Information processor and information processing method

Abstract

To allow a vehicle user to grasp whether the vehicle user is appropriately behaving for driving.SOLUTION: A control unit of an information processor acquires the position of a temporary stop sign installed at an intersection ahead in the travel direction of a vehicle. The control unit of the information processor determines whether the vehicle has temporarily stopped within a first range as a first driving evaluation. The control unit determines whether the vehicle has traveled at or below a predetermined speed within a second range ahead of the first range in the travel direction as a second driving evaluation. The control unit outputs the results of the first and second evaluations. The first range and the second range are set according to the acquired position of the temporary stop sign.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to an information processing device and an information processing method. [Background technology]

[0002] Patent Document 1 discloses an object recognition device. The object recognition device disclosed in Patent Document 1 sets multiple regions of interest in an observation area projected onto a two-dimensional plane in the vertical and horizontal directions, each region having a size corresponding to the distance from the vehicle and the vehicle speed in real space. The object recognition device then irradiates electromagnetic waves from a distance measurement sensor into an irradiation range in real space corresponding to the observation area, and recognizes objects ahead of the vehicle based on data on the reflected waves of the received electromagnetic waves. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-156024 Summary of the Invention [Problem to be solved by the invention]

[0004] The present disclosure aims to determine whether a vehicle user is driving appropriately. [Means for solving the problem]

[0005] An information processing device according to a first aspect of the present disclosure includes: An information processing device including a control unit, The control unit Acquiring the position of a stop sign provided at an intersection ahead in the vehicle's traveling direction; determining whether the vehicle has stopped temporarily within a first range as a first evaluation of driving; determining, as a second evaluation of driving, whether or not the vehicle traveled at a predetermined speed or less within a second range beyond the first range in the traveling direction; outputting the results of the first evaluation and the second evaluation; configured to run The first range and the second range are set according to the acquired position of the stop sign.

[0006] An information processing method according to a second aspect of the present disclosure includes: 1. A computer-implemented information processing method, comprising: Acquiring the position of a stop sign provided at an intersection ahead in the vehicle's traveling direction; determining whether the vehicle has stopped temporarily within a first range as a first evaluation of driving; determining, as a second evaluation of driving, whether or not the vehicle traveled at a predetermined speed or less within a second range beyond the first range in the traveling direction; outputting the results of the first evaluation and the second evaluation; Including, The first range and the second range are set according to the acquired position of the stop sign. [Effects of the Invention]

[0007] This disclosure makes it possible to determine whether a vehicle user is driving appropriately. This becomes: [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of an evaluation system according to this embodiment. [Figure 2] FIG. 2 is a diagram showing the relationship between the installation positions of stop signs and the positions of stop lines. [Figure 3] FIG. 3 is a diagram illustrating an example of an intersection. [Figure 4] FIG. 4 is a diagram showing an area specified by a stop sign. [Figure 5] FIG. 5 is a block diagram illustrating an example of a functional configuration of the in-vehicle device. [Figure 6]FIG. 6 is a flowchart of the process executed by the control unit. DETAILED DESCRIPTION OF THE INVENTION

[0009] A vehicle may travel through an intersection where a stop sign is installed. In this case, the vehicle must stop at the stop line corresponding to the stop sign. Furthermore, after stopping at the stop line, the vehicle user is recommended to drive the vehicle at a slow speed without increasing speed until near the entrance to the intersection to check for safety. Therefore, if the vehicle user stops at the stop line and drives the vehicle at a slow speed without increasing speed until near the entrance to the intersection to check for safety, it can be determined that the user is driving appropriately.

[0010] Therefore, a control unit of an information processing device according to a first aspect of the present disclosure acquires the position of a stop sign installed at an intersection ahead in the vehicle's traveling direction. The control unit of the information processing device determines whether the vehicle has stopped within a first range as a first evaluation of driving. This makes it possible to diagnose whether the user of the vehicle has stopped appropriately.

[0011] The control unit of the information processing device also determines whether the vehicle traveled at or below a predetermined speed within a second range beyond the first range in the traveling direction as a second evaluation of the driving, thereby making it possible to evaluate whether the user of the vehicle checked for safety after temporarily stopping.

[0012] The control unit then outputs the results of the first evaluation and the second evaluation. Here, the first range and the second range are ranges identified according to the acquired position of the stop sign. The first range is set as a range in which the vehicle may stop. Furthermore, the second range is set as a range in which the vehicle may travel at a slow speed without increasing speed to ensure safety.

[0013] As explained above, the first evaluation can be used to determine whether a vehicle stopped at an intersection where a stop sign is present, and the second evaluation can be used to determine whether a vehicle checked for safety after stopping. This makes it possible to determine whether the vehicle user is driving appropriately.

[0014] Specific embodiments of the present disclosure will be described below with reference to the accompanying drawings. Unless otherwise specified, the hardware configuration, module configuration, functional configuration, etc. described in each embodiment are not intended to limit the technical scope of the disclosure to those configurations.

[0015] <Embodiment> (System Overview) An evaluation system 1 according to this embodiment will be described with reference to Fig. 1 to Fig. 4. Fig. 1 is a diagram showing a schematic configuration of the evaluation system 1 according to this embodiment. The evaluation system 1 includes an in-vehicle device 100 and an ECU 200. In the evaluation system 1, the in-vehicle device 100 and the ECU 200 are connected to each other via an in-vehicle network.

[0016] (ECU) The ECU 200 is an electronic control unit (ECU) that controls the driving of the vehicle 10. The ECU 200 transmits driving information of the vehicle 10 to the in-vehicle device 100 in real time via an in-vehicle network.

[0017] (In-vehicle device) The in-vehicle device 100 is a device mounted on the vehicle 10. The in-vehicle device 100 evaluates the driving behavior of a user of the vehicle 10. The in-vehicle device 100 includes a computer having a processor 110, a main memory 120, an auxiliary memory 130, a communication I / F 140, and a camera 150. The processor 110 is, for example, a central processing unit (CPU) or a digital signal processor (DSP). The main memory 120 is, for example, a random access memory (RAM). The auxiliary memory 130 is, for example, a read-only memory (ROM). The auxiliary memory 130 is, for example, a hard disk drive (HDD) or a disc recording medium such as a CD-ROM, a DVD disc, or a Blu-ray disc. The auxiliary memory 130 may also be a removable medium (portable storage medium). Examples of removable media include a USB memory or an SD card. The communication I / F 140 is, for example, a LAN (Local Area Network) interface board or a wireless communication circuit for wireless communication. The camera 150 is a camera that captures an image of the area in front of the vehicle 10.

[0018] In the in-vehicle device 100, the auxiliary storage unit 130 stores an operating system (OS), various programs, various information tables, and the like. In addition, in the in-vehicle device 100, the processor 110 loads the programs stored in the auxiliary storage unit 130 into the main storage unit 120 and executes them, thereby realizing various functions as described below. However, some or all of the functions of the in-vehicle device 100 may be realized by hardware circuits such as ASICs or FPGAs. Note that the in-vehicle device 100 does not necessarily have to be realized by a single physical configuration, and may be configured by multiple computers that cooperate with each other.

[0019] Here, the vehicle 10 may travel through an intersection. At this time, a stop line may be set up before the intersection. In this case, the vehicle 10 needs to stop at the stop line. Therefore, the in-vehicle device 100 evaluates whether the vehicle 10 has stopped at the stop line.

[0020] Here, it is assumed that the in-vehicle device 100 acquires the position of a stop line by analyzing a video image (hereinafter, sometimes simply referred to as a "video image") of the area ahead of the vehicle 10 captured by the camera 150. In this case, the stop line may not be detected in the video image analysis when the road surface is wet or when light is shining on the road surface. In this way, the stop line may not be detected in the video image analysis depending on the road surface conditions. Furthermore, the stop line may not be detected in the video image analysis when there is another vehicle ahead of the vehicle 10, for example.

[0021] On the other hand, stop signs are installed near stop lines. Stop signs are installed at a high position away from the road surface. Therefore, the influence of road surface conditions and the like can be suppressed when detecting stop signs using video image analysis. Therefore, detection of stop signs using video image analysis has higher detection accuracy than detection of stop lines using video image analysis. Therefore, the in-vehicle device 100 detects stop signs installed near stop lines using video image analysis. At this time, the in-vehicle device 100 also acquires the location of the stop line using video image analysis.

[0022] Here, the location of a stop sign and the location of a stop line may not coincide. FIG. 2 is a diagram showing the relationship between the locations of stop signs and the locations of stop lines. As shown in FIG. 2, roads are generally designed so that stop lines are installed within 5 meters (m) before and after the location of the stop sign. Therefore, the on-vehicle device 100 can determine that a stop line exists within a range of 5 meters before and after the stop sign.

[0023] On the other hand, a blind spot is created in front of the vehicle by the hood. Generally, the blind spot in front of a vehicle is about 5 meters. Therefore, because the blind spot created by the hood prevents the user of the vehicle from seeing the stop line, the user may stop the vehicle 5 meters before the stop line. Therefore, if a stop line is located 5 meters before the location of a stop sign and the vehicle stops 5 meters before the stop line, the vehicle will stop 10 meters before the stop sign. In other words, when a vehicle stops at a stop line, it may stop up to 10 meters before the stop sign. Therefore, the range in which a vehicle can stop at a stop line is expected to be a range of 10 meters before and 5 meters ahead of the location of the stop sign (hereinafter, sometimes referred to as the "first range").

[0024] Furthermore, after a vehicle has stopped at a stop line at an intersection, it is recommended that the vehicle continue to travel slowly without increasing speed until it is able to check the conditions of the roads intersecting the road on which the vehicle is traveling, and check for safety on both sides. Figure 3 shows an example of an intersection. As shown in Figure 3, a crosswalk is provided beyond the stop line. Also, an intersection is provided beyond the crosswalk.

[0025] Generally, roads are designed so that crosswalks are located 2 meters ahead of the stop line. Also, crosswalks are designed to be at least 4 meters wide. Also, roads are designed so that the entrance to the intersection is 4 meters ahead of the crosswalk.

[0026] At this time, it is assumed that the vehicle will move forward 0.5 m from the entrance to the intersection to check for safety on both sides. Therefore, when the vehicle checks for safety on both sides, it will stop 10.5 m (2 m + 4 m + 4 m + 0.5 m) beyond the stop line. Therefore, when the vehicle checks for safety on both sides, it is assumed that the vehicle will travel at a very slow speed without increasing its speed within the range from the location of the stop line to 11 m (rounded up to 10.5 m) beyond the stop line.

[0027] 4 is a diagram showing a range specified by a stop sign. As described above, the first range is set as a range 10 meters in front of and 5 meters ahead of the stop sign.

[0028] In some cases, a stop line is located 5 meters in front of a stop sign in the direction of travel. In this case, vehicles must travel at a very slow speed without increasing their speed from 5 meters in front of the stop sign to 11 meters ahead. In other cases, a stop line is located 5 meters ahead of the stop sign. In this case, vehicles must travel at a very slow speed without increasing their speed from 5 meters ahead of the stop sign to 11 meters ahead. In this case, vehicles must travel at a very slow speed without increasing their speed until 16 meters ahead of the stop sign. Therefore, the second range is set as a range 5 meters in front of and 16 meters ahead of the stop sign.

[0029] The in-vehicle device 100 determines whether the vehicle 10 has stopped temporarily within the first range, thereby determining whether the user of the vehicle 10 has taken appropriate driving action (stopped temporarily).

[0030] In addition, when the user of the vehicle 10 checks for safety on both sides, the vehicle 10 The vehicle 10 travels at a very slow speed without increasing its speed. Therefore, it is assumed that the speed of the vehicle 10 within the second range is sufficiently slow compared to when the vehicle 10 is not traveling near an intersection. Therefore, the in-vehicle device 100 determines whether the vehicle 10 is traveling at a predetermined speed or less within the second range, thereby determining whether the user of the vehicle 10 is taking appropriate driving behavior (checking for safety on the left and right). Here, the predetermined speed is, for example, a slow speed.

[0031] Furthermore, even when the user of vehicle 10 stops at a stop line, the user decelerates sufficiently to stop. Therefore, it is assumed that the speed of vehicle 10 is sufficiently slow (or zero) even in the range where the first range and the second range overlap. Therefore, it is assumed that the speed of vehicle 10 is sufficiently slow even in the range where the first range and the second range overlap. Therefore, even if vehicle 10 stops temporarily in the range where the first range and the second range overlap and then travels at a very slow speed without increasing speed to check for safety, it is possible to appropriately determine whether to stop and whether the user is performing exercise behavior to check for safety on the left and right.

[0032] (Functional configuration) Next, the functional configuration of the in-vehicle device 100 constituting the evaluation system 1 will be described with reference to Fig. 5. Fig. 5 is a block diagram showing an example of the functional configuration of the in-vehicle device 100. The in-vehicle device 100 includes a control unit 101, a communication unit 102, an imaging unit 103, and a notification unit 104.

[0033] The control unit 101 has a function of performing arithmetic processing for controlling the in-vehicle device 100. The control unit 101 can be realized by the processor 110 in the in-vehicle device 100. The communication unit 102 has a function of connecting the in-vehicle device 100 to an in-vehicle network. The communication unit 102 can be realized by the communication I / F 140 in the in-vehicle device 100.

[0034] The imaging unit 103 has a function of capturing an image of the area ahead of the vehicle 10. The imaging unit 103 can be realized by a camera 150 in the in-vehicle device 100. The imaging unit 103 transmits captured moving images to the control unit 101 in real time. The notification unit 104 has a function of displaying various information to the user of the vehicle 10. The notification unit 104 can be realized by a display in the in-vehicle device 100.

[0035] The control unit 101 analyzes the video captured by the imaging unit 103 and detects a stop sign present ahead of the vehicle 10. When the control unit 101 detects a stop sign, it identifies the location of the stop sign. For example, if the camera 150 is a stereo camera, the control unit 101 identifies the location of the stop sign using parallax. The control unit 101 may also identify the location of the stop sign using other methods. For example, the control unit 101 may identify the location of the stop sign by video analysis. Here, the control unit 101 acquires, as the location of the stop sign, the distance from the position of the vehicle 10 at the time the stop sign is detected to the location of the stop sign (hereinafter, this may be referred to as the "initial distance").

[0036] Furthermore, the control unit 101 acquires the travel distance of the vehicle 10 in real time from the ECU 200. Then, the control unit 101 uses the initial distance and the travel distance of the vehicle 10 to calculate the relative distance from the current position of the vehicle 10 to the location of the stop sign (hereinafter, may be simply referred to as "relative distance").

[0037] The control unit 101 refers to the relative distance and determines whether the vehicle 10 is present within the first range. The control unit 101 also refers to the speed of the vehicle 10 acquired from the ECU 200 and executes a process of determining whether the vehicle 10 has made a temporary stop within the first range (hereinafter, this may be referred to as a "stop determination process"). The control unit 101 determines whether the speed of the vehicle 10 is 0 within the first range. If so, it is determined that the vehicle 10 has stopped temporarily within the first range. Then, the control unit 101 outputs whether or not the vehicle 10 has stopped temporarily within the first range as a first evaluation result.

[0038] Furthermore, the control unit 101 refers to the relative distance and determines whether the vehicle 10 is present within the second range. If the control unit 101 determines that the vehicle 10 is present within the second range, the control unit 101 refers to the acquired speed of the vehicle 10 and executes a process of determining whether the vehicle 10 is traveling at or below a predetermined speed within the second range (hereinafter, this may be referred to as a "speed determination process"). This makes it possible to determine whether the user of the vehicle 10 has caused the vehicle 10 to travel at a very slow speed without increasing its speed in order to check for safety on the left and right. Then, the control unit 101 outputs whether the vehicle 10 was traveling at or below the predetermined speed within the second range as a second evaluation result.

[0039] The control unit 101 outputs result information including the first evaluation result and the second evaluation result to the notification unit 104. The notification unit 104 displays the first evaluation result and the second evaluation result to the user of the vehicle 10 in accordance with the result information. At this time, the notification unit 104 may also notify the user of the vehicle 10 of the result information by voice.

[0040] (flowchart) Next, the processing executed by the control unit 101 in the in-vehicle device 100 in the evaluation system 1 will be described with reference to Fig. 6. Fig. 6 is a flowchart of the processing executed by the control unit 101. This processing is processing for outputting the first evaluation result and the second evaluation result. This processing is repeatedly executed at predetermined intervals.

[0041] 6, first, in S101, it is determined whether or not a stop sign has been detected by video image analysis. If a negative determination is made in S101, there is no stop sign ahead in the direction in which the vehicle 10 is traveling. Therefore, the process of S101 is executed again. In other words, the process of S101 is repeatedly executed until a stop sign is detected by image processing.

[0042] If a positive determination is made in S101, the location of the stop sign is identified in S102. Next, in S103, the relative distance between the vehicle 10 and the stop sign is calculated, and it is determined whether the vehicle 10 is present within the first range. If a negative determination is made in S103, the vehicle 10 is not present within the first range. Therefore, the processing of S103 is executed again. In other words, the processing of S103 is repeatedly executed until the vehicle 10 is present within the first range.

[0043] If a positive determination is made in S103, the vehicle 10 is within a range where a temporary stop is to be made. Therefore, a stop determination process is executed in S104. Next, in S105, the relative distance is referenced to determine whether the vehicle 10 is within the second range. If a negative determination is made in S105, the vehicle 10 is not within the second range. Therefore, the process of S105 is executed again. In other words, the process of S105 is repeatedly executed until the vehicle 10 is within the second range.

[0044] If a positive determination is made in S105, a speed determination process is executed in S106. Next, it is determined in S107 whether the vehicle 10 is outside the second range. If a negative determination is made in S107, the vehicle 10 is within the second range. Therefore, it is necessary to continue executing the speed determination process. Therefore, if a negative determination is made in S107, the process of S107 is executed again.

[0045] If the determination in S107 is affirmative, the vehicle 10 is outside the second range. Therefore, the vehicle 10 has also passed through the first range (see FIG. 4). If a positive determination is made in the above, the execution of the stop determination process and the speed determination process is stopped, and result information is output to the notification unit 104 according to the determination results of the stop determination process and the determination results of the speed determination process.

[0046] As described above, the evaluation system 1 outputs result information corresponding to the driving behavior of the user of the vehicle 10 at an intersection where a stop sign is present to the user of the vehicle 10. This allows the user of the vehicle 10 to understand the diagnosis results of whether or not the user stopped at an intersection where a stop sign is present and whether or not the user checked for safety after the stop. In this way, it is possible to understand whether or not the user of the vehicle 10 is driving appropriately.

[0047] (Variation 1) In this embodiment, the in-vehicle device 100 identifies the location of the stop sign by video image analysis. However, the location of the stop sign does not necessarily have to be identified by video image analysis. The location of the stop sign may be acquired, for example, from an external server device that stores data on the location of stop signs. In this manner, the in-vehicle device 100 can also set the first range and the second range.

[0048] (Variation 2) In this embodiment, the second range is set as a range of 5 m in front of and 16 m ahead of the stop sign. However, the second range may be set based on the position where the vehicle 10 stops within the first range (hereinafter, may be referred to as the "stop position"). Specifically, the second range is set as a range of 11 m ahead of the stop position in the traveling direction. Furthermore, due to a blind spot created by the hood, the vehicle 10 may stop 5 m before the stop line. Therefore, the second range may be set as a range of 16 m ahead of the stop position. In this manner, it is possible to determine whether the user of the vehicle 10 is driving appropriately.

[0049] (Variation 3) In this embodiment, the in-vehicle device 100 outputs the first evaluation result and the second evaluation result. However, the in-vehicle device 100 does not necessarily have to output the first evaluation result and the second evaluation result.

[0050] For example, an external server may acquire driving data of the vehicle 10 and output the first evaluation result and the second evaluation result in accordance with the driving data. Specifically, the external server receives the position and speed of the vehicle 10 from the in-vehicle device 100 as driving data of the vehicle 10. The external server acquires the installation positions of stop signs at the intersection from a database of stop sign installation positions, and sets the first range and the second range. Note that the external server may also acquire information indicating the preset first range and second range from the installation positions of stop signs at the intersection from the database.

[0051] Then, the external server refers to the position of the vehicle 10, the speed of the vehicle 10, the first range, and the second range, and outputs the first evaluation result and the second evaluation result. This allows an administrator of the external server or the like to know whether the user of the vehicle 10 is driving appropriately. At this time, the external server may also output the first evaluation result and the second evaluation result to the in-vehicle device 100. This allows the user of the vehicle 10 to know whether he or she is driving appropriately.

[0052] The external server may output the first evaluation result and the second evaluation result in real time. The external server may output the first evaluation result and the second evaluation result at a predetermined timing. In this case, the external server accumulates driving data of the vehicle 10 and outputs the first evaluation result and the second evaluation result at a predetermined timing. At this time, if the vehicle 10 passes through the intersection multiple times, the external server may output the first evaluation result and the second evaluation result at each time the vehicle 10 passes through the intersection.

[0053] (Variation 4) In this embodiment, the first range is set as a range of 10 meters in front of and 5 meters ahead of the stop sign. The second range is set as a range of 5 meters in front of and 16 meters ahead of the stop sign. However, there may be intersections for which the settings of the first range and the second range are incompatible, depending on the size of the intersection, etc. Therefore, the on-board device 100 may output the first evaluation result and the second evaluation result when traveling through an intersection for which the settings of the first range and the second range are compatible (hereinafter, may be referred to as a "specific intersection"). In this case, the on-board device 100 refers to the position or planned traveling route of the vehicle 10, and executes the processing shown in FIG. 6 when the vehicle 10 travels through the specific intersection.

[0054] The first range and the second range may also be set according to the size of the intersection. In this case, the in-vehicle device 100 refers to the position of the vehicle 10 and acquires the size of the intersection where the vehicle 10 starts traveling. Then, the in-vehicle device 100 sets the first range and the second range according to the size of the intersection.

[0055] <Other embodiments> The above-described embodiment is merely an example, and the present disclosure may be modified as appropriate within the scope of the present disclosure. Furthermore, the processes and means described in the present disclosure may be freely combined and implemented as long as no technical contradiction occurs.

[0056] Furthermore, a process described as being performed by one device may be shared and executed by multiple devices. Alternatively, a process described as being performed by different devices may be executed by a single device. In a computer system, the hardware configuration (server configuration) by which each function is realized can be flexibly changed.

[0057] The present disclosure can also be realized by providing a computer program implementing the functions described in the above embodiments to a computer, and having one or more processors in the computer read and execute the program. Such a computer program may be provided to the computer via a non-transitory computer-readable storage medium connectable to the computer's system bus or via a network. Non-transitory computer-readable storage media include any type of medium suitable for storing electronic instructions, such as a magnetic disk (e.g., a floppy disk or a hard disk drive (HDD)), an optical disk (e.g., a CD-ROM, a DVD disk, or a Blu-ray disk), a read-only memory (ROM), a random-access memory (RAM), an EPROM, an EEPROM, a magnetic card, a flash memory, or an optical card. [Explanation of symbols]

[0058] 1. Rating System 10. Vehicle 100...In-vehicle equipment 101 Control unit 102··Communications Department 103 Imaging unit 104·Notification Department 200 ECU

Claims

1. An information processing device including a control unit, The control unit Acquiring the position of a stop sign provided at an intersection ahead in the vehicle's traveling direction; determining whether the vehicle has stopped temporarily within a first range as a first evaluation of driving; determining, as a second evaluation of driving, whether or not the vehicle has traveled at a predetermined speed or less within a second range beyond the first range in the traveling direction; outputting the results of the first evaluation and the second evaluation; configured to run the first range and the second range are set according to the acquired position of the stop sign. Information processing device.

2. A crosswalk is provided at the intersection, the first range is set within a range of 10 meters in front of and 5 meters ahead of the position of the stop sign in the traveling direction, The second range is set within a range of 5 meters in front of and 16 meters ahead of the position of the stop sign in the traveling direction. The information processing device according to claim 1 .

3. The first range and the second range are set according to the size of the intersection. The information processing device according to claim 1 .

4. acquiring the position of the stop sign includes detecting the stop sign from a video image captured by a camera mounted on the vehicle; The information processing device according to claim 1 .

5. 1. A computer-implemented information processing method, comprising: Acquiring the position of a stop sign provided at an intersection ahead in the vehicle's traveling direction; determining whether the vehicle has stopped temporarily within a first range as a first evaluation of driving; determining, as a second evaluation of driving, whether or not the vehicle has traveled at a predetermined speed or less within a second range beyond the first range in the traveling direction; outputting the results of the first evaluation and the second evaluation; Including, the first range and the second range are set according to the acquired position of the stop sign. Information processing methods.

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