

[0074] The processing device 100 of the information processing system 10 may set the range in which a moving object 800 may exist as the area in which the moving object 800 exists. When another moving object 800 exists around the moving object 800, the processing device 100 of the information processing system 10 may expand the size of the area in which the moving object 800 exists from the range in which the moving object 800 may exist. For example, the processing device 100 may expand the area in which the moving object 800 exists so that it overlaps with the area in which other moving objects 800 located around the moving object 800 exist. This allows the processing device 100 to adjust the update period for the area in which the moving object 800 exists and the area in which other moving objects 800 located around the moving object 800 exist, on the condition that the different areas overlap. For example, the processing device 100 may expand the area in which the moving object 800 exists to a range that does not overlap with the area in which other moving objects 800 located around the moving object 800 exist. The update period of an area where the moving body 800 is not present may be set longer than the update period of an area where the moving body 800 is present. By expanding the area where the moving body 800 is present, the processing device 100 can prevent an area with a long update period from occurring between the area where the moving body 800 is present and the area where moving bodies 800 located around the moving body 800 are present.

[0075] When multiple moving objects 800 exist in one area, the processing device 100 of the information processing system 10 may define a first area AR_1 and a second area AR_2 as areas whose update periods are determined according to the movement speed V of the moving objects 800 existing in the area. The first area AR_1 in a modified example is an area in which no moving objects 800 whose movement speed V is equal to or greater than a predetermined first movement speed VL_1 exist. The second area AR_2 in a modified example is an area in which moving objects 800 whose movement speed V is equal to or greater than a predetermined first movement speed VL_1 exist. The processing device 100 sets the update period for the first area AR_1 to be longer than the update period for the second area AR_2. This allows the processing device 100 to change the update period of the predicted moving object information according to the movement speed V of the moving object 800 with a smaller processing load than if the processing device 100 assigned an update period label to the area set for each moving object 800 based on the movement speed V of the moving object 800. The processing device 100 of the information processing system 10 may set three or more areas in which update periods are preset based on the movement speed V of the moving object 800. For example, the processing device 100 of the information processing system 10 may set a third area AR_3 as an area in which the update period is determined according to the movement speed V of the moving object 800 present within the area. The third area AR_3 of the modified example is an area in which moving objects 800 whose movement speed V is equal to or greater than a predetermined second movement speed VL_2 are present. When setting the third area AR_3 of the modified example, the processing device 100 defines the second area AR_2 of the modified example as an area in which moving objects 800 whose movement speed V is equal to or greater than a predetermined first movement speed VL_1 and less than a predetermined second movement speed VL_2 are present. Furthermore, the processing device 100 sets the update period of the second area AR_2 of the modified example to be longer than the update period of the third area AR_3 of the modified example.

[0076] If the update area 20 includes an area with a longer update cycle than other areas, the processing load on the information processing system 10 can be reduced by the amount of the area with a longer update cycle compared to when the update cycle for the entire update area 20 is the same. Therefore, the processing device 100 of the information processing system 10 may set the length of the update cycle for the predicted moving object information regardless of whether or not there is a moving object 800.

[0077] The processing device 100 of the information processing system 10 does not need to change the update period for each area according to the movement speed V of the moving object 800 present in the area, as long as the update period for at least one area is longer than the update period for the other areas.

[0078] The processing device 100 of the information processing system 10 may divide the update area 20 into a plurality of areas so that there are areas where no moving objects 800 exist. The processing device 100 of the information processing system 10 may set the update period regardless of the movement speed V of the moving object 800 if the predicted moving object information can be calculated with appropriate accuracy.

[0079] The processing device 100 of the information processing system 10 may set the size of the area regardless of the movement speed V of the moving object 800, if the processing device 100 can calculate the predicted moving object information with appropriate accuracy. The processing device 100 of the information processing system 10 may set the size of the area regardless of the traveling direction of the moving object 800, if the processing device 100 can calculate the predicted moving object information with appropriate accuracy.

[0080] In step S13, the condition for the processing device 100 of the information processing system 10 to adjust the update period is not limited to when the areas overlap. For example, the processing device 100 may adjust the update period when the two areas become closer than a predetermined distance. [Explanation of symbols]

[0081] 10...information processing system, 20...update area, 100...processing device, 101...first processing circuit, 102...first memory circuit, 103...first communication circuit, 200...storage device, 201...second processing circuit, 202...second memory circuit, 203...second communication circuit, 300...communication device, 301...third processing circuit, 302...third memory circuit, 303...third communication circuit, 400...external communication line network, 500...information processing terminal, 600...vehicle, 601...first vehicle, 602...second 2 vehicles, 610... in-vehicle sensor, 611... first in-vehicle sensor, 612... second in-vehicle sensor, 700... pedestrian, 800... moving object, 801... first moving object, 802... second moving object, 803... third moving object, 804... fourth moving object, 805... fifth moving object, 806... sixth moving object, 807... seventh moving object, 808... eighth moving object, 809... ninth moving object, 900... road sensor, 910... traffic light, 920... road camera, AR_1... first area, AR_2... second area A, AR_3...third area, AR_4...fourth area, AR_5...fifth area, AR_6...sixth area, AR_7...seventh area, AR_8...eighth area, AR_9...ninth area, CAL...calculated data, CAL_1...first calculated data, CAL_2...second calculated data, CAL_3...third calculated data, CAL_4...fourth calculated data, DAT_1...first mobile object information, DAT_2...second mobile object information, DAT_3...third mobile object information, DAT_ 4...fourth moving body information, DAT_5...fifth moving body information, DAT_6...sixth moving body information, DAT_7...seventh moving body information, DAT_8...eighth moving body information, PRE_1...first predicted moving body information, PRE_2...second predicted moving body information, PRE_3...third predicted moving body information, PRE_4...fourth predicted moving body information, PRE_5...fifth predicted moving body information, PRE_6...sixth predicted moving body information, V...moving speed, VL_1...first moving speed, VL_2...second moving speed

Claims

1. Acquire mobile object information that indicates the positions of multiple mobile objects that exist in the real world; acquiring, at a predetermined interval, predicted moving object information that indicates positions of the plurality of moving objects after the time when the moving object information is acquired, based on the moving object information; The period of the predicted moving object information acquired in at least one area among a plurality of areas in which the moving object exists is set to be longer than the period of the predicted moving object information acquired in other areas. Information processing system.

2. The period in the area not including the moving object is set to be longer than the period in the area including the moving object. The information processing system according to claim 1 .

3. acquiring a moving speed of each of the moving bodies as the moving body information; defining a first area and a second area as areas in which the period is determined according to the moving speed of the moving object present in the area; the first area is an area in which the moving object whose moving speed is equal to or greater than a predetermined moving speed does not exist, the second area is an area in which the moving object, the moving speed of which is equal to or greater than the predetermined moving speed, is present; The period of the first area is set to be longer than the period of the second area. The information processing system according to claim 1 .

4. One area is assigned to one of the mobile units. The information processing system according to claim 1 .

5. acquiring a moving speed of each of the moving bodies as the moving body information; The slower the moving speed of the moving object, the longer the period of the area in which the moving object exists. The information processing system according to claim 4 .

6. acquiring a moving speed of each of the moving bodies as the moving body information; The slower the moving speed of the moving object, the narrower the area in which the moving object exists. The information processing system according to claim 4 .

7. As the moving body information, information regarding the traveling direction of the moving body is acquired; Calculating a predicted course for each moving object from the moving object information; The area in which the moving object exists has its centroid located closer to the predicted path than the center of the moving object. The information processing system according to claim 4 .

8. When a part of the area with the short period overlaps with a part of the area with the long period, the period of the area with the long period is changed to the period of the area with the short period. The information processing system according to any one of claims 5 to 7.

9. A step in which a communication device acquires moving body information that is information indicating the positions of multiple moving bodies that exist in the real world; a step in which the processing device acquires, based on the mobile object information, predicted mobile object information at a predetermined cycle, the predicted mobile object information being information indicating positions of the plurality of mobile objects after the time when the mobile object information is acquired; and a step of setting, by the processing device, the period of the predicted moving object information acquired in at least one area among a plurality of areas in which the moving object exists, to be longer than the period of the predicted moving object information acquired in other areas. Information processing methods.

10. The processing circuit is caused to execute setting a period of predicted moving object information acquired in at least one area among a plurality of areas in which moving objects exist to be longer than the period of the predicted moving object information acquired in other areas. Information processing program.

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