Information processing device, method, and program

Abstract

To improve an update of a detection range of a sensor.SOLUTION: An information processing device includes: object recognition means of recognizing an object from a detection result of detection means of detecting the presence of the object; first position information acquisition means of acquiring a position of the object recognized by the object recognition means; message reception means of receiving a message from the object; second position information acquisition means of acquiring a position of an object that is a transmission source of the message received by the message reception means; and detection range update means of updating a detection range of the detection means based on the position of the object acquired by the first position information acquisition means and the position of the object acquired by the second position information acquisition means.SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

[0002] A V2X communication system is a system in which vehicles are equipped with communication terminals and communicate between vehicles (V2V; Vehicle to Vehicle) or between vehicles and infrastructure (V2I; Vehicle to Infra). In a V2X communication system, one vehicle exchanges information with another vehicle or infrastructure, which is expected to prevent traffic accidents in advance. Examples of infrastructure include roadside devices such as traffic lights and toll booths.

[0003] The terminology and essential requirements for V2X are defined by the European Telecommunications Standards Institute (ETSI), the Society of Automotive Engineers (SAE), the International Institute of Electrical and Electronics Engineers (IEEE) or other standardization bodies.

[0004] Standardization activities at ETSI TC ITS (European Telecommunications Standards Institute Technical Committee Intelligent Transport Systems) have defined an ITS architecture consisting of four layers. ETSI TC ITS is an abbreviation for European Technical Standards Institute Technical Committee Intelligent Transport System. The four layers of the ITS architecture are the access layer, networking and transport layer, facility layer, and application layer. The access layer specifies how devices are connected and how signals are passed for communication. The networking and transport layer specifies end-to-end communication and ensures the reliability of data transfer between nodes. The facility layer provides functions essential for cooperative ITS applications. The application layer specifies applications that use road-to-vehicle messages and vehicle-to-vehicle messages to improve the safety and efficiency of road traffic.

[0005] Non-Patent Document 1 defines CAM as a message that notifies and shares the position and speed of a vehicle with surrounding vehicles and roadside devices, and discloses a technology that enables a single vehicle to recognize the surrounding environment beyond the detection range of its sensor. CAM is an abbreviation for Cooperative Awareness Message.

[0006] Non-Patent Document 2 defines CPM as a message that notifies surrounding areas of object information detected by sensors mounted on roadside devices or moving vehicles, and discloses a technology that enhances the recognition of the surrounding environment by using CPM to fill in areas that would be blind spots for a single vehicle. CPM is an abbreviation for Collective Perception Message.

[0007] Patent Document 1 discloses a technology that determines the sensor detectable area based on the detection results of a group of sensors mounted on the vehicle, enabling flexible and safe driving control in response to a deterioration in sensor performance due to changes in the external environment. Specifically, the detection results of the group of sensors are the distance at which an object is detected and reliability calculated from the reception strength, signal-to-noise ratio, etc. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Japanese Patent Publication No. 2021-187324 [Non-patent literature]

[0009] [Non-Patent Document 1] Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Part 2: Specification of Cooperative Awareness Basic Service, "ETSI EN 302 637-2 V1.4.1 (2019-04)", [online], [Retrieved May 29, 2023], Internet <URL:https: / / www.etsi.org / deliver / etsi_en / 302600_302699 / 30263702 / 01.04.01_60 / en_30263702v010401p.pdf> [Non-patent document 2] Vehicular Communications; Basic Set of Applications; Analysis of the Collective Perception Service (CPS); Release 2, "ETSI TR 103 562 V2.1.1 (2019-12)", [online], [Retrieved May 29, 2023], Internet <URL:https: / / www.etsi.org / deliver / etsi_tr / 103500_103599 / 103562 / 02.01.01_60 / tr_103562v020101p.pdf> Summary of the Invention [Problem to be solved by the invention]

[0010] However, in order to improve the accuracy of recognizing the surrounding environment, it is necessary to properly manage the detection range of the sensor. However, the above-mentioned conventional technology does not disclose a method for properly updating the detection range of the sensor. Therefore, in the past, when recognizing the surrounding environment based on the detection results of the sensor, there was room for improvement in updating the detection range of the sensor.

[0011] The present invention has been made in view of the above-mentioned problems, and aims to improve updating of the detection range of a sensor. [Means for solving the problem]

[0012] An information processing device according to one embodiment of the present invention is characterized by having an object recognition means for recognizing an object from the detection results of a detection means for detecting the presence of an object, a first position information acquisition means for acquiring the position of the object recognized by the object recognition means, a message receiving means for receiving a message from the object, a second position information acquisition means for acquiring the position of the object that sent the message received by the message receiving means, and a detection range update means for updating the detection range of the detection means based on the position of the object acquired by the first position information acquisition means and the position of the object acquired by the second position information acquisition means. [Effects of the Invention]

[0013] The present invention provides an improved method for updating the detection range of a sensor. [Brief explanation of the drawings]

[0014] [Figure 1] 2 is a diagram showing a sensor detection range of the roadside communication device according to the first embodiment of the present invention. FIG. [Figure 2] FIG. 4 is another diagram showing the sensor detection range of the roadside communication device according to the first embodiment of the present invention. [Figure 3] 1 is a diagram illustrating a sensor detection range and running vehicles of a roadside communication device according to a first embodiment of the present invention. [Figure 4] 1 is a block diagram showing a schematic configuration of a roadside communication device according to a first embodiment of the present invention. [Figure 5] 4 is a flowchart showing the processing of an object recognition unit, a first position information acquisition unit, and a detection range update unit 14 according to the first embodiment of the present invention. [Figure 6] 5 is a flowchart showing the processing of a message receiving unit, a second location information acquiring unit, and a detection range updating unit according to the first embodiment of the present invention. [Figure 7] FIG. 3 is a diagram showing an example of a detection range table according to the first embodiment of the present invention. [Figure 8]FIG. 3 is a diagram showing detection areas in a detection range table according to the first embodiment of the present invention. [Figure 9] FIG. 2 is a diagram showing a sensor detection range updated by V2X communication in the first embodiment of the present invention. [Figure 10] 10 is a flowchart showing the processing of a message receiving unit, a second location information acquiring unit, and a detection range updating unit according to the second embodiment of the present invention. [Figure 11] FIG. 10 is a diagram showing an example of a detection range table according to the second embodiment of the present invention. [Figure 12] FIG. 11 is a diagram showing an example of a detection range table according to the third embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing an example of a detection range table according to the fourth embodiment of the present invention. [Figure 14] FIG. 11 is a diagram showing a state in which an operator is checking the sensor detection range in the fourth embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0016] [First embodiment] First, the detection range of a sensor according to the present invention will be described with reference to Fig. 1, Fig. 2, and Fig. 3. Fig. 1 is a diagram showing the sensor detection range of a roadside communication device according to a first embodiment of the present invention. Fig. 2 is another diagram showing the sensor detection range of a roadside communication device according to the first embodiment of the present invention. Fig. 3 is a diagram showing the sensor detection range of a roadside communication device according to the first embodiment of the present invention and running vehicles.

[0017] The roadside communication device 1 according to the first embodiment has a processing unit 100, a detection unit 101, and a communication unit 102. The detection unit 101 and the communication unit 102 may be included in the processing unit 100. The detection unit 101 is, for example, a roadside sensor. The detection unit 101 is also called a detection sensor or a sensor. The detection unit 101 and the communication unit 102 may be devices separate from the roadside communication device 1. The roadside communication device 1 is an example of an information processing device.

[0018] 1, 2, and 3, a roadside communication device 1 is shown installed at an intersection. A detection range 101a, which is the range surrounded by a dashed line, is the detection range set in the roadside communication device 1. A detection range 101b, which is the shaded range, is the detection range actually detected. FIG. 1 shows that the detection range 101a set in the roadside communication device 1 and the actual detection range 101b are the same range.

[0019] On the other hand, Fig. 2 shows a case where the actual detection range 101b is narrower than the detection range 101a set in the roadside communication device 1. Possible factors that lead to the state shown in Fig. 2 include influences from external environments such as bad weather, such as heavy rain or fog, or nighttime, as well as influences from aging, such as dirt on the front surface of the sensor of the detection unit 101. If the detection range 101a set in the roadside communication device 1 is not updated even though the actual detection range 101b has narrowed due to the above factors, a discrepancy will occur between the detection range information and the actual range. In this embodiment, the detection range 101a set in the roadside communication device 1 is updated so that the detection range information does not differ from the actual range.

[0020] 3 is a diagram illustrating a problem that occurs when the detection range 101a set in the roadside communication device 1 is not updated, resulting in a difference between the detection range 101a and the detection range 101b. FIG. 3 shows that the vehicle 200 and the vehicle 400 are traveling along different routes toward the intersection where the roadside communication device 1 is located. Also, in FIG. 3, the vehicle 400 is shown at the position where it is located at each of times t1, t2, and t3. Time t1 is a time before time t2, and time t2 is a time before time t3.

[0021] The processing unit 100 detects the side of the road on which the vehicle 400 is traveling using the detection unit 101, and distributes the detected vehicle position information and detection range information to the vehicle 200 and the like from the communication unit 102. When the vehicle 400 is located at a position at time t1, the vehicle 400 is outside the detection range 101b and is therefore not detected by the detection unit 101. Therefore, the processing unit 100 determines that the vehicle 400 is not present in the detection range 101a and transmits a message containing information about the detection range 101a to the vehicle 200. Upon receiving this message, the vehicle 200 determines that the vehicle 400 is not present in the detection range 101a and controls its traveling accordingly. However, since the vehicle 400 is actually present in the detection range 101a, the vehicle 200 is unable to correctly recognize the surrounding environment and ends up performing incorrect traveling control.

[0022] In this embodiment, a method is provided for accurately updating the detection range of a sensor without adding any additional equipment, even when the external environment changes.

[0023] 4 is a block diagram showing a schematic configuration of a roadside communication device according to a first embodiment of the present invention. The roadside communication device 1 includes a processing unit 100, a detection unit 101, and a communication unit 102. The detection unit 101 acquires images of an external environment, such as a road, captured by an imaging sensor, such as a camera. The communication unit 102 transmits and receives V2X messages to and from traveling vehicles. The processing unit 100 calculates the detection range of the detection unit 101 from image information captured by the detection unit 101 and V2X message information received by the communication unit 102.

[0024] The processing unit 100 includes an object recognition unit 10, a first position information acquisition unit 11, a message receiving unit 12, a second position information acquisition unit 13, and a detection range update unit 14. The object recognition unit 10 performs object recognition to recognize an object, such as a vehicle, from an image captured by the detection unit 101. The first position information acquisition unit 11 projects a pixel area of ​​the recognized object onto a map coordinate system to calculate and acquire position information indicating the position of the recognized object. The message receiving unit 12 receives a V2X message from the communication unit. The second position information acquisition unit 13 acquires, from the received V2X message, position information indicating the position of the vehicle that transmitted the V2X message. The detection range update unit 14 updates detection range information indicating the detection range of the detection unit 101 based on the position information calculated by the first position information acquisition unit 11 and the position information acquired by the second position information acquisition unit 13. The detection range update unit 14 includes a memory unit 14a, and the detection range information is stored in the memory unit 14a.

[0025] Next, a description will be given of the processing procedures of the object recognition unit 10 and the first position information acquisition unit 11 with reference to Fig. 5. Fig. 5 is a flowchart showing the processing of the object recognition unit 10, the first position information acquisition unit 11, and the detection range update unit 14 according to the first embodiment of the present invention.

[0026] When the process starts, in step S10, the detection unit 101 acquires an image of a road on which a vehicle is traveling using an imaging sensor such as a camera. In step S11, the object recognition unit 10 performs processing to recognize objects such as vehicles from the image information acquired in step S10. As an object recognition method, for example, vehicles can be recognized using a trained model generated by machine learning technology such as deep learning. As is well known, the object recognition unit 10 can acquire the reliability of the inference result output by the trained model through object recognition using such machine learning technology. Furthermore, the object recognition unit 10 can acquire time information indicating the time when the object recognition process was executed. Furthermore, the object recognition unit 10 can recognize the type of vehicle in the vehicle recognition and acquire vehicle type information indicating the type of vehicle in the recognition result.

[0027] In step S12, the object recognition unit 10 determines whether an object such as a vehicle exists in the recognition result (output of object recognition from the acquired image) in step S11. If the object recognition unit 10 determines that an object does not exist in the recognition result, it ends processing of the image information and moves on to processing of the next image information. If the object recognition unit 10 determines that an object exists in the recognition result, the process of step S13 is executed.

[0028] In step S13, the first position information acquisition unit 11 projects the pixel area (bounding box) of the object recognized in step S11 onto a map coordinate system, and calculates position information indicating the position of the recognized object.

[0029] In step S14, the detection range update unit 14 stores the object information and the reliability information in the storage unit 14a. The object information stored in step S14 includes the position information calculated in step S13, time information indicating the time when the object recognition process was executed in step S11, and vehicle type information indicating the type of vehicle recognized in step S11. The reliability information stored in step S14 includes reliability information indicating the reliability of the inference result of the object recognition obtained in step S11. The detection range update unit 14 deletes the information stored in the storage unit 14a after it is determined in step S23 of FIG. 6 (described later) that the extracted object is present in the vicinity of the object stored in the storage unit 14a, or deletes it after a certain period of time has elapsed.

[0030] After the process of step S14, the process of the image information is completed, and the process moves to the process of the next image information.

[0031] Next, a description will be given of the processing procedures of the message receiving unit 12, the second location information acquiring unit 13, and the detection range updating unit 14 with reference to Fig. 6. Fig. 6 is a diagram showing the processing of the message receiving unit 12, the second location information acquiring unit 13, and the detection range updating unit 14 according to the first embodiment of the present invention.

[0032] When the process starts, in step S20, the detection range update unit 14 creates a detection range table that stores information about small areas obtained by dividing the detection range of the detection unit 101, which is a roadside sensor, at regular intervals. FIG. 7 is a diagram showing an example of a detection range table according to the first embodiment of the present invention. In FIG. 7, a number that can identify each small area is expressed as an index, the coordinate range of each small area is expressed as a detection area, and the detection result for each small area is expressed as a detection flag. In the detection range table, a small area with a detection flag of 1 indicates that the small area is included in the detection range 101b, and a small area with a detection flag of 0 indicates that the small area is not included in the detection range 101b. The small areas are an example of areas obtained by dividing the detection distance from the detection unit 101 into regular intervals. The detection range table stores a detection flag for each small area.

[0033] Fig. 8 is a diagram showing a detection area in the detection range table according to the first embodiment of the present invention. In Fig. 8, the installation position of the detection unit 101, i.e., the sensor, is set as the origin, the direction in which the detection unit 101 captures images and is perpendicular to the vertical direction is set as the X-axis direction, and the direction perpendicular to the vertical direction and the X-axis direction is set as the Y-axis direction. Fig. 8 is a diagram showing a detection range 101b according to the detection range table of Fig. 7. In the detection range table of Fig. 7, only the small areas of Index 1 to Index 8 have the detection flag set to 1, so the detection range 101b in this case is the small areas of Index 1 to Index 8 as shown in Fig. 8. The detection range update unit 14 determines the detection range of the detection unit 101 based on the detection range table.

[0034] In step S21, the message receiving unit 12 determines whether or not V2X message information has been received via the communication unit 102. If the message receiving unit 12 determines that V2X message information has been received, the process of step S22 is executed. If the message receiving unit 12 determines that V2X message information has not been received, the process of step S21 is executed.

[0035] The V2X message received via the communication unit 102 includes vehicle position information indicating the position of the vehicle that sent the message, traveling speed information indicating the traveling speed of the vehicle that sent the message, and time information indicating the time when the message was sent. In step S22, the second position information acquisition unit 13 extracts the vehicle position information, traveling speed information, and time information included in the V2X message received via the communication unit 102.

[0036] In step S23, the second position information acquisition unit 13 determines whether the object extracted from the V2X message is located near the object stored in the storage unit 14a. Specifically, the second position information acquisition unit 13 determines whether the position indicated by the vehicle position information extracted in step S22 is included within a certain distance from the position indicated by the position information stored in the storage unit 14a. If the second position information acquisition unit 13 determines that the object extracted from the V2X message is located near the object stored in the storage unit 14a, the process of step S24 is executed. If the second position information acquisition unit 13 determines that the object extracted from the V2X message is not located near the object stored in the storage unit 14a, the process of step S25 is executed. The process of step S23 may determine whether the position indicated by the position information stored in the storage unit 14a is included within a certain distance from the position indicated by the vehicle position information extracted in step S22.

[0037] In step S24, the second location information acquisition unit 13 sets the detection flag to 1. In step S25, the second location information acquisition unit 13 sets the detection flag to 0.

[0038] In the determination of step S23, the vehicle position information extracted in step S22 may be corrected before use. That is, the position indicated by the vehicle position information extracted in step S22 may be corrected using the time information and traveling speed information extracted in step S22 so that the position indicated by the vehicle position information extracted in step S22 becomes the position where the vehicle was at the time indicated by the time information stored in the memory unit 14a.

[0039] In step S26, the detection range update unit 14 uses the detection flag values ​​set in steps S24 and S25 to update the flag value of the corresponding area in the detection range table.

[0040] In step S27, the detection range update unit 14 determines whether to continue the process. If the detection range update unit 14 determines to continue the process, the process of step S21 is executed and the unit waits for reception of the next V2X message information. If the detection range update unit 14 determines not to continue the process, the unit ends the process.

[0041] 5 and 6, even if the detection range of the roadside sensor changes due to the external environment, the detection flag is updated at the timing when a V2X message is received. As a result, in this embodiment, accurate detection range information of the roadside sensor can be obtained.

[0042] Next, an example of a process for updating sensor detection range information by V2X communication will be described with reference to Figures 1, 2, and 9. As described above, Figure 1 shows that the detection range 101a set in the roadside communication device 1 and the actual detection range 101b are the same range, while Figure 2 shows a case where the actual detection range 101b is narrower than the detection range 101a set in the roadside communication device 1.

[0043] 9 is a diagram showing the sensor detection range updated by V2X communication in the first embodiment of the present invention. FIG. 9 shows that the vehicle 300 is traveling toward the intersection where the roadside communication device 1 is installed. In FIG. 9, the vehicle 300 is shown at the position where it is located at each of times t1, t2, and t3. Time t1 is a time before time t2, and time t2 is a time before time t3.

[0044] Assume that the detection area in the detection range table of the roadside communication device 1 is detection range 101a in Fig. 2, and the actual detection range of the detection unit 101 is detection range 101b in Fig. 2. At this time, at a position where the vehicle 300 is present at time t1, the roadside communication device 1 receives a V2X message from the vehicle 300, but the detection unit 101 cannot detect the vehicle 300. For this reason, in the update process of step S26, the detection flag for the position at time t1 is set to 0.

[0045] Thereafter, the vehicle 300 travels and reaches a position at time t2. Even when the vehicle 300 is at the position at time t2, the roadside communication device 1 receives a V2X message from the vehicle 300, but the detection unit 101 cannot detect the vehicle 300. Therefore, in the update process of step S26, the detection flag for the position at time t2 is set to 0.

[0046] The vehicle 300 continues traveling and reaches a position at time t3. At the position where the vehicle 300 is located at time t3, the roadside communication device 1 receives a V2X message from the vehicle 300, and the detection unit 101 detects the vehicle 300. Therefore, in the update process of step S26, the detection flag for the position at time t3 is set to 1. That is, by receiving a V2X message from the vehicle 300 traveling toward the intersection between time t1 and time t3, the roadside communication device 1 can update the detection range table and update the detection range 101b to the actual detection range.

[0047] [Second embodiment] It is expected that near the detection limit far from the detection unit 101, detection may or may not be possible depending on the detection distance, resulting in variations in detection results. For this reason, it is expected that it may be difficult to determine the detection range of the roadside sensor using the detection flag (binary value: detected or not detected) used in the first embodiment. Therefore, in the second embodiment of the present invention, an example will be described in which the reliability (continuous value) output by the object recognition unit 10 is used instead of the detection flag. In the second embodiment, a description of the same configuration as in the first embodiment will be omitted, and only the differences from the first embodiment will be described.

[0048] 10 is a flowchart showing the processing of the message receiving unit 12, the second location information acquiring unit 13, and the detection range updating unit 14 according to the second embodiment of the present invention. Note that the processing of steps S20, S21, S22, and S27 is the same as that of the first embodiment, and therefore description thereof will be omitted.

[0049] 10, the second location information acquisition unit 13 determines whether the object extracted from the V2X message exists near the object stored in the storage unit 14a. If the second location information acquisition unit 13 determines that the object extracted from the V2X message exists near the object stored in the storage unit 14a, the process of step S30 is executed. If the second location information acquisition unit 13 determines that the object extracted from the V2X message does not exist near the object stored in the storage unit 14a, the process of step S31 is executed.

[0050] In step S30, the second location information acquisition unit 13 sets the reliability stored in the storage unit 14a in a temporary buffer, and in step S31, the second location information acquisition unit 13 sets 0 in the temporary buffer.

[0051] In step S26, the detection range update unit 14 updates the reliability of the area in the detection range table using the values ​​of the temporary buffer set in steps S30 and S31.

[0052] FIG. 11 is a diagram showing an example of a detection range table according to the second embodiment of the present invention. FIG. 11 is an example of a detection range table using reliability. A reliability of 0 indicates that an object has not been detected, and a reliability other than 0 indicates that an object has been detected. In the example of FIG. 11, the reliability of indexes 8, 9, 10, and 11 are 0.1, 0.0, 0.1, and 0.0, respectively, resulting in a variation between object detection and non-detection. Therefore, by setting the reliability threshold for distinguishing between object detection and non-detection to, for example, 0.3, a continuous detection range can be obtained from indexes 1 to 6. That is, the detection range update unit 14 defines small areas whose reliability is equal to or greater than a predetermined value (for example, equal to or greater than 0.3) as the detection range. The detection range table stores the reliability for each small area.

[0053] As described above, in the second embodiment, when determining the detection range of the roadside sensor, there is an effect of reducing discontinuity in the detection range by performing threshold processing on the reliability. Furthermore, for each index number, smoothing processing such as moving average may be added for each time frame.

[0054] [Third embodiment] Near the detection limit far from the detection unit 101, it is expected that the detection start distance will differ for each detected object, such as a large vehicle, a passenger car, or a motorcycle. Specifically, the detection distance for a large vehicle tends to be long, while the detection distance for a motorcycle tends to be short. When vehicles of different types are traveling consecutively, it is expected that the reliability of the detection range table will be updated regardless of changes in the external environment, such as weather.

[0055] Therefore, in the third embodiment, an example will be described in which the reliability of the detection range table is individually prepared for each vehicle type output by the object recognition unit 10, and the reliability is updated for each vehicle type to be detected. In the third embodiment, a description of the same configuration as in the first embodiment will be omitted, and only the differences from the first embodiment will be described.

[0056] Fig. 12 is a diagram showing an example of a detection range table according to the third embodiment of the present invention. Fig. 12 is an example of a detection range table that manages reliability for each vehicle type. In the example of Fig. 12, if the reliability threshold for distinguishing between detected and undetected objects is set to, for example, 0.3, the detection area for large vehicles will be Index 1 to 8. Also, in the example of Fig. 12, if the reliability threshold for distinguishing between detected and undetected objects is set to, for example, 0.3, the detection area for passenger cars will be Index 1 to 6, and the detection area for motorcycles will be Index 1 to 3. In the third embodiment, the detection range table stores reliability for each type of object (each type of vehicle).

[0057] As described above, in the third embodiment, even when vehicles of different vehicle types are consecutively detected, the reliability of the detection range table is updated for each vehicle type, which has the effect of reducing large changes in the reliability value of the detection range table.

[0058] [Fourth embodiment] In the fourth embodiment, an embodiment in which a performance degradation of a detection sensor is identified from sensor detection range information will be described. In the fourth embodiment, a description of the same configuration as in the first embodiment will be omitted, and only the differences from the first embodiment will be described. FIG. 13 is a diagram showing an example of a detection range table according to the fourth embodiment of the present invention. FIG. 13 is an example of a detection range table to which an item for a duration in which the reliability value does not change has been added.

[0059] In the example of Figure 13, Indexes 1 to 5 indicate that the duration during which the reliability value does not change is 0 days, and Indexes 6 to 10 indicate that the duration during which the reliability value does not change is 30 days. In other words, in the example of Figure 13, Indexes 1 to 5 indicate that the reliability value changes frequently and are within the detection range where objects can be detected. Also in the example of Figure 13, Indexes 6 to 10 indicate that the reliability value has not changed for a long period of time and no objects can be detected. If the detection range indicated by this index number is narrower than the detection range at the time the detection sensor was installed, this indicates that the performance of the detection sensor has deteriorated, and it can be determined that maintenance such as cleaning or replacement of the detection sensor is necessary. The detection range table stores the duration during which the reliability value does not change for each small area.

[0060] FIG. 14 is a diagram showing a situation in which a worker checks the sensor detection range in the fourth embodiment of the present invention. The V2X message distributed by the roadside communication device 1 includes information on the detection range obtained by processing the reliability by a threshold value. The roadside communication device 1 according to this embodiment separately broadcasts, as a maintenance message, detection range information indicating that the reliability value has not changed within a certain period of time. Specifically, by broadcasting detection range information in which the reliability value changes within a certain period of time, the worker can identify the range in which the reliability value has not changed. Furthermore, information on the duration during which the reliability value does not change for each detection range may be transmitted. By receiving the maintenance message from the roadside communication device 1, the worker 500 can know that the range in which objects cannot be detected is expanding and can know the timing for maintenance such as part replacement or cleaning.

[0061] As described above, in the fourth embodiment, by adding a duration in which the reliability value does not change to the detection range table, it is possible to grasp the deterioration of the performance of the detection sensor.

[0062] (Other embodiments) The present invention can also be realized by supplying a program that realizes one or more functions of the above-described embodiments to a system or device via a network or a storage medium, and having one or more processors in the computer of the system or device read and execute the program. It can also be realized by a circuit (e.g., ASIC) that realizes one or more functions.

[0063] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments and various modifications and changes are possible within the scope of the gist of the present invention.

[0064] The disclosure of this embodiment includes the following configuration, method, and program. (Configuration 1) an object recognition means for recognizing an object based on a detection result by a detection means for detecting the presence of an object; a first position information acquisition means for acquiring the position of the object recognized by the object recognition means; a message receiving means for receiving a message from the object; a second position information acquisition means for acquiring the position of an object that is a sender of the message received by the message receiving means; a detection range update means for updating the detection range of the detection means based on the position of the object acquired by the first position information acquisition means and the position of the object acquired by the second position information acquisition means; An information processing device comprising: (Configuration 2) The detection range update means updates the detection range of the detection means depending on whether the position acquired by the first position information acquisition means is included within a range of a certain distance from the position acquired by the second position information acquisition means. 2. The information processing device according to configuration 1, (Configuration 3) The detection range update means has a detection range table that stores a detection distance for each small area obtained by dividing the detection distance from the detection means into certain sections, and information on whether the position acquired by the first position information acquisition means is included within a certain distance range from the position acquired by the second position information acquisition means for each detection distance. 3. The information processing device according to configuration 1 or 2. (Configuration 4) The detection range update means determines the detection range of the detection means based on the detection range table. 4. The information processing device according to configuration 3. (Configuration 5) the object recognition means outputs reliability information indicating reliability of a result of object recognition; The detection range update means has a detection range table that stores the detection distance for each small area obtained by dividing the detection distance from the detection means into certain sections and the reliability for each detection distance. 3. The information processing device according to configuration 1 or 2. (Configuration 6) The detection range update means sets the small area in the detection range table where the reliability is equal to or greater than a predetermined value as the detection range of the detection means. 6. The information processing device according to configuration 5. (Configuration 7) The detection range table stores the reliability for each type of object. 7. The information processing device according to configuration 5 or 6. (Configuration 8) The detection range update means stores a duration during which the reliability value of the detection range table does not change for each detection distance. 8. The information processing device according to any one of configurations 5 to 7. (Method 1) an object recognition step of recognizing an object from a detection result by a detection means that detects the presence of an object; a first position information acquisition step of acquiring the position of the object recognized in the object recognition step; a message receiving step of receiving a message from the object; a second position information acquisition step of acquiring the position of the object that is the sender of the message received in the message receiving step; a detection range updating step of updating the detection range of the detection means based on the position of the object acquired in the first position information acquiring step and the position of the object acquired in the second position information acquiring step; A method comprising: (Program 1) Computer, an object recognition means for recognizing an object based on a detection result by a detection means for detecting the presence of an object; a first position information acquisition means for acquiring the position of the object recognized by the object recognition means; message receiving means for receiving a message from the object; a second position information acquisition means for acquiring the position of an object that is a source of the message received by the message receiving means; and a detection range update means for updating the detection range of the detection means based on the position of the object acquired by the first position information acquisition means and the position of the object acquired by the second position information acquisition means; A program characterized by functioning as [Explanation of symbols]

[0065] 1 Roadside communication equipment 100 Processing section 101 Detection unit 102 Communications Department

Claims

1. an object recognition means for recognizing an object based on a detection result by a detection means for detecting the presence of an object; a first position information acquisition means for acquiring a position of an object recognized by the object recognition means; a message receiving means for receiving a message from the object; a second position information acquisition means for acquiring a position of an object that is a source of the message received by the message receiving means; a detection range update means for updating a detection range of the detection means based on the position of the object acquired by the first position information acquisition means and the position of the object acquired by the second position information acquisition means; An information processing device comprising:

2. The detection range update means updates the detection range of the detection means depending on whether the position acquired by the first position information acquisition means is included within a range of a certain distance from the position acquired by the second position information acquisition means.

2. The information processing apparatus according to claim 1, wherein:

3. The detection range update means has a detection range table that stores a detection distance for each small area obtained by dividing the detection distance from the detection means into certain sections, and information on whether the position acquired by the first position information acquisition means is included within a certain distance range from the position acquired by the second position information acquisition means for each detection distance.

2. The information processing apparatus according to claim 1, wherein:

4. The detection range update means determines the detection range of the detection means based on the detection range table.

4. The information processing apparatus according to claim 3,

5. the object recognition means outputs reliability information indicating reliability of a result of object recognition; The detection range update means has a detection range table that stores the detection distance for each small area obtained by dividing the detection distance from the detection means into certain sections and the reliability for each detection distance.

2. The information processing apparatus according to claim 1, wherein:

6. The detection range update means sets the small area in the detection range table where the reliability is equal to or greater than a predetermined value as the detection range of the detection means.

6. The information processing apparatus according to claim 5,

7. The detection range table stores the reliability for each type of object.

6. The information processing apparatus according to claim 5,

8. The detection range update means stores a duration during which the reliability value of the detection range table does not change for each detection distance.

6. The information processing apparatus according to claim 5,

9. an object recognition step of recognizing an object from a detection result by a detection means that detects the presence of an object; a first position information acquisition step of acquiring a position of the object recognized in the object recognition step; a message receiving step of receiving a message from the object; a second position information acquisition step of acquiring the position of the object that is the sender of the message received in the message receiving step; a detection range updating step of updating the detection range of the detection means based on the position of the object acquired in the first position information acquiring step and the position of the object acquired in the second position information acquiring step; A method comprising:

10. Computer, an object recognition means for recognizing an object based on a detection result by a detection means for detecting the presence of an object; a first position information acquisition means for acquiring the position of the object recognized by the object recognition means; message receiving means for receiving a message from the object; a second position information acquisition means for acquiring the position of an object that is a source of the message received by the message receiving means; and a detection range update means for updating the detection range of the detection means based on the position of the object acquired by the first position information acquisition means and the position of the object acquired by the second position information acquisition means; A program characterized by functioning as

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