Mobile body management system and mobile body management method

Abstract

To provide a system for managing information on a mobile body in segments, which reduces a load of necessary processing, reduces communication capability transferred between the segments, and reduces a load of calculation.SOLUTION: A mobile body management system includes an administrative server that manages space information as information on a state and a time of a mobile body, and a sensor node that detects the space information including inherent object information. The sensor node detects the mobile body and converts positional information included in the space information so as to correspond to a coordinate system for segments managed by the administrative server to send the resulting space information to the administrative server. The administrative server allows a buffer storage to store the received space information, collates whether or not the mobile body relating to the space information is the same one from the inherent object information included in the space information stored in the buffer storage, and when the mobile body is determined as the same one, integrates the space information relating to the same mobile body to allows an integration storage to store the integrated space information.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to a mobile object management system and a mobile object management method, and in particular to a system and method suitable for reducing the communication capacity between a mobile object and an external server and reducing the calculation load related to autonomous driving in a system that uses an external server for autonomous driving. [Background technology]

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

[0003] By utilizing such digital architecture, autonomous mobility systems and spatial recognition systems will be able to acquire more information. At the same time, they will be able to solve larger problems by linking with external devices and systems. The digital architecture that achieves this requires technology that links real space with digital information, manages information about the state and time of objects, and updates that information in response to changes in the state and time of objects (such as movement).

[0004] Conventional technologies for linking real space and digital information are described, for example, in Patent Document 1. In the spatiotemporal data management system in Patent Document 1, a single processor divides a spatiotemporal domain in time and space according to spatiotemporal management data provided by a user to generate multiple spatiotemporal divided domains. Furthermore, taking into consideration the temporal and spatial proximity of the spatiotemporal divided domains, an identifier expressed as a one-dimensional integer value is assigned to each of the multiple spatiotemporal divided domains to uniquely identify them. The system disclosed determines the arrangement of time-series data so that data from spatiotemporal divided domains with similar identifiers are arranged nearby on a storage device.

[0005] Furthermore, a technology for updating information in response to changes in information (such as movement) related to the state and time of an object is described, for example, in Patent Document 2. In the tracking system of Patent Document 2, flow line information indicating the movement of a moving object contained in image data captured within an imaging range is generated, and when the moving object moves to a predetermined area within the imaging range, the feature amount of the moving object and the flow line information are associated and stored. Next, the feature amount of the moving object that moved into the imaging range from outside the imaging range are compared with the stored feature amount. Then, if they match, the flow line information associated with the stored feature amount is associated with the flow line information of the moving object that moved into the imaging range from outside the imaging range, thereby facilitating tracking of the moving object. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent Publication No. 2014-2519 [Patent Document 2] Patent Publication No. 2020-161032 Summary of the Invention [Problem to be solved by the invention]

[0007] However, in the time-space management system described in Patent Document 1, the divided regions are managed by a single processor. Therefore, if the entire region made up of the divided regions is large, the amount of data for the time-space divided regions included in the entire region will be enormous, resulting in an increased processing load. Therefore, when data processing is performed by a single processor for autonomous driving, real-time data processing for autonomous driving may be hindered.

[0008] Furthermore, in the tracking system of Patent Document 2, accurate matching of the moving object is required when transferring information about the past state of the moving object being imaged, which places a burden on the matching process. Therefore, in use cases where many objects move back and forth at high speed, such as autonomous mobility and spatial recognition systems, it may not be possible to achieve a realistic processing time.

[0009] An object of the present invention is to provide a system and method that reduces the communication capacity between a mobile object and an external server and reduces the calculation load related to autonomous driving, particularly in a system that uses an external server for autonomous driving. [Means for solving the problem]

[0010] The mobile object management system of the present invention is preferably configured as a mobile object management system that manages information on mobile objects moving within a space, and includes a management server that manages spatial information, which is information on the state and time of the mobile object, and a sensor node that is connected via a network and detects spatial information including unique object information of the mobile object, the management server having a buffer storage that is a memory area for temporarily storing spatial information acquired from the outside, an integration storage that is a memory area for integrating and storing data stored in the buffer storage, and a matching unit that matches the identity of the object by image recognition, the management server identifying each divided area by assigning a unique identifier that is a unique identifier to each divided area obtained by dividing a predetermined area in space starting from a predetermined position, and the sensor node detecting spatial information on the mobile object and transmitting the position information included in the spatial information via an input API (Application Programming Interface) between the management server and the sensor node. In accordance with the provisions of the IEEE 802.11b / g / n Interface, the location information is converted to correspond to the coordinate system of the divided area managed by the management server, and the spatial information is transmitted to the management server. When the management server receives spatial information from the sensor node, it stores the received spatial information in buffer storage. The comparison unit of the management server compares the unique object information included in the spatial information stored in the buffer storage to determine whether the moving objects related to the spatial information are the same, and when they are determined to be the same, the spatial information related to the same moving object is integrated and stored in integration storage.

[0011] Another configuration of the mobile object management system of the present invention is preferably a mobile object management system that identifies and manages spatial information, which is information regarding the state and time of a mobile object moving within a space, by dividing a predetermined area in space with a predetermined position as a starting point and assigning a unique identifier to each divided area, the mobile object management system comprising: a first management server that manages spatial information of the first divided area; a second management server that manages spatial information of the second divided area; a first sensor node that is connected to the first management server via a network and detects spatial information of the first divided area including unique object information of the mobile object; and a second sensor node that is connected to the second management server via a network and detects spatial information of the second divided area including unique object information of the mobile object, the first management server and the second management server having a matching unit that matches the identity of the object by image recognition, the first sensor node detecting the spatial information regarding the mobile object and transmitting position information included in the spatial information via an input API (Application Programming Interface) between the first management server and the first sensor node. The second sensor node detects spatial information about the moving object, converts the position information included in the spatial information according to the provisions of an input API between the second management server and the second sensor node, so that the position information corresponds to the coordinate system of the divided area managed by the second management server, and transmits the spatial information to the first management server. The first management server calculates the position and time at which the target moving object will enter the second divided area based on the spatial information received from the first sensor node, and transmits the unique object information of the moving object and the calculated position and time at which the moving object will enter the second divided area. [Effects of the Invention]

[0012] According to the present invention, a mobile object management system and a mobile object management method can be provided in a system that manages information about mobile objects in divided areas that divide space, by efficiently managing information about the state and time of objects in each divided area, thereby reducing the required processing load, reducing the communication capacity passed between divided areas, and reducing the calculation load. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a diagram illustrating a technique for managing space based on the latitude / longitude of the Earth. [Figure 2] FIG. 10 is a perspective view showing the mapping of divided areas and latitude / longitude and altitude information. [Figure 3] FIG. 2 is a diagram illustrating a schematic flow of information within a divided region. [Figure 4] 1 is a system configuration diagram of a mobile object management system according to a first embodiment. [Figure 5] 1 is a functional configuration diagram of each component of a mobile object management system according to a first embodiment. [Figure 6] This is a diagram showing the hardware and software configuration of the management server. [Figure 7] FIG. 10 is a diagram showing an example of a state when a moving object passes through a divided area (part 1). [Figure 8] FIG. 8 is a diagram illustrating a coordinate system for the case shown in FIG. 7. [Figure 9] FIG. 8 is a diagram showing the data flow and storage area structure for the case shown in FIG. 7. [Figure 10A] FIG. 8 is a sequence diagram for the case shown in FIG. 7 (part 1). [Figure 10B] FIG. 8 is a sequence diagram for the case shown in FIG. 7 (part 2). [Figure 11] FIG. 10 is a system configuration diagram of a mobile object management system according to a second embodiment. [Figure 12] FIG. 10 is a functional configuration diagram of each component of a mobile object management system according to a second embodiment. [Figure 13]FIG. 10 is a diagram showing an example of a state when a moving object passes through a divided area (part 2). [Figure 14] FIG. 14 is a diagram illustrating a coordinate system for the case shown in FIG. 13. [Figure 15] FIG. 14 is a diagram showing the data flow and storage area structure for the case shown in FIG. 13. [Figure 16A] FIG. 14 is a sequence diagram for the case shown in FIG. 13 (part 1). [Figure 16B] FIG. 14 is a sequence diagram for the case shown in FIG. 13 (part 2). [Figure 17] FIG. 10 is a diagram showing an example of a state when a moving object passes through a divided area (part 3). DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, each embodiment of the present invention will be described with reference to FIGS.

[0015] [Embodiment 1]

[0016] Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. 1 to 10B. First, a format model for managing a space in which a moving object moves as divided regions will be described with reference to FIGS. FIG. 1 is a diagram illustrating a method for managing space based on the latitude / longitude of the Earth. FIG. 2 is a perspective view showing the mapping of divided areas and latitude / longitude and altitude information. FIG. 3 is a diagram showing a schematic diagram of the flow of information within a divided region.

[0017] In the spatial model of this embodiment, a predetermined area is divided starting from a predetermined position, and a unique identifier (hereinafter referred to as "unique identifier") is assigned to each divided area, and the divided area is defined by the associated unique identifier. That is, the format of the spatial model of this embodiment divides the space of the Earth into divided areas determined by ranges starting from latitude / longitude / height, and each divided area is assigned a unique identifier to enable management. In this embodiment, height is described as being, for example, altitude based on geoid height, but is not limited to this and may be defined relative to an axis in a spherical direction from the center of the Earth.

[0018] Here, an explanation will be given of a predetermined divided area, that is, divided area 100. As shown in Figures 1 and 2, divided area 100 is, for example, one divided area defined as 20 degrees north latitude, 140 degrees east longitude, and height H with reference point 101, with a width in the latitudinal direction defined as D, a width in the longitudinal direction defined as W, and a width in the vertical direction defined as T.

[0019] Although only one divided area 100 is shown in Figure 1, the format specifies that multiple areas defined in the same way as divided area 100 are arranged in the latitude / longitude / height directions. The horizontal position of each arranged divided area is defined by its respective latitude / longitude, and they also overlap in the height direction, with their height position defined by height H.

[0020] As shown in FIG. 2, the vertices of the divided area 100 in this embodiment are defined as reference points for latitude, longitude, and height. However, the center of gravity of the area or the center of the bottom surface may be used as the starting point. Furthermore, the shape is not limited to a rectangular parallelepiped. When considering the case of tiling on the surface of a sphere such as the Earth, a roughly rectangular parallelepiped with the top surface slightly wider than the bottom surface can be arranged more tightly without gaps. Furthermore, a polyhedron with perpendicular faces may be set for a structure on the Earth, for example, each road at an intersection.

[0021] As shown in Fig. 3, the divided region 100 is associated with information (hereinafter referred to as "spatial information") relating to the state and time of objects present within the divided region 100. The spatial information here refers to information including data type, position information of the moving body, speed information of the moving body, information on the direction of movement of the moving body, and unique object information of the moving body. Specifically, the spatial information can be categorized as follows, for example. (1) Information about objects that do not change in a short period of time (static information) (2) Information at the time of observation of an object that changes over a short period of time (dynamic information) (3) Forecast and schedule information (quasi-static information) (4) Information at the time of observation about an object that changes over a longer period of time than dynamic information (quasi-dynamic information)

[0022] Considering this embodiment as an automated driving system, static information is, for example, location information of buildings. Dynamic information is, for example, transmission information from moving objects, traffic light indication information, and pedestrian / bicycle information at intersections. Semi-static information is, for example, scheduled construction restrictions, scheduled seasonal / event restrictions, traffic congestion forecasts, and wide-area weather forecasts. Semi-dynamic information is, for example, traffic congestion information at the time of observation, communication strength at the time of observation, temporary driving conditions at the time of observation, obstacle conditions (falling objects, etc.), and accident conditions at the time of observation.

[0023] As described above, by defining unique identifiers for the divided areas obtained by dividing a specified area starting from a specified position and linking them to the spatial information of the specified divided area, it is possible to specify the specified divided area by specifying the unique identifier. This also enables access, including input and output, of the spatial information present in the specified divided area. This makes it possible to mutually use data linked to location, even between systems built using different location information, such as latitude / longitude / altitude or XYZ tile coordinate systems.

[0024] In this embodiment, an example has been described in which latitude / longitude / altitude are used as a coordinate system for defining the positions of divided regions, but the coordinate system is not limited to this. For example, an XYZ coordinate system having any coordinate axes or the Military Grid Reference System (MGRS) may be used. Alternatively, a pixel coordinate system using pixel positions of an image as coordinates or a tile coordinate system in which a predetermined region is divided into tiles and expressed as tiles arranged in the X and Y directions may be used.

[0025] Next, the configuration of the mobile object management system according to the first embodiment will be described with reference to FIGS. FIG. 4 is a system configuration diagram of a mobile object management system according to the first embodiment. FIG. 5 is a functional configuration diagram of each component of the mobile object management system according to the first embodiment. Figure 6 shows the hardware and software configuration of the management server.

[0026] In embodiment 1, as described above, it is assumed that space is divided into divided areas, each divided area is assigned a unique identifier, and information processing regarding the state and time of objects in the divided area, as well as information communication processing between each divided area, is performed.

[0027] As shown in Figure 4, the mobile management system of embodiment 1 is composed of a management server 1, sensor nodes 2 (represented as sensor nodes 2a and 2b in the figure), a network 4, a router 5, and a mobile object 6.

[0028] The network 4 is connected to a management server 1, a sensor node 2, and a router 5, and a mobile object 6 is connected to the router 5 via wireless communication.

[0029] The management server 1 is a server that manages spatial information existing within the range of the divided area 100 and processes information about it. The management server 1 may be configured, for example, as physical hardware such as a data center, or may be configured using cloud computing that utilizes resources on a network.

[0030] The sensor node 2 is, for example, a system that performs video monitoring, such as a roadside unit (roadside measuring device), and is connected to the management server 1 via the network 4 to communicate the necessary detection data and video information. The sensor node 2 is placed at different positions and directions within the divided area 100 so that it can detect spatial information within the divided area 100. The detected information (hereinafter referred to as "detection information") is then provided to the management server 1 via the network 4.

[0031] The network 4 may be a local area network such as a LAN (Local Area Network), or a global network such as the Internet. The router 5 is a device that controls wireless communication such as routing between the mobile unit 6 and the management server 1 .

[0032] The mobile object 6 is, for example, a vehicle driven by a driver or an autonomous vehicle. The mobile object 6 is connected to the network 4 via the router 5 by wireless communication and can access the spatial information managed by the management server 1. The sensor nodes 2 and mobile objects 6 connected via the network 4 correspond to external systems from the perspective of the management server 1.

[0033] Next, the functional configuration of each component of the mobile object management system according to the first embodiment will be described with reference to FIG. As shown in FIG. 5, the management server 1 includes functional components such as a control unit 11, an information storage unit 12, a network connection unit 13, a location information management unit 14, a database storage unit 15, and a matching unit 16.

[0034] The control unit 11 controls each unit and performs calculation processing in the management server 1. The information storage unit 12 stores temporary information during process control and calculation processing in the management server 1. It also stores information obtained from an external system via the network 4.

[0035] The network connection unit 13 provides an internal end point for sending and receiving data, such as a socket in TCP / IP, and also approves connections from external systems that access the management server 1. The network connection unit 13 of the management server 1 also provides an API (Application Programming Interface) for accessing spatial information stored in a format database 110, which will be described later.

[0036] The location information management unit 14 manages location-related information such as map information that manages the location relationship of each piece of spatial information within the divided space 100, map information that manages the location relationship between the divided space 100 and other divided spaces, and geographical maps and traffic regulation information around the divided space, and provides this information.

[0037] The database storage unit 15 stores a format database 110. The format database 110 is a database that manages spatial information in the divided space 100 by linking it to a unique identifier and time. The spatial information is updated by detection information acquired by an external system (e.g., the sensor node 2) that communicates with the management server 1, and the information is shared with other external systems (e.g., mobile objects 6) that communicate with the management server 1. The format database 110 may also manage specification information, such as information on businesses / individuals that own external systems, access methods for detection information acquired by external systems, and metadata / communication formats for the detection information, in association with the spatial information.

[0038] The matching unit 16 is a functional component that matches the identity of objects, and for example, matches whether multiple objects are the same by comparing multiple pieces of feature point information or image recognition results. It also has the function of generating and managing object-specific identifiers (hereinafter referred to as "object IDs") and assigning object IDs to multiple objects recognized as the same object. Previously saved information about objects is stored in the information storage unit 12, and the matching unit 16 matches this information with the input object information to determine identity.

[0039] With the above configuration, the management server 1 collects spatial information of the divided space 100 from external systems via the network and manages it by linking it with a unique identifier and time. Note that the management server 1 always collects the latest spatial information of the divided space 100, and the information is continually updated.

[0040] As shown in FIG. 5, the sensor node 2 includes a control unit 21, an information storage unit 22, a network connection unit 23, a location information management unit 24, and a detection unit 25.

[0041] The control unit 21 controls each unit of the sensor node 2 and performs necessary arithmetic processing. The information storage unit 22 stores necessary information for the sensor node 2. The network connection unit 23 establishes a network connection with an external system (management server 1).

[0042] The detection unit 25 is realized, for example, in terms of hardware, by a device configured with an image sensor such as a camera, and has a function of acquiring detection information of an area that the detection unit 25 can detect. The detection unit 25 also has, for example, an object recognition function using feature points and a distance measurement function using parallax. Furthermore, the detection unit 25 also has, for example, a function of calculating the speed using the distance an object moves between video frames and a function of detecting the orientation using AI machine learning.

[0043] The location information management unit 24 stores self-location information such as the installation position and angle of the sensor node 2, and estimates the location of the object by combining this with information on the distance to the object detected by the detection unit 25. In this embodiment, the coordinate system for the location information is latitude / longitude / height, but other coordinate systems such as an XYZ tile system may also be used.

[0044] Of the information detected by the detection unit 25, for example, position information is stored in the position information management unit 24, and other information such as feature point information, speed information, and direction information is linked to the position information and stored in the information storage unit 22. Note that the position information and other information may be stored in the position information management unit 24 in a packaged state.

[0045] With the above configuration, the sensor node 2 detects spatial information within the divided space 100 and transmits it to the outside via the network connection unit 23.

[0046] 5, the mobile object 6 includes a control unit 61, an information storage unit 62, a network connection unit 63, a location information management unit 64, a detection unit 65, and a movement control unit 66. The mobile object 6 is, for example, an autonomously driven vehicle.

[0047] The control unit 61 controls each unit of the mobile object 6 and performs necessary calculation processing. The information storage unit 22 stores necessary information for the mobile object 6. The network connection unit 23 establishes a network connection with an external system (management server 1).

[0048] The location information management unit 64, like a car navigation system, has a map of the area around the mobile unit 6 and manages the relative position of the mobile unit 6 with respect to objects around the mobile unit 6 in addition to its own location information, which will be described later. It can also acquire object location information from an external system via the network connection unit 63 and reflect this information on the map. Furthermore, the location information management unit 64 also has regulatory information related to the Road Traffic Act, and manages information about predetermined destinations, as well as route information and intermediate locations from the current location to the destination.

[0049] The detection unit 65 is realized, for example, by a hardware device configured with an imaging element such as a camera, and has the function of acquiring detection information of the area within its detectable range. The detection unit 65 also has an object recognition function and a distance measurement function. Furthermore, the detection unit 65 is equipped with a self-location estimation function that estimates its own location from the detection information, a self-location detection function such as a GPS (Global Positioning System), and a direction detection function such as a geomagnetic sensor, and is thus capable of generating self-location information. The detection unit 65 also detects signals of operations (e.g., steering, accelerator, and brake operations) by the operator (e.g., the driver) of the mobile object 6. The self-location information is used by the location information management unit 64 and can also be provided to an external system (management server 1) via the network connection unit 63.

[0050] The movement control unit 66 has a drive control function for movement and a steering function for changing the direction of movement, and controls movement according to the drive amount and steering amount converted using a predetermined conversion method from the operation signal of the detection unit 65. Furthermore, autonomous movement is also possible by using the map information, self-position information, destination and route information of the position information management unit 64 and the object recognition function and distance measurement function of the detection unit 65.

[0051] In the description of this embodiment, the moving body 6 has been described as a running body having wheels, but this is not limiting, and the moving body may be a moving body that moves by other means of transportation, such as an aerial vehicle such as a drone.

[0052] Next, the hardware and software configuration of the management server 1 will be described with reference to FIG. The management server 1 is realized as a hardware configuration, for example, by a general information processing device such as the server device shown in FIG. The management server 1 includes a CPU (Central Processing Unit) 402, a main memory device 404, a network I / F 406, a display I / F 408, an input / output I / F 410, and an auxiliary memory I / F 412, all of which are connected via a bus.

[0053] The CPU 402 controls each part of the management server 1, and loads and executes necessary programs into the main memory device 404. The main memory device 404 is typically configured as a volatile memory such as RAM, and stores the programs executed by the CPU 402 and data referenced by the CPU 402.

[0054] The network I / F 406 is an interface for connecting to the network 4. The display I / F 408 is an interface for connecting a display device 420 such as an LCD (Liquid Crystal Display).

[0055] The input / output I / F 410 is an interface for connecting input / output devices. In the example of Fig. 6, a keyboard 430 and a mouse 432, which is a pointing device, are connected. The auxiliary storage I / F 412 is an interface for connecting an auxiliary storage device such as an HDD (Hard Disk Drive) 450 or an SSD (Solid State Drive). The HDD 450 has a large storage capacity and stores programs for executing the present embodiment. A location information management program 461 and a matching program 462 are installed in the management server 1.

[0056] The location information management program 461 and the collation program 462 are programs that realize the functions of the location information management unit 14 and the collation unit 15, respectively. The HDD 450 also stores a format database 110, location-related information (map information, traffic regulation information, etc.) data 111, and object information data 112.

[0057] Next, the processing of the mobile object management system according to the first embodiment will be described with reference to FIGS. 7 to 10A and 10B. FIG. 7 is a diagram showing an example of a state when a moving object passes through a divided area (part 1). FIG. 8 is a diagram illustrating the coordinate system for the case shown in FIG. FIG. 9 is a diagram showing the data flow and storage area structure for the case shown in FIG. FIG. 10A is a sequence diagram (part 1) for the case shown in FIG. FIG. 10B is a sequence diagram (part 2) for the case shown in FIG.

[0058] In the example shown in Fig. 7, divided area 100 is set to an area including intersection 10. The divided area 100 is defined with X, Y, and Z axes as coordinate axes, as shown in Fig. 7, based on reference point 101. Sensor node 2a and sensor node 2b are installed at different positions and in different directions, and each can detect spatial information of divided area 100.

[0059] In this state, suppose that a moving object 6 enters divided area 100 and moves from point A to point B along the trajectory indicated by the dotted arrow. When moving object 6 is at point A, sensor node 2a detects moving object 6 and stores detection information such as feature points, position, speed, and orientation along with the detection time. Also, when moving object 6 is at point B, sensor node 2b detects moving object 6 and stores detection information such as feature points, position, speed, and orientation along with the detection time. Moving object 6 attempts to access management server 1 via network 4 to obtain spatial information about divided area 100, which is outside the detection area of ​​its own detection unit 65.

[0060] Next, the position information of the moving object 6 in the case shown in Fig. 7 will be described using Fig. 8. Fig. 8 shows an XY plane viewed from the Z-axis direction. The coordinate system in Fig. 8 has XYZ axes that indicate the three-dimensional spatial position of the moving object in the divided space 100, but here, the Z-axis value of the position of the moving object 6 can be considered to be constant, and only changes in the value of the coordinate point (X, Y) will be described.

[0061] The mobile object 6 is detected by the sensor node 2a at the coordinate point (X1, Y1) (point A). After that, the mobile object 6 moves to the coordinate point (X4, Y4) (point B) via the coordinate point (X2, Y2) and the coordinate point (X3, Y3). In this example, the coordinate points (X2, Y2) and (X3, Y3) are not detected by the external system (sensor node 2a, sensor node 2b), and therefore are position information that is not actually stored as spatial information.

[0062] Next, the processing of the mobile object management system will be described with reference to FIGS. 10A and 10B while also referring to FIG. For the management server 1, as shown in FIG. 9, an input API 120 and an output API 124 are defined for an external system accepted by the network connection unit 13.

[0063] The input API 120 is an API that converts information to be stored in the format database 110 of the management server 1 in order to unify it. It also has a function of converting various data types and formats used in external systems into a format that can be stored in the format database 110. For example, the input data type is limited to categories such as dynamic information, static information, quasi-dynamic information, and quasi-static information. It also converts various coordinate systems, such as latitude / longitude / height, an arbitrary XYZ coordinate system, a pixel coordinate system, and an XYZ tile coordinate system, into an XYZ coordinate system in the divided space 100. The input API 120 also provides an access path to the buffer storage 122, which is the data input destination. This function of the input API 120 makes it possible to unify the data specifications handled by the management server 1, thereby reducing the subsequent data processing load within the management server 1.

[0064] The output API 124 is an API that converts information stored in the format database 110 of the management server 1 into a format that can be used by an external system, and has the reverse conversion function of the input API 120. It also provides a method and path for an external system to access necessary information by specifying the data type, object ID, and purpose such as the latest current data or past historical data that the external system wants to use. In this embodiment, this corresponds to an access path to the integration storage 123. It also has a function to convert time information managed in the management server into time information that can be handled by the external system.

[0065] The management server 1 has two types of storage for storing data: a buffer storage 122 and an integration storage 123. The buffer storage 122 is a storage area for temporarily storing spatial information acquired from an external system via the network connection unit 13. The integration storage 123 is a storage area for integrating, storing, and managing the data stored in the buffer storage 122. The buffer storage 122 and the integration storage 123 are data storage formats in the format database 110.

[0066] The input data 21 stored in the buffer storage 122 by the sensor nodes 2a and 2b includes at least a data type, position information, speed information, orientation information, and unique object information. In this embodiment, since the input data is related to a moving object 6, the data type is dynamic data that includes position changes, and the position information is position information converted from the coordinate system of the sensor nodes 2a and 2b to the coordinate system of the divided area 100. The unique object information is information that serves as a basis for determining whether an object is unique, such as feature points or, in the case of a vehicle, vehicle model, color, and license plate information. Note that the data generated by the sensor node 2a in the format of data 121 using the input API 120 is referred to as data (1), and the data generated by the sensor node 2b is referred to as data (2). The contents of data (1) and data (2) are different and are input as separate data.

[0067] The processing of the mobile management system when data (1) from the sensor node 2a and data (2) from the sensor node 2b are input to the management server 1 in this way will be described.

[0068] The sensor node 2a that detected the moving object 6 at point A generates data (1) using the input API 120 and transmits it to the management server 1, which stores it in the buffer storage 122 via the network connection unit 13 (S201 in FIG. 10A). At this time, the management server 1 may store the data in association with the time when the moving object 6 was detected.

[0069] When the control unit 11 of the management server 1 detects that the data (1) has been stored in the buffer storage 122, it is notified that the data has been stored (S202).

[0070] Upon receiving the notification that the data has been stored, the control unit 11 associates the time information (00:12:11 in the example of FIG. 9) with the data (1) (S203), and updates the data (1) in the buffer storage 122 (S204). Note that in this description, the time stored as the time information is associated with the data, but the detection time may also be associated if the stored data is linked to the detection time.

[0071] Thereafter, the matching unit 16 reads the unique object information of the data (1) (S205), searches for other unique object information stored separately, and performs matching (S206). In the example of FIG. 10A, as a result of the matching, it is determined that the unique object information does not match the stored unique object information, and the matching unit 16 generates a new object ID (S207) and associates it (S208). Also, although not shown, if the object ID matches the unique object information already assigned, the matching unit 16 associates the object ID linked to the stored unique object information. Then, the matching unit 16 updates the unique object information of the data (1) stored in the buffer storage 122 based on the associated data (S209), and notifies the control unit 11 that the unique object information has been updated (S210).

[0072] Upon receiving the notification, the control unit 11 executes a process to move the data (1) in the buffer storage 122 to the integration storage 123 (S211). Then, the data (1) in the buffer storage 122 is moved to the integration storage 123 (S212).

[0073] At this time, the management server 1 detects that the data (1) has been stored in the buffer storage 122, and transmits the object ID and the position information to the position information management unit 14 (S213). Then, the position information management unit 14 reflects the object ID and the position information in map information indicating the positional relationship of each piece of spatial information held by the management server 1 (S214).

[0074] On the other hand, the sensor node 2b that detected the moving object 6 at point B generates data (2) using the input API 120 and transmits it to the management server 1, which stores it in the buffer storage 122 via the network connection unit 13 (S215 in FIG. 10B). At this time, the management server 1 may store the data in association with the time when the moving object 6 was detected.

[0075] When the control unit 11 of the management server 1 detects that the data (2) has been stored in the buffer storage 122, it is notified that the data has been stored (S216).

[0076] Upon receiving the notification that the data has been stored, the control unit 11 associates the time information (00:12:13 in the example of FIG. 9) with the data (2) (S217) and updates the data (2) in the buffer storage 122 (S218). Note that in this explanation, the time information is associated with the stored time, but as in the case of data (1), the detection time may be associated if the detected time is linked to the stored data.

[0077] Thereafter, the matching unit 16 reads the unique object information of the data (2) (S219), searches for other unique object information stored separately, and performs matching (S220). At this time, the matching unit 16 determines that the stored unique object information of the data (1) and the unique object information of the data (2) match or are similar, and associates the unique object information of the data (2) with the same object ID as the unique object information of the data (1) (S221). Then, the matching unit 16 updates the unique object information of the data (2) stored in the buffer storage 122 (S222), and notifies the control unit 11 that the same object ID exists (S223). Here, "similar" means that when the unique object information is image information, the feature amounts indicated by both are within a certain threshold range.

[0078] Upon receiving the notification, the control unit 11 executes a process of integrating data (2) in the buffer storage 122 with data (1) stored in the integration storage 123 (S224). The newly integrated data as data (3) is then stored in the integration storage 123 (S225). This integration process is significant in that it aggregates multiple pieces of data related to the same object into the latest state, updates the location information and time information associated with the data, and adds information that exists only in one of the data sources. This integration process makes it possible to reduce the data volume within the management server 1.

[0079] Furthermore, the control unit 11 of the management server 1 detects that data (3), which is the integration of data (1) and data (2), has been stored in the integration storage 123, and transmits the object ID and location information of the integrated data (3) to the location information management unit 14 (S226).Then, the location information management unit 14 updates the information about data (1) with the information about data (3) (S227).

[0080] Thereafter, the control unit 11 executes a process to delete the data (1) and data (2) in the buffer storage 122 (S228), and the data (1) and data (2) in the buffer storage 122 are deleted (S229).

[0081] On the other hand, a mobile object 6 that wants to obtain the latest spatial information of the divided area 100 uses the output API 124 to access the integration storage 123 of the management server 1 (S230). Then, the mobile object 6 converts the stored data (3) into data specifications compatible with its own system and obtains the data (S231).

[0082] As described above, according to the mobile object management system of this embodiment, when unifying spatial information of external systems constructed with various specifications, it is possible to distribute the processing load between the management server 1 and the external systems, and further reduce the amount of data in the management server 1.

[0083] [Embodiment 2]

[0084] A second embodiment of the present invention will be described below with reference to FIGS. 11 to 16B. In the first embodiment, an example in which a management server processes data within one divided area has been described. In this embodiment, an example in which multiple management servers cooperate to process data for multiple divided areas will be described. Note that this embodiment will mainly describe the differences from the first embodiment. The spatial model handled by the mobile object management system of this embodiment is the same as that of the first embodiment.

[0085] Next, the configuration of a mobile object management system according to the second embodiment will be described with reference to FIGS. FIG. 11 is a system configuration diagram of a mobile object management system according to the second embodiment. FIG. 12 is a functional configuration diagram of each component of the mobile object management system according to the second embodiment.

[0086] The mobile object management system according to the second embodiment divides a space into divided areas and assigns a unique identifier to each divided area, as in the first embodiment. This is assumed to process information relating to the state and time of objects in the divided areas, and to process information communication between the divided areas.

[0087] 11, the mobile object management system according to the second embodiment is composed of a management server 1, a management server 31, sensor nodes 2 (shown as sensor nodes 2b and 2c in the figure), and a network 4. Note that a mobile object 6 also appears as a measurement target of the system in this embodiment, but is not shown in FIG.

[0088] The management server 1, the sensor node 2, and the network 4 are the same as those in the first embodiment. Management server 31 is a server device with similar functions to management server 1, but it is a server that manages spatial information of objects that exist within the range of divided area 300 set next to divided space 100. Like management server 1, management server 31 may be configured with physical hardware such as a data center, or may be configured using cloud computing that utilizes resources on a network.

[0089] The sensor node 2c, like the sensor node 2b, is a system that performs video monitoring, such as a roadside unit, and is connected to the management server 31 via the network 4 to communicate the necessary detection data and video information. The sensor node 2c is placed at a position and in a direction that allows it to detect spatial information within the range of the divided area 300. The detection information is then provided to the management server 31 via the network 4.

[0090] Next, the functional configuration of each component of the mobile object management system according to the second embodiment will be described with reference to FIG. The configurations of the management server 1 and the sensor node 2 are the same as those in the first embodiment. Like the management server 1, the management server 31 has functional components including a control unit 311, an information storage unit 312, a network connection unit 313, a location information management unit 314, a database storage unit 315, and a matching unit 316, and the functions of each are the same as those of the management server 1 of embodiment 1.

[0091] The network connection unit 313 also approves connections from external systems that access the management server 31. Furthermore, the network connection unit 313 of the management server 31 defines an API for accessing spatial information stored in a format database 310, which will be described later.

[0092] The location information management unit 314 manages map information that manages the location relationship of each piece of space information within the divided space 300, and map information that manages the location relationship between the divided space 300 and other divided spaces. It also manages location-related information such as geographical maps and traffic regulation information around the divided space, and provides this information.

[0093] Therefore, the position information management unit 314 can recognize the position, direction, shape, and size of the divided space 100 managed by the management server 1 relative to the divided space 300.

[0094] The database storage unit 315 holds a format database 310. The format database 310 is a database that manages spatial information in the divided space 300 by linking it with a unique identifier and time.

[0095] The spatial information is updated by detection information acquired by an external system (e.g., the sensor node 2c) communicatively connected to the management server 31, and the information is shared with other external systems (e.g., the management server 1) communicatively connected to the management server 31. In addition, specification information such as information on businesses / individuals that own external systems, access methods for detection information acquired by external systems, and metadata / communication formats for the detection information may also be managed in association with the spatial information.

[0096] Next, the processing of the mobile object management system according to the first embodiment will be described with reference to FIGS. 13 to 16B. FIG. 13 is a diagram showing an example of a state when a moving object passes through a divided area (part 2). FIG. 14 is a diagram illustrating the coordinate system for the case shown in FIG. FIG. 15 is a diagram showing the data flow and storage area structure for the case shown in FIG. 16A and 16B are sequence diagrams for the case shown in FIG.

[0097] As in the first embodiment, the divided area 100 of this embodiment is set to an area including an intersection 10, and the X, Y, and Z axes in the figure are defined based on a reference point 101. Also, as in the first embodiment, there is a sensor node 2b installed in a state where it can detect spatial information about the divided area 100. Assume that a moving object 6 enters this divided area 100 and moves from point C to point D along the trajectory indicated by the dotted arrow. When the moving object 6 is at point C, the sensor node 2b detects the moving object 6 and stores detection information such as feature points, position, speed, and orientation together with the detection time.

[0098] Furthermore, divided area 300 is set to an area including intersection 40. The STU axis of divided area 300 is defined with reference to reference point 301. In this case, divided area 300 is assumed to be in contact with divided area 100 at plane 41. Point 42 is the point where plane 41 intersects with the trajectory of moving object 6 from point C to point D. The mobile object management system of this embodiment includes sensor node 2c installed in a state capable of detecting spatial information about divided area 300. Assume that moving object 6 enters this divided area 300 and moves to point D. When moving object 6 is at point D, sensor node 2c detects moving object 6 and stores detection information such as feature points, position, speed, and orientation along with the detection time.

[0099] Furthermore, the position information of the moving object 6 on the plane 41 will be described with reference to FIG. Fig. 14 is a projection view on the plane 41. Fig. 14 shows the projection directions of the YZ axis plane and the TU axis plane in Fig. 13. In this embodiment, the STU coordinate system in the divided space 300 is a three-dimensional orthogonal coordinate system.

[0100] Moving object 6 leaves divided space 100 at point 42 and enters divided space 300. Here, the position of moving object 6 in the XYZ coordinate system of divided space 100 is (x1, y1, z1). Meanwhile, the position of moving object 6 in the STU coordinate system of divided space 300 is (s1, t1, u1). As described above, the location information management unit 14 of management server 1 and the location information management unit 314 of management server 31 each have map information indicating their positional relationships with other divided spaces. This allows management server 1 and management server 31 to recognize the positions, directions, shapes, and sizes of other divided spaces. In other words, by calculating the difference between the coordinate systems, the position (s1, t1, u1) in divided space 300 can be calculated from the position (x1, y1, z1) in divided space 100.

[0101] Next, the processing of the mobile object management system will be described with reference to FIGS. 16A and 16B while also referring to FIG. FIG. 15 shows the data flow and storage area structure for the management server 31.

[0102] For the management server 31, as shown in FIG. 9, an input API 350 is defined for an external system that is received by the network connection unit 313.

[0103] The input API 350 is an API that converts information to be stored in the format database 310 of the management server 31 in order to unify it. This allows the API to convert various data types and formats used in external systems into formats that can be stored in the format database 310. For example, the input API 350 can limit data types to categories such as dynamic, static, quasi-dynamic, and quasi-static, or convert various coordinate systems, such as latitude / longitude / height, an arbitrary XYZ coordinate system, a pixel coordinate system, and an XYZ tile coordinate system, into the STU coordinate system in the divided space 300. The input API 50 also provides an access path to the buffer storage 52, which is the data input destination. This function of the input API 50 makes it possible to unify the data specifications handled by the management server 31, thereby reducing the subsequent data processing load within the management server 31.

[0104] Furthermore, the input API 50 has the function of converting spatial information history data received from an external management server that manages other partitioned spaces into a format that can be stored in the history storage 54. For example, the input API 50 converts the data format into a list format by associating it with the unique identifier of the partitioned space, or converts position information in various coordinate systems by associating it with the unique identifier of the partitioned space. The input API 50 also provides an access path to the history storage 54, which is the data input destination. Details of the history data and the history storage 54 will be described later.

[0105] The management server 31 has three types of storage for storing data: a buffer storage 52, an integration storage 53, and a history storage 54. The buffer storage 52, like the management server 1 described in the first embodiment, is a storage area for temporarily storing spatial information acquired from an external system via the network connection unit 313. The integration storage 53, like the management server 1 described in the first embodiment, is a storage area for integrating, storing, and managing the data stored in the buffer storage 52. The history storage 54 is a storage area for storing and managing information relating to the history of spatial information input from an external system. The buffer storage 52, the integration storage 53, and the history storage 54 are data storage formats in the format database 310.

[0106] It is important that the history of spatial information managed by the history storage 54 is continuously maintained, and once it is lost, it is completely lost. For this reason, the data in the history storage 54 is stored in non-volatile memory such as an SSD or HDD. Furthermore, the history storage 54 may be located in the information storage unit 312 instead of the format database 310.

[0107] The input data 51 stored in the buffer storage 52 by the sensor node 2c includes at least the data type, position information, speed information, direction information, and unique object information. In this embodiment, as in the first embodiment, the input data is related to the moving object 6, so the data type is dynamic data with position changes, and the position information is position information converted from the coordinate system of the sensor node 2c to the coordinate system of the divided area 300. The data generated by the sensor node 2c in the format of the data 51 using the input API 50 is referred to as data (4).

[0108] The history data 55 stored by the management server 1 in the history storage 54 includes at least information on unique objects, entry positions, entry times, and information on unique identifiers that have existed in the past. The history data 55 and the information on entry positions, entry times, and unique identifiers that have existed in the past will be described in detail later with reference to Figures 16A and 16B. Data generated by the management server 1 in the format of the history data 55 using the input API 50 is referred to as history data 551.

[0109] The following describes the processing of the mobile object management system when the mobile object 6 moves from the divided area 100 to the divided area 300, using FIGS. 16A and 16B.

[0110] The processes in S201 to S214 shown in FIG. 16A are the same as the processes in S201 to S214 in FIG. 10A.

[0111] Next, the location information management unit 14 detects that the position of the moving object 6 is approaching the edge of the divided area 100 (S215). Next, the location information management unit 14 notifies the control unit 11 of information (hereinafter referred to as "divided area information") about another divided area (divided area 300) that is closest in the direction of the edge of the divided area 100 to which the moving object 6 is approaching (S301). The divided area information is information about the divided area itself, such as a unique identifier associated with the divided area, a reference position of the divided area, a coordinate system, and input / output APIs.

[0112] Upon receiving the notification, the control unit 11 acquires the position, speed, and orientation information and unique object information of the data (1) from the integration storage 123 (S302). Then, together with information regarding the coordinate system of the notified divided area information, the control unit 11 calculates the position (hereinafter referred to as the "entry position") and time (hereinafter referred to as the "entry time") at which the moving object 6 enters the divided area 300 (S303). The entry position is a position on a trajectory estimated from the position, speed, and orientation in the data (1) that intersects with an end or end face of the divided area 300. The entry position is information obtained by converting the position information in the divided area 100 into position information in the coordinate system of the divided area acquired in S301, and in this embodiment, it is a coordinate point (s1, t1, u1) in the coordinate system of the divided area 300 shown in FIG. 14.

[0113] The control unit 11 generates data 551 (hereinafter referred to as "history data") by packaging the unique identifier linked to the divided area 100, the unique object information acquired in S302, and the information on the entry position and entry time calculated in S303 (S304). Next, the divided area information acquired in S301 is transmitted to the management server 31 in accordance with the input API 50 (S305 in FIG. 16B), and the management server 31 stores it in the history data 551.

[0114] The unique identifier associated with the divided area 100 included in the history data is used as information indicating the location where the presence of the moving object 6 was confirmed as spatial information. In this embodiment, the moving object 6 is assumed to be stored as spatial information for the first time in the management server 1, and therefore a description thereof is omitted. However, if there is a divided area in which the presence of the moving object 6 was previously confirmed, the unique identifier of the divided area 100 is added (listed) to the unique identifier associated with that divided area and transmitted. Naturally, the unique identifiers of divided areas whose existence is confirmed after the divided area 100 are similarly added. In other words, the list of unique identifiers in the history data corresponds to a past movement history. While movement history information is used, for example, to predict future behavior and is essential information for controlling autonomous moving objects, managing an individual's movement history requires high security due to privacy concerns. The movement history information managed by the configuration of this embodiment is transmitted and received between management servers managing each divided area, and therefore the server storing the information changes continuously. Therefore, it is difficult to identify where the history information of a specified moving object is managed, which can be considered an effective method from the perspective of privacy.

[0115] From this point onward, the management server 31 performs the processing relating to the divided area 300. When the management server 31 detects that the history data 551 has been stored in the history storage 54, the control unit 311 is notified that the history data 551 has been stored in the history storage 54 (S306).

[0116] Upon receiving the notification, the control unit 311 causes the matching unit 316 to perform matching by reservation (hereinafter referred to as "reserved matching") (S307). Reserved matching is, for example, an event-triggered process that executes a predetermined process in response to a time-related event. Specifically, it is a process that matches the data stored in the buffer storage with the unique object information in the history data at the entry position and entry time in the history data of the history storage.

[0117] By the reservation collation, the collation unit 316 reads out the unique object information, the entry position, and the entry time from the history data 551 in the history storage 54 (S308), and waits until the entry time (S309).

[0118] The sensor node 2c that detected the moving object 6 at point D shown in Fig. 13 generates data (4) using the input API 50 and stores it in the buffer storage 52 via the network connection unit 313 (S310). At this time, the data may be stored in association with the time when the moving object 6 was detected.

[0119] When the data (4) is stored in the buffer storage 52, the control unit 311 is notified that the data has been stored (S311). Upon receiving the notification that the data has been stored, the control unit 311 associates the time information (00:12:13 in the example of FIG. 15) with the data (4) (S312) and updates the data (4) in the buffer storage 52 (S313). Note that in the above description, the time information associates the stored time with the data (4), but if the stored data is linked to a detection time, the detection time may also be associated.

[0120] Meanwhile, after data (4) is stored in buffer storage 52, matching unit 316, which has been on standby, reads out the unique object information of data (4) (S314) and performs matching (reserved matching) with the unique object information in history data 551 (S315). In S315, the reserved matching makes it possible to omit the search process for unique object information stored in advance, thereby reducing the processing load.

[0121] When the matching unit 316 determines that the two pieces of unique object information match or are similar in this way, it generates a new object ID (S316) and associates it with the unique object information (S317). At this time, the unique object information in the history data 551 is added so that it is neither too much nor too little in the unique identifier information of data (4). Then, the matching unit 316 updates the unique object information of data (4) stored in the buffer storage 52 (S318) and notifies the control unit 311 that the unique object information has been updated (S319).

[0122] Upon receiving the notification, the control unit 311 executes a process to move the data (4) in the buffer storage 52 to the integration storage 53 (S320). Then, the data (4) in the buffer storage 52 is moved to the integration storage 53 (S321).

[0123] At this time, when the management server 31 detects that the data (4) has been stored in the buffer storage 52, it transmits the object ID and the location information to the location information management unit 314 (S322).The location information management unit 314 then reflects the object ID and the location information in map information that indicates the location relationship of each piece of spatial information that it holds (S323).

[0124] Thereafter, the control unit 311 executes a process of associating the data (4) in the integration storage 53 with the history data 551 (S324), and the data (4) in the integration storage 53 is associated with the history data 551 (S325).

[0125] As described above, in the mobile object management system of this embodiment, the server that manages the source segment of the mobile object 6 transfers the segment of the source segment to the server that manages the source segment. This reduces the processing load of the entire system and the amount of data to be stored. In other words, the load of the matching process related to unique object information can be reduced, and the amount of data related to the object's past history can be reduced. Furthermore, high security can be maintained even when the privacy of the driver or owner of the mobile object is an issue.

[0126] [Embodiment 3]

[0127] Hereinafter, a third embodiment of the present invention will be described with reference to FIGS. 16A, 16B, and 17. FIG. This embodiment has the same system configuration as the second embodiment, but differs in the situation in which the moving object 6 moves from the divided area 100 to the divided area 300. Note that this embodiment is premised on the second embodiment, and only the differences will be explained.

[0128] FIG. 17 is a diagram showing an example of a state when a moving object passes through a divided area (part 3). 17, one surface of divided area 100 parallel to the YZ plane is called surface 60, and the surface of divided area 300 parallel to the UT plane that faces surface 60 is called surface 70. Mobile object 6 moves from point C to point D on the trajectory indicated by the dotted arrow, and the point of contact between the trajectory of the dotted arrow and surface 60 is called point 61, and the point of contact with surface 70 is called point 71. That is, the difference between FIG. 17 and FIG. 13 of the second embodiment is that the divided area 100 and the divided area 300 are arranged at a distance from each other.

[0129] In the processing of the mobile object management system, in S303 of Fig. 16A, the control unit 11 of the management server 1 calculates the position (entry position) and time (entry time) at which the mobile object 6 enters the divided area 300, along with information related to the coordinate system of the divided area information. In the case of Fig. 13 of the second embodiment, the divided area 100 and the divided area 300 are in contact with each other at the surface 41. Therefore, the position at which the mobile object 6 exits the divided area 100 (hereinafter referred to as the exit position) is the same as the entry position of the divided area 300, and it was easy to calculate the entry position and entry time as described in the second embodiment.

[0130] In the situation in FIG. 17, the position (entry position) and time (entry time) at which the moving object 6 enters the divided area 300 are calculated as follows. Upon receiving notification in S301 that the moving object 6 is approaching the edge of the divided area 100, the control unit 11 acquires the position, speed, and orientation information of data (1) and unique object information from the integration storage 123 (S302). Then, the control unit 11 calculates (predicts) the movement trajectory of the moving object 6 to the divided area 300, and calculates the position (entry position) and time (entry time) at which the moving object 6 will enter the divided area 300 using the movement trajectory and the speed acquired in S302 (S303). The calculation (prediction) of the movement trajectory involves, for example, acquiring lane information from the map and traffic regulation information around the divided space in the position information management unit 14, and calculating the position of the moving object 6 in the lane from the position information in S302. Here, unlike the second embodiment, the distance between points 61 and 71 is taken into consideration. Assuming that the moving object 6 moves while maintaining a left-right distance along the lane, the control unit 11 can calculate (predict) the movement trajectory along the lane to point 71.

[0131] As described above, according to this embodiment, even if there is a distance between divided areas, the position (entry position) and time (entry time) when a moving body enters an adjacent divided area can be calculated, and the server managing the adjacent divided area can use this.

[0132] (Configuration 1) A mobile object management system that manages information on mobile objects moving within a space, a management server that manages spatial information, which is information relating to the state and time of the moving object; a sensor node connected via a network to detect spatial information including unique object information of a moving object; The management server Buffer storage is a storage area that temporarily stores spatial information acquired from the outside, and an integration storage that is a storage area for integrating and storing the data stored in the buffer storage; a matching unit that matches the identity of an object by image recognition, the management server identifies each divided area by assigning a unique identifier to each divided area obtained by dividing a predetermined area in the space starting from a predetermined position; the sensor node detects the spatial information related to the moving object, converts the position information included in the spatial information so that it corresponds to a coordinate system of a divided area managed by the management server in accordance with the provisions of an input API (Application Interface) between the management server and the sensor node, and transmits the spatial information to the management server; When the management server receives the spatial information from the sensor node, the management server stores the received spatial information in the buffer storage; A mobile object management system characterized in that the comparison unit of the management server compares whether the moving objects related to the spatial information stored in the buffer storage are the same using the unique object information contained in the spatial information, and when they are determined to be the same, integrates the spatial information related to the same moving object and stores it in the integration storage.

[0133] (Configuration 2) 2. The information management system according to configuration 1, wherein the spatial information includes a data type, position information of the moving body, speed information of the moving body, information on the direction of movement of the moving body, and unique object information of the moving body.

[0134] (Configuration 3) The mobile object management system according to any one of configurations 1 and 2, characterized in that when the management server integrates spatial information stored in the buffer storage relating to the same mobile object and stores the integrated information in the integration storage, it stores spatial information having the latest time information in the integration storage.

[0135] (Configuration 4) the management server converts the location information included in the stored spatial information about the moving object so that it corresponds to a coordinate system of a divided area of ​​the moving object according to a provision of an output API of the management server and the moving object, and transmits the spatial information to the moving object.

[0136] (Configuration 5) A mobile object management system that manages spatial information, which is information about the state and time of a mobile object moving within a space, by dividing a predetermined area of ​​the space into divided areas starting from a predetermined position and assigning a unique identifier to each divided area, and identifies and manages each divided area, a first management server that manages spatial information of the first divided area; a second management server that manages spatial information of the second divided area; a first sensor node connected to the first management server via a network and configured to detect spatial information of a first divided area including unique object information of a moving object; a second sensor node connected to the second management server via a network and configured to detect spatial information of a second divided area including unique object information of a moving object; the first management server and the second management server each have a matching unit that matches the identity of an object by image recognition; the first sensor node detects the spatial information related to the moving object, converts the position information included in the spatial information to correspond to a coordinate system of a divided area managed by the first management server in accordance with the provisions of an input API (Application Interface) between the first management server and the first sensor node, and transmits the spatial information to the first management server; the second sensor node detects the spatial information related to the moving object, converts the position information included in the spatial information to correspond to a coordinate system of a divided area managed by the second management server in accordance with a provision of an input API between the second management server and the second sensor node, and transmits the spatial information to the second management server; A mobile object management system characterized in that the first management server calculates the position and time at which a target mobile object will enter the second divided area based on spatial information received from the first sensor node, and transmits the unique object information of the mobile object and the calculated position and time at which the mobile object will enter the second divided area.

[0137] (Configuration 6) 6. The information management system according to configuration 5, wherein the spatial information includes a data type, position information of the moving body, speed information of the moving body, information on the direction of movement of the moving body, and unique object information of the moving body.

[0138] (Configuration 7) The mobile object management system according to any one of configurations 5 and 6, wherein the comparison unit of the management server compares whether the moving objects related to the spatial information stored in the buffer storage are the same or not using the unique object information included in the spatial information, and when the moving objects are determined to be the same, integrates the spatial information related to the same moving object and stores it in the integration storage.

[0139] (Configuration 8) The mobile object management system according to configuration 7, wherein when the first management server and the second management server integrate spatial information stored in the buffer storage relating to the same mobile object and store the integrated information in the integration storage, the first management server and the second management server store spatial information having the latest time information in the integration storage.

[0140] (Configuration 9) The mobile object management system according to configuration 8, wherein the first management server and the second management server have a history storage for storing past spatial information, and the spatial information stored in the history storage includes unique object information of the mobile object.

[0141] (Configuration 10) The second management server when receiving, from the first management server, unique object information of the moving object and the position and time at which the moving object enters the second divided area, storing, in the history storage, the unique object information of the moving object and the position and time at which the moving object enters the second divided area in association with each other; receiving the spatial information regarding the moving object from the second sensor node and storing the information in the buffer storage; comparing the unique object information of the spatial information stored in the buffer storage with the unique object information of the moving body stored in the history storage, and when it is determined that the unique object information of the spatial information stored in the buffer storage and the unique object information of the moving body stored in the history storage match or are similar, updating the unique object information of the spatial information stored in the buffer storage based on the unique object information of the moving body stored in the history storage; 9. The mobile object management system according to any one of configurations 8, wherein the spatial information stored in the buffer storage is stored in the integration storage.

[0142] (Configuration 11) The mobile object management system according to any one of configurations 5 to 10, wherein the first management server calculates the position and time at which the mobile object enters the second divided area based on the position and time at which the mobile object leaves the first divided area.

[0143] (Method 1) A mobile object management method for a mobile object management system that manages information on mobile objects moving within a space, comprising: The mobile management system includes: a management server that manages spatial information, which is information relating to the state and time of the moving object; a sensor node connected via a network to detect spatial information including unique object information of a moving object; The management server Buffer storage is a storage area that temporarily stores spatial information acquired from the outside, and an integration storage that is a storage area for integrating and storing the data stored in the buffer storage; a matching unit that matches the identity of an object by image recognition, the spatial information includes a data type, position information of the moving body, speed information of the moving body, information on the direction of movement of the moving body, and unique object information of the moving body; a step in which the management server identifies each divided area by assigning a unique identifier to each divided area obtained by dividing a predetermined area in the space starting from a predetermined position; a step in which the sensor node detects the spatial information related to the moving object, converts the position information included in the spatial information so that it corresponds to a coordinate system of a divided area managed by the management server in accordance with a definition of an input API (Application Interface) between the management server and the sensor node, and transmits the spatial information to the management server; When the management server receives the spatial information from the sensor node, the management server stores the received spatial information in the buffer storage; The mobile object management method is characterized in that the comparison unit of the management server compares the unique object information contained in the spatial information stored in the buffer storage to determine whether the mobile objects related to the spatial information are the same, and when they are determined to be the same, integrates the spatial information related to the same mobile object and stores the spatial information having the latest time information in the integration storage.

[0144] (Method 2) A mobile object management method for a mobile object management system, which divides a predetermined area of ​​a space into divided areas by dividing the space into divided areas, the divided areas being information about the state and time of a mobile object moving within the space, and assigns a unique identifier to each divided area, the method comprising: The mobile management system includes: a first management server that manages spatial information of the first divided area; a second management server that manages spatial information of the second divided area; a first sensor node connected to the first management server via a network and configured to detect spatial information of a first divided area including unique object information of a moving object; a second sensor node connected to the second management server via a network and configured to detect spatial information of a second divided area including unique object information of a moving object; The first management server and the second management server Buffer storage is a storage area that temporarily stores spatial information acquired from the outside, and an integration storage that is a storage area for integrating and storing the data stored in the buffer storage; History storage for storing past spatial information, a matching unit that matches the identity of an object by image recognition, the spatial information includes a data type, position information of the moving body, speed information of the moving body, information on the direction of movement of the moving body, and unique object information of the moving body; The spatial information stored in the history storage includes unique object information of a moving object; the first sensor node detects the spatial information related to the moving object, converts the position information included in the spatial information so that it corresponds to a coordinate system of a divided area managed by the first management server in accordance with a definition of an input API (Application Interface) between the first management server and the first sensor node, and transmits the spatial information to the first management server; the second sensor node detects the spatial information related to the moving object, converts the position information included in the spatial information so that it corresponds to a coordinate system of a divided area managed by the second management server in accordance with a provision of an input API between the second management server and the second sensor node, and transmits the spatial information to the second management server; the collation unit of the management server collates whether or not the moving objects related to the spatial information stored in the buffer storage are identical based on the unique object information included in the spatial information, and when the moving objects are determined to be identical, integrates the spatial information related to the identical moving objects and stores the spatial information having the latest time information in the integration storage; A mobile object management method characterized by comprising a step in which the first management server calculates the position and time at which a target mobile object will enter the second divided area based on spatial information received from the first sensor node, and transmits the unique object information of the mobile object and the calculated position and time at which the mobile object will enter the second divided area. a step in which, when the second management server receives from the first management server the unique object information of the moving object and the position and time of the moving object entering the second divided area, the unique object information of the moving object and the position and time of the moving object entering the second divided area are stored in the history storage in association with each other; the second management server receives the spatial information regarding the moving object from the second sensor node and stores the information in the buffer storage; a step in which the second management server compares the unique object information of the spatial information stored in the buffer storage with the unique object information of the moving body stored in the history storage, and when it determines that the unique object information of the spatial information stored in the buffer storage matches or is similar to the unique object information of the moving body stored in the history storage, updates the unique object information of the spatial information stored in the buffer storage based on the unique object information of the moving body stored in the history storage; a step in which the second management server stores the spatial information stored in the buffer storage in the integration storage. [Explanation of symbols]

[0145] 1...Administrative server 2...Sensor node 4. Network 5. Router 6...Mobile 10,40...Intersection 120,50...Input API 121,51...input data 122,52...Buffer storage 123,53…Integrated storage 24...Output API 31...Administration server 41,60,70...plane 42,61,71…points 54...History Storage 55...Historical data 100,300…divided area 101,301...Reference point

Claims

1. A mobile object management system that manages information on mobile objects moving within a space, a management server that manages spatial information, which is information relating to the state and time of the moving object; a sensor node connected via a network to detect spatial information including unique object information of a moving object; The management server Buffer storage is a storage area that temporarily stores spatial information acquired from the outside, and an integration storage that is a storage area for integrating and storing the data stored in the buffer storage; a matching unit that matches the identity of an object by image recognition, the management server identifies each divided area by assigning a unique identifier to each divided area obtained by dividing a predetermined area in the space starting from a predetermined position; the sensor node detects the spatial information related to the moving object, converts the position information included in the spatial information so that it corresponds to a coordinate system of a divided area managed by the management server in accordance with the provisions of an input API (Application Interface) between the management server and the sensor node, and transmits the spatial information to the management server; When the management server receives the spatial information from the sensor node, the management server stores the received spatial information in the buffer storage; A mobile object management system characterized in that the comparison unit of the management server compares whether the moving objects related to the spatial information stored in the buffer storage are the same using the unique object information contained in the spatial information, and when they are determined to be the same, integrates the spatial information related to the same moving object and stores it in the integration storage.

2. 2. The information management system according to claim 1, wherein the spatial information includes a data type, position information of the mobile object, speed information of the mobile object, information on the direction of movement of the mobile object, and unique object information of the mobile object.

3. The mobile object management system according to claim 1, characterized in that when the management server integrates spatial information stored in the buffer storage relating to the same mobile object and stores the information in the integration storage, it stores the spatial information having the latest time information in the integration storage.

4. The mobile object management system according to claim 1, characterized in that the management server converts the location information contained in the stored spatial information regarding the mobile object so that it corresponds to the coordinate system of the divided area of ​​the mobile object in accordance with the provisions of the output API of the management server and the mobile object, and transmits the spatial information to the mobile object.

5. A mobile object management system that manages spatial information, which is information about the state and time of a mobile object moving within a space, by dividing a predetermined area of ​​the space into divided areas starting from a predetermined position and assigning a unique identifier to each divided area, and identifies and manages each divided area, a first management server that manages spatial information of the first divided area; a second management server that manages spatial information of the second divided area; a first sensor node connected to the first management server via a network and configured to detect spatial information of a first divided area including unique object information of a moving object; a second sensor node connected to the second management server via a network and configured to detect spatial information of a second divided area including unique object information of a moving object; the first management server and the second management server each have a matching unit that matches the identity of an object by image recognition; the first sensor node detects the spatial information related to the moving object, converts the position information included in the spatial information to correspond to a coordinate system of a divided area managed by the first management server in accordance with a provision of an input API (Application Interface) between the first management server and the first sensor node, and transmits the spatial information to the first management server; the second sensor node detects the spatial information related to the moving object, converts the position information included in the spatial information to correspond to a coordinate system of a divided area managed by the second management server in accordance with a provision of an input API between the second management server and the second sensor node, and transmits the spatial information to the second management server; A mobile object management system characterized in that the first management server calculates the position and time at which a target mobile object will enter the second divided area based on spatial information received from the first sensor node, and transmits the unique object information of the mobile object and the calculated position and time at which the mobile object will enter the second divided area.

6. 6. The information management system according to claim 5, wherein the spatial information includes data type, position information of the mobile body, speed information of the mobile body, information on the direction of movement of the mobile body, and unique object information of the mobile body.

7. The mobile object management system according to claim 6, characterized in that the comparison unit of the management server compares the unique object information contained in the spatial information stored in the buffer storage to determine whether the moving objects related to the spatial information are the same, and if they are determined to be the same, integrates the spatial information related to the same moving object and stores it in the integration storage.

8. The mobile object management system according to claim 7, characterized in that when the first management server and the second management server integrate spatial information stored in the buffer storage relating to the same mobile object and store the integrated information in the integration storage, they store the spatial information having the latest time information in the integration storage.

9. The mobile object management system according to claim 8, characterized in that the first management server and the second management server have a history storage for storing past spatial information, and the spatial information stored in the history storage includes unique object information of the mobile object.

10. The second management server when receiving, from the first management server, unique object information of the moving object and the position and time at which the moving object enters the second divided area, storing, in the history storage, the unique object information of the moving object and the position and time at which the moving object enters the second divided area in association with each other; receiving the spatial information regarding the moving object from the second sensor node and storing the information in the buffer storage; comparing the unique object information of the spatial information stored in the buffer storage with the unique object information of the moving body stored in the history storage, and when it is determined that the unique object information of the spatial information stored in the buffer storage and the unique object information of the moving body stored in the history storage match or are similar, updating the unique object information of the spatial information stored in the buffer storage based on the unique object information of the moving body stored in the history storage; 9. The mobile management system according to claim 8, wherein the spatial information stored in the buffer storage is stored in the integration storage.

11. The mobile object management system according to claim 5, characterized in that the first management server calculates the position and time at which the mobile object enters the second divided area based on the position and time at which the mobile object leaves the first divided area.

12. A mobile object management method for a mobile object management system that manages information on mobile objects moving within a space, comprising: The mobile management system includes: a management server that manages spatial information, which is information relating to the state and time of the moving object; a sensor node connected via a network to detect spatial information including unique object information of a moving object; The management server Buffer storage is a storage area that temporarily stores spatial information acquired from the outside, and an integration storage that is a storage area for integrating and storing the data stored in the buffer storage; a matching unit that matches the identity of an object by image recognition, the spatial information includes a data type, position information of the moving body, speed information of the moving body, information on the direction of movement of the moving body, and unique object information of the moving body; a step in which the management server identifies each divided area by assigning a unique identifier to each divided area obtained by dividing a predetermined area in the space starting from a predetermined position; a step in which the sensor node detects the spatial information related to the moving object, converts the position information included in the spatial information so that it corresponds to a coordinate system of a divided area managed by the management server in accordance with a provision of an input API (Application Interface) between the management server and the sensor node, and transmits the spatial information to the management server; When the management server receives the spatial information from the sensor node, the management server stores the received spatial information in the buffer storage; The mobile object management method is characterized in that the comparison unit of the management server compares the unique object information contained in the spatial information stored in the buffer storage to determine whether the mobile objects related to the spatial information are the same, and when they are determined to be the same, integrates the spatial information related to the same mobile object and stores the spatial information having the latest time information in the integration storage.

13. A mobile object management method for a mobile object management system, which divides a predetermined area of ​​a space into divided areas by dividing the space into divided areas, the divided areas being information about the state and time of a mobile object moving within the space, and assigns a unique identifier to each divided area, the method comprising: The mobile management system includes: a first management server that manages spatial information of the first divided area; a second management server that manages spatial information of the second divided area; a first sensor node connected to the first management server via a network and configured to detect spatial information of a first divided area including unique object information of a moving object; a second sensor node connected to the second management server via a network and configured to detect spatial information of a second divided area including unique object information of a moving object; The first management server and the second management server Buffer storage is a storage area that temporarily stores spatial information acquired from the outside, and an integration storage that is a storage area for integrating and storing the data stored in the buffer storage; History storage for storing past spatial information, a matching unit that matches the identity of an object by image recognition, the spatial information includes a data type, position information of the moving body, speed information of the moving body, information on the direction of movement of the moving body, and unique object information of the moving body; The spatial information stored in the history storage includes unique object information of a moving object; a step in which the first sensor node detects the spatial information related to the moving object, converts the position information included in the spatial information so that it corresponds to a coordinate system of a divided area managed by the first management server in accordance with a provision of an input API (Application Interface) between the first management server and the first sensor node, and transmits the spatial information to the first management server; the second sensor node detects the spatial information related to the moving object, converts the position information included in the spatial information so that it corresponds to a coordinate system of a divided area managed by the second management server in accordance with a provision of an input API between the second management server and the second sensor node, and transmits the spatial information to the second management server; the collation unit of the management server collates whether or not the moving objects related to the spatial information stored in the buffer storage are identical based on the unique object information included in the spatial information, and when the moving objects are determined to be identical, integrates the spatial information related to the identical moving objects and stores the spatial information having the latest time information in the integration storage; A mobile object management method characterized by comprising a step in which the first management server calculates the position and time at which a target mobile object will enter the second divided area based on spatial information received from the first sensor node, and transmits the unique object information of the mobile object and the calculated position and time at which the mobile object will enter the second divided area. a step in which, when the second management server receives from the first management server the unique object information of the moving object and the position and time of the moving object entering the second divided area, the unique object information of the moving object and the position and time of the moving object entering the second divided area are stored in the history storage in association with each other; the second management server receives the spatial information regarding the moving object from the second sensor node and stores the information in the buffer storage; a step in which the second management server compares the unique object information of the spatial information stored in the buffer storage with the unique object information of the moving body stored in the history storage, and when it determines that the unique object information of the spatial information stored in the buffer storage matches or is similar to the unique object information of the moving body stored in the history storage, updates the unique object information of the spatial information stored in the buffer storage based on the unique object information of the moving body stored in the history storage; a step in which the second management server stores the spatial information stored in the buffer storage in the integration storage.

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