Information processing apparatus, information processing method, and program

Abstract

To accurately predict the position of a moving body.SOLUTION: The information processing apparatus includes a controller. When the controller determines that the first moving body and the second moving body are moving in the same direction, the controller adjusts the first parameter to be smaller than when the controller determines that the first moving body and the second moving body are approaching face-to-face. The first parameter determines a range covered by a repulsive force potential received by the first moving body from the second moving body in a SocialForceModel (SFM). The control unit predicts a position of the first moving body based on the SFM.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Conventionally, there are known techniques for predicting the positions of moving objects such as pedestrians. For example, Patent Document 1 describes a moving object prediction device that predicts the future positions of moving objects around a vehicle using a potential method. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-124663 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology described in Patent Document 1, parameter values ​​in the potential method are fixed. When parameter values ​​are fixed in this way, there are cases where the position of a moving object cannot be predicted with high accuracy.

[0005] In view of the above, an object of the present disclosure is to accurately predict the position of a moving body. [Means for solving the problem]

[0006] An information processing device according to an embodiment of the present disclosure includes: a control unit that, when it is determined that a first moving body and a second moving body are moving in the same direction, adjusts the first parameter so that it is smaller than when it is determined that the first moving body and the second moving body are facing each other and approaching each other; the first parameter determines a range of a repulsive potential that the first moving body receives from the second moving body in a Social Force Model (SFM); The control unit predicts the position of the first moving object based on the SFM.

[0007] An information processing method according to an embodiment of the present disclosure includes: When it is determined that the first moving body and the second moving body are moving in the same direction, adjusting the first parameter to be smaller than when it is determined that the first moving body and the second moving body are facing each other and approaching each other; predicting the location of the first moving object based on the SFM; The first parameter determines the range of the repulsive potential that the first moving body receives from the second moving body in a social force model (SFM).

[0008] A program according to an embodiment of the present disclosure includes: On the computer, When it is determined that the first moving body and the second moving body are moving in the same direction, adjusting the first parameter to be smaller than when it is determined that the first moving body and the second moving body are facing each other and approaching each other; predicting a position of the first moving object based on the SFM; The first parameter determines the range of the repulsive potential that the first moving body receives from the second moving body in a social force model (SFM). [Effects of the Invention]

[0009] According to an embodiment of the present disclosure, the position of a moving object can be predicted with high accuracy. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram of an information processing device according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a diagram illustrating an example of use of the information processing device illustrated in FIG. [Figure 3]10 is a diagram for explaining a repulsive force that a first moving body receives from a second moving body. FIG. [Figure 4] 1 is an example of a graph of a repulsive potential. [Figure 5] FIG. 10 is a diagram illustrating an example of an ellipse. [Figure 6] FIG. 10 is a diagram illustrating an example of the movement of a moving object. [Figure 7] FIG. 10 is a diagram illustrating an example of the movement of a moving object. [Figure 8] FIG. 10 is a diagram illustrating an example of the movement of a moving object. [Figure 9] FIG. 10 is a diagram illustrating an example of the movement of a moving object. [Figure 10] FIG. 10 is a diagram illustrating an example of the movement of a moving object. [Figure 11] 1 is an example of a graph of a repulsive potential. [Figure 12] FIG. 10 is a diagram illustrating an example of the movement of a moving object. [Figure 13] 1 is an example of a graph of a repulsive potential. [Figure 14] FIG. 10 is a diagram illustrating an example of a process for determining a moving body group. [Figure 15] FIG. 10 is a diagram for explaining the setting of a third moving body. [Figure 16] 2 is a flowchart showing an example of an information processing method of the information processing device shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0012] An information processing device 1 according to this embodiment as shown in FIG. 1 can predict the trajectory of the position of a moving object 2 by successively predicting the position of the moving object 2 as shown in FIG. 2. The moving object 2 is a moving object that can move autonomously. The moving object 2 is, for example, a pedestrian or a robot. The robot is, for example, a delivery robot that delivers packages or goods. However, the moving object 2 may be any moving object as long as it is capable of moving autonomously. The moving object 2 moves toward a destination while avoiding collisions with other moving objects 2 and obstacles.

[0013] The information processing device 1 may be any information processing device. In this embodiment, the information processing device 1 is mounted on or carried by the moving object 2. For example, when the moving object 2 is a pedestrian and the information processing device 1 is carried by the pedestrian, the information processing device 1 may be a general-purpose terminal device such as a smartphone or a dedicated terminal device. When the moving object 2 is a robot and the information processing device 1 is mounted on the robot, the information processing device 1 may be a general-purpose device or a dedicated device.

[0014] Hereinafter, the moving object 2 that is equipped with or possesses the information processing device 1 will also be referred to as a "target moving object."

[0015] FIG. 2 shows an example of use of the information processing device 1 shown in FIG. 1. In FIG. 2, moving objects 2A, 2B, 2C, 2D, and 2E are shown as moving objects 2. Also, FIG. 2 shows an obstacle 3. In FIG. 2, the trajectory of the position of moving object 2 is shown by a dashed line. Also, in FIG. 2, the traveling direction of moving object 2 is shown by an arrow. Moving objects 2A, 2B, and 2D are pedestrians. Moving object 2A and moving object 2B are both walking. Moving objects 2C and 2E are delivery robots. In FIG. 2, the information processing device 1 is mounted on moving object 2E. In other words, moving object 2E is a target moving object.

[0016] As shown in FIG. 1, the information processing device 1 includes a sensor unit 10, a storage unit 11, and a control unit 12.

[0017] The sensor unit 10 can detect the position and velocity vector of the moving object 2 and the position of an obstacle. The moving objects 2 whose positions and velocity vectors are detected by the sensor unit 10 include a target moving object and moving objects 2 other than the target moving object. As an example, the sensor unit 10 is configured to include a camera and an inertial sensor (IMU: Inertial Measurement Unit). The camera can capture a scene in the direction of travel of the target moving object. The sensor unit 10 detects the position and velocity vector of moving objects 2 other than the target moving object and the position of an obstacle by analyzing the image captured by the camera. As the sensor unit 10, in addition to a camera, a millimeter-wave radar, an infrared camera, or a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) sensor may be used alone or in combination of at least two of these sensors. The sensor unit 10 detects the position and velocity vector of the target moving object using the inertial sensor. The sensor unit 10 outputs the detection results of the position and velocity vector of the moving object 2 to the control unit 12. When the sensor unit 10 detects an obstacle, it outputs the detection result of the position of the obstacle to the control unit 12.

[0018] The storage unit 11 is configured to include at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or a combination of at least two of these. The storage unit 11 may function as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 11 stores data used in the operation of the information processing device 1 and data obtained by the operation of the information processing device 1. The storage unit 11 may store a program executed by the control unit 12.

[0019] The control unit 12 is configured to include at least one processor, at least one dedicated circuit, or a combination of these. The processor is, for example, a general-purpose processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), or a dedicated processor specialized for a specific process. The dedicated circuit is, for example, an FPGA (Field-Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit). The control unit 12 executes processes related to the operation of the information processing device 1 while controlling each unit of the information processing device 1.

[0020] The sensor unit 10, memory unit 11, and control unit 12 of the information processing device 1 may be integrally mounted or carried in a single device, or may be separately mounted or carried in multiple devices. When separately mounted or carried in multiple devices, the sensor unit 10, memory unit 11, and control unit 12 may be connected to each other by a network configured using wired or wireless connections or a combination thereof, or the multiple devices may be connected to each other by the network with another device or with at least one of the sensor unit 10, memory unit 11, and control unit 2 mounted in another device. For example, the sensor unit 10 may be mounted on or carried in the mobile object 2, and the memory unit 11 and control unit 12 may be mounted on a server or the like connected to the sensor unit 10 by a network.

[0021] The control unit 12 predicts the position of the moving object 2 based on a social force model (SFM). The control unit 12 predicts the position of the moving object 2 in sequence based on the SFM, thereby predicting the trajectory of the position of the moving object 2. The SFM according to this embodiment will be described below.

[0022] <sfm> In SFM, the movement of the moving body 2 is predicted based on a resultant force vector obtained by combining three force vectors. Hereinafter, the moving body 2 whose position is to be predicted will be referred to as the "first moving body 2i." In SFM, the equation of motion of the first moving body 2i is given by equation (1).

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[0023] The repulsive force vector F in Eq. (1) i 1 is given by equation (2).

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[0024] Here, the repulsive potential V ij (b) is given by the following equation (4).

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[0025] The repulsive potential V ij (b) decreases exponentially as the parameter b increases, as can be seen from equation (4) and FIG. 4. In FIG. 4, the horizontal axis is the parameter b. The vertical axis is the repulsive potential V ij .

[0026] The repulsive potential V ij The parameter b in (b) is the minor axis of the elliptical equipotential line as shown in Figure 5. This elliptical equipotential line is a model proposed by Johansson et al. (Anders Johansson et al., "Specification of a Microscopic Pedestrian Model by Evolutionary Adjustment to Video Tracking Data", October 25, 2008 9:10 WSPC / INSTRUCTION FILE acs3). This elliptical equipotential line is based on the idea that the repulsive potential depends on the relative speed between the pedestrian and other pedestrians. In other words, this elliptical potential line is an extension of the repulsive potential in the direction of the relative speed between the pedestrian and other pedestrians. In Figure 5, the horizontal axis X ij corresponds to the direction of the relative velocity of the second moving body 2j with respect to the first moving body 2i. A From the focus f B Vector f pointing to AB is given by equation (5).

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[0027] Repulsive potential V ij As described above, the parameter b in (b) is the minor axis of the elliptical equipotential line as shown in Fig. 5. Therefore, the parameter b is given by equation (6).

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[0028] As can be seen from equation (6), the parameter b is a function of the relative speed between the first moving body 2i and the second moving body 2j and the distance |r ij In other words, the repulsive force vector F in Eq. (2) is i 1 is the velocity vector v of the first moving body 2i i and the velocity vector v of the second moving body 2j j and the distance between the first and second moving bodies |r ij If | can be detected, it can be calculated.

[0029] Here, the repulsive potential V given by equation (4) ij (b) Parameter V ij 0 and the parameter σ are usually treated as fixed values. However, in SFM simulations, the parameter V ij 0 If the parameter σ is treated as a fixed value, the following problems [1] to [4] occur in the interactions between multiple moving objects 2.

[0030] [1] The problem of repulsive forces acting on moving bodies moving together Multiple moving objects 2 may act together. When multiple moving objects 2 act together, they may move together in the same direction. Hereinafter, multiple moving objects 2 moving together in the same direction will also be referred to as a "moving object group." In an SFM simulation, for example, if the parameter σ is large compared to the personal space, the repulsive force exerted on multiple moving objects 2 in the moving object group may become large, causing them to repel each other. Personal space is a space in which an individual feels uncomfortable if another person gets too close. If multiple moving objects 2 acting together in SFM repel each other, their movements will become unnatural. However, the processing of the present disclosure, as described below, may also be applied to a case in which multiple moving objects 2 are not acting together but simply moving together in the same direction.

[0031] For example, in FIG. 6, moving bodies 2a and 2b are moving together. In FIG. 6, dots indicate the range in which a repulsive force equal to or greater than a predetermined value that cannot be ignored in the SFM simulation. In FIG. 7 and subsequent figures, dots also indicate the range in which a repulsive force equal to or greater than a predetermined value in the SFM simulation. Moving bodies 2a and 2b are pedestrians. Moving bodies 2a and 2b walk together while maintaining a personal space, moving together in the same direction. However, in FIG. 6, the parameter σ is large compared to the personal space. Therefore, as indicated by the dots, the range in which the repulsive force applied to moving body 2a from moving body 2b applies overlaps with the range in which the repulsive force applied to moving body 2b from moving body 2a applies. As a result, even though moving bodies 2a and 2b are moving together and heading in the same direction, moving bodies 2a and 2b repel each other in the SFM simulation, resulting in unnatural movement.

[0032] [2] Repulsive force problem when multiple moving objects approach each other There are cases where multiple moving bodies 2 approach each other facing each other. In this case, if the parameter σ is reduced in the SFM simulation, taking into account the problem in [1], for example, the repulsive force between the multiple moving bodies 2 approaching each other facing each other may not act until they are about to collide. As a result, the multiple moving bodies 2 will avoid each other just before they collide, resulting in unnatural movement.

[0033] For example, in FIG. 7, moving body 2c and moving body 2d are approaching each other facing each other. In FIG. 7, the parameter σ is smaller than in FIG. 6. Therefore, the range of the repulsive force that moving body 2c and 2d receive from each other is smaller. As a result, the range of the repulsive force that moving body 2c receives from moving body 2d does not overlap with the range of the repulsive force that moving body 2d receives from moving body 2c until just before moving body 2c and moving body 2d collide. With this configuration, moving body 2c and moving body 2d avoid each other just before they collide, resulting in unnatural movement.

[0034] [3] The problem of repulsive force acting on a moving object approaching a group of moving objects A moving object 2 may approach a moving object group. In this case, the moving object 2 approaching the moving object group receives a stronger repulsive force from the moving object group including multiple moving objects 2 than when approaching a single moving object 2. In the SFM simulation, the moving object 2 receiving the strong repulsive force from the moving object group is unable to move forward and becomes immobilized.

[0035] For example, in FIG. 8, moving object 2g is approaching moving object group 4. Moving object group 4 is a group of moving objects 2e and 2f that are moving together in the same direction. Moving object 2g receives a repulsive force from each of moving objects 2e and 2g. Therefore, the repulsive force that moving object 2g receives from moving object group 4 is stronger than the repulsive force that moving object 2g receives from, for example, a single moving object 2. As a result, in FIG. 8, moving object 2g cannot move forward and is stuck.

[0036] [4] Problems such as moving objects being unable to move depending on the density of moving objects If the parameter σ is large when the density of moving objects 2 is high, the multiple moving objects 2 will be unable to move forward due to the repulsive forces they exert on each other, and will become immobile. To avoid this, it is possible to reduce the parameter σ. If the parameter σ is reduced when the density of moving objects 2 is high, the range of the repulsive forces exerted on each other will be reduced, allowing the multiple moving objects 2 to move smoothly. For example, if the parameter σ is reduced, as shown in FIG. 9, the range of the repulsive forces exerted on each other by the multiple moving objects 2h, 2m, and 2n will be reduced, allowing the multiple moving objects 2h, 2m, and 2n to move smoothly, even if the density of moving objects 2 is high. However, if the parameter σ is small when the density of moving objects 2 is low, the range of the repulsive forces exerted on each other will be reduced, as described above with reference to FIG. 7. Therefore, the ranges of the repulsive forces exerted on each other will not overlap until the multiple moving objects 2 are about to collide with each other. As a result, the multiple moving objects 2 will avoid each other just before colliding, resulting in unnatural movement. If the parameter σ is increased to avoid this, as described above, when the density of the moving bodies 2 is high, the multiple moving bodies 2 will be unable to move forward due to the repulsive forces they exert on each other, and will become stuck.

[0037] <First adjustment process> In order to solve the problem [1], the control unit 12 executes a first adjustment process. The first adjustment process is a process for adjusting the parameter σ to be smaller depending on the conditions. The first adjustment process will be described below.

[0038] When the control unit 12 determines that the first moving body 2i and the second moving body 2j are moving in the same direction, the control unit 12 adjusts the parameter σ to be smaller than when the control unit 12 determines that the first moving body 2i and the second moving body 2j are moving toward each other. When the control unit 12 determines that the first moving body 2i and the second moving body 2j are moving toward each other, it is highly likely that the first moving body 2i and the second moving body 2j are moving together. Furthermore, by reducing the parameter σ, the range of the repulsive potential that the first moving body 2i receives from the second moving body 2j is reduced. This configuration can prevent multiple moving bodies 2 moving together in the SFM simulation described above in [1] from repelling each other and resulting in unnatural movements. The degree to which the parameter σ is reduced may be set based on personal space, etc.

[0039] In this process, the control unit 12 calculates the velocity vector v of the first moving object 2i. i and the velocity vector v of the second moving body 2j j If the inner product of the velocity vector v of the first moving body 2i exceeds zero, the control unit 12 determines that the first moving body 2i and the second moving body 2j are moving in the same direction. In other words, if the formula (7) is satisfied, the control unit 12 determines that the first moving body 2i and the second moving body 2j are moving in the same direction. In addition, the control unit 12 determines that the velocity vector v of the first moving body 2i is i and the velocity vector v of the second moving body 2j j If the inner product of is less than zero, the control unit 12 determines that the first moving body 2i and the second moving body 2j are approaching each other and facing each other. In other words, if the formula (8) is satisfied, the control unit 12 determines that the first moving body 2i and the second moving body 2j are approaching each other and facing each other.

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[0040] Here, when the control unit 12 determines that the first moving body 2i and the second moving body 2j are moving in the same direction and that the distance between the first moving body 2i and the second moving body 2j is equal to or less than a first distance, the control unit 12 may adjust the parameter σ to be smaller. The first distance may be set based on personal space. In this way, when the first moving body 2i and the second moving body 2j are moving in the same direction and the distance between the first moving body 2i and the second moving body 2j is equal to or less than the first distance, the first moving body 2i and the second moving body 2j are more likely to be moving together. As a result, the control unit 12 can adjust the parameter σ to be smaller when the possibility that the first moving body 2i and the second moving body 2j are moving together is higher.

[0041] For example, Fig. 10 shows a configuration in which the parameter σ is smaller than that shown in Fig. 6. In Fig. 10, the parameter σ is smaller than that in Fig. 6, so that the range of the repulsive force that moving body 2a receives from moving body 2b does not overlap with the range of the repulsive force that moving body 2b receives from moving body 2a. As a result, moving body 2a and moving body 2b can walk together without repelling each other in the SFM simulation.

[0042] As described above, when the control unit 12 determines that the first moving body 2i and the second moving body 2j are moving in the same direction, or determines that the first moving body 2i and the second moving body 2j are moving in the same direction and the distance between the first moving body 2i and the second moving body 2j is equal to or less than the first distance, and adjusts the parameter σ to be smaller, the control unit 12 adjusts the parameter V according to the degree to which the parameter σ is reduced. ij 0 As an example, the repulsive potential V in Eq. (4) can be adjusted to be larger. ij When (b) is normalized, the control unit 12 calculates the parameter σ and the parameter V ij 0 The parameter σ is reduced so that the parameter V ij 0 For example, as shown in FIG. 11, the control unit 12 may increase the parameter σ and the parameter V ij 0 The parameter σ is reduced so that the parameter V ij 0 In FIG. 11, the dashed line corresponds to the repulsive potential shown in FIG.

[0043] <Second adjustment process> In order to solve the problem [2], the control unit 12 executes the second adjustment process. The second adjustment process is a process for adjusting the parameter σ so that it becomes larger depending on the conditions. The third adjustment process will be described below.

[0044] When the control unit 12 determines that the first moving body 2i and the second moving body 2j are approaching each other, the control unit 12 adjusts the parameter σ so that it is larger than when the control unit 12 determines that the first moving body 2i and the second moving body 2j are moving in the same direction. By increasing the parameter σ, the range over which the repulsive potential that the first moving body 2i receives from the second moving body 2j extends becomes larger. This configuration can prevent the multiple moving bodies 2 from avoiding each other just before colliding, as described in [2], resulting in unnatural movement. The degree to which the parameter σ is increased may be set based on the relative speed between the first moving body 2i and the second moving body 2j, etc.

[0045] As a process, the control unit 12 calculates the velocity vector v of the first moving object 2i as described above. i and the velocity vector v of the second moving body 2j j If the inner product of the velocity vector v of the first moving body 2i exceeds zero, i.e., if the formula (7) is satisfied, the control unit 12 determines that the first moving body 2i and the second moving body 2j are moving in the same direction. i and the velocity vector v of the second moving body 2j j If the inner product of is less than zero, that is, if the formula (8) is satisfied, it is determined that the first moving body 2i and the second moving body 2j are approaching each other and facing each other.

[0046] Here, when the control unit 12 determines that the first moving body 2i and the second moving body 2j are approaching each other and that the distance between the first moving body 2i and the second moving body 2j is equal to or less than a second distance, the control unit 12 may adjust the parameter σ to be larger. The second distance may be set based on the relative speed between the first moving body 2i and the second moving body 2j.

[0047] For example, Fig. 12 shows a configuration in which the parameter σ is set larger than that shown in Fig. 7. In Fig. 12, the parameter σ is set larger than in Fig. 7, and therefore the range of the repulsive force that the moving bodies 2c and 2d receive from each other is larger. As a result, the moving bodies 2c and 2d can naturally avoid each other.

[0048] As described above, when the control unit 12 determines that the first moving body 2i and the second moving body 2j are approaching each other and facing each other, or determines that the first moving body 2i and the second moving body 2j are approaching each other and the distance between the first moving body 2i and the second moving body 2j is equal to or less than the second distance, and adjusts the parameter σ to be larger, the control unit 12 adjusts the parameter V ij 0 As an example, the repulsive potential V shown in Equation (4) can be adjusted to be small. ij When (b) is normalized, the control unit 12 calculates the parameter σ and the parameter V ij 0 The parameter V is inversely proportional to the parameter σ. ij 0 For example, as shown in FIG. 13, the control unit 12 may reduce the parameter σ and the parameter V ij 0 The parameter V is inversely proportional to the parameter σ. ij 0 In FIG. 13, the dashed line corresponds to the repulsive potential shown in FIG.

[0049] <Determination process> To solve the problems [3] and [4], the control unit 12 first executes a determination process. The determination process is a process for determining whether or not a plurality of second moving bodies 2j are moving together in the same direction. In other words, the determination process is a process for determining whether or not a plurality of second moving bodies 2j are a moving body group. The control unit 12 determines that a plurality of second moving bodies 2j are a moving body group when all of the following first, second, and third conditions are satisfied.

[0050] The first condition is that the distance between each of the plurality of second moving bodies 2j is equal to or less than a distance threshold. The distance threshold may be set based on personal space. The distance threshold is, for example, 0.5 m.

[0051] The second condition is that the velocity vector v of the second moving bodies 2j j is equal to or less than an angle threshold. The angle threshold may be set taking into consideration swaying in directions other than the traveling direction of the plurality of second moving bodies 2j. For example, if the second moving bodies 2j are pedestrians, the pedestrians who are the second moving bodies 2j may sway left and right with respect to the traveling direction. In this case, the angle threshold may be set based on the swaying of the pedestrians left and right. The angle threshold is, for example, 10 degrees.

[0052] The third condition is that the difference in speed between the second moving bodies 2j is equal to or less than a speed threshold. The speed threshold may be set based on the difference in speed between the second moving bodies 2j when the second moving bodies 2j are moving together in the same direction. For example, if the second moving bodies 2j are pedestrians, the speed threshold is 0.1 m / s.

[0053] For example, in the configuration shown in FIG. 14, the distance threshold is set to 0.5 m, the angle threshold is set to 10°, and the speed threshold is set to 0.1 m / s. The distance between moving body 2p and moving body 2q is 0.4 m. The speed of moving body 2p is 1.3 m / s. The speed of moving body 2q is 1.25 m / s. The angle formed by the speed vector of moving body 2p and the speed vector of moving body 2q is 10° or less. Therefore, when moving bodies 2p and 2q are considered to be multiple second moving bodies 2j, the control unit 12 determines that moving bodies 2p and 2q belong to a moving body group. The distance between moving body 2r and moving body 2s is 0.6 m. The speed of moving body 2r is 1.3 m / s. The speed of moving body 2s is 1.3 m / s. The angle formed by the speed vector of moving body 2r and the speed vector of moving body 2s is 20°. Therefore, when the moving bodies 2r and 2s are considered as a plurality of second moving bodies 2j, the control unit 12 determines that the moving bodies 2r and 2s do not belong to a moving body group.

[0054] <Third Adjustment Process> When the control unit 12 determines that the plurality of second moving bodies 2j form a moving body group, it executes a third adjustment process. The third adjustment process is a process for adjusting the repulsive forces that the first moving body 2i receives from the plurality of second moving bodies 2j included in the moving body group so that they become a repulsive force received from a single second moving body 2j. In other words, the repulsive forces that the first moving body 2i receives from each of the plurality of second moving bodies 2j included in the moving body group may be combined into a single repulsive force.

[0055] In this process, the control unit 12 sets one third moving body 2k based on the multiple second moving bodies 2j determined to be part of a moving body group. The third moving body 2k is a virtual moving body 2. The control unit 12 sets the position of the third moving body 2k at the center position of the multiple second moving bodies 2j determined to be part of a moving body group, and sets the average value of the velocity vectors of the multiple second moving bodies 2j as the velocity vector of the third moving body 2k. For example, FIG. 15 shows two second moving bodies 2j determined to be part of a moving body group, namely, second moving bodies 2j-1 and 2j-2. In FIG. 15, the control unit 12 sets the position of the third moving body 2k at the midpoint of the line segment connecting the second moving body 2j-1 and the second moving body 2j-2. In FIG. 15, the control unit 12 calculates the velocity vector v of the second moving body 2j-1. j1 and the velocity vector v of the second moving body 2j-2 j2 The average value of the velocity vector v of the third moving body 2k k Set to.

[0056] The control unit 12 calculates the parameter b in equation (6) using the position and velocity vector of the third moving body 2k instead of the multiple second moving bodies 2j determined to be part of a moving group. In other words, the parameter b is a parameter determined by the relative velocity between the first moving body 2i and the third moving body 2k and the distance between the first moving body 2i and the third moving body 2k. The control unit 12 calculates the parameter b in equation (6) using the position and velocity vector of the third moving body 2k, thereby determining the repulsive potential V in equation (4). ij (b) is calculated. In this case, the parameter σ determines the range of the repulsive potential that the first moving body 2i receives from the third moving body 2k. This configuration can prevent the moving body 2g from being unable to move forward due to the repulsive force that the moving body 2g receives from the moving body group 4 becoming stronger, as described above with reference to FIG. 8. Furthermore, this configuration can adjust the repulsive force that the first moving body 2i receives from the second moving body 2j depending on the density of the moving bodies 2. In other words, it is possible to prevent problems that occur when the density of the moving bodies 2 is high and when the density of the moving bodies 2 is low, as described above in [4].

[0057] Here, the control unit 12 may determine whether the plurality of second moving objects 2j are a moving object group after predicting the position of the first moving object 2i a predetermined number of times. The predetermined number of times may be set depending on the intended use of the information processing device 1.

[0058] (Operation of information processing device) Fig. 16 is a flowchart showing an example of an information processing method of the information processing device 1 shown in Fig. 1. For example, when a target moving object starts moving, the control unit 12 starts the process of step S1. Hereinafter, the control unit 12 predicts the trajectory of the position of the moving object 2 from the start of the process of step S1 to a set time TS by successively predicting the position of the moving object 2 for each time step Δt. The time when the process of step S1 starts is time T0.

[0059] The control unit 12 acquires the positions and velocity vectors of multiple moving objects 2 from the sensor unit 10 (step S1). For example, in Fig. 2, the control unit 12 acquires the positions and velocity vectors of moving objects 2A to 2E. If the sensor unit 10 detects an obstacle, the control unit 12 acquires the position of the obstacle from the sensor unit 10 in the processing of step S1.

[0060] The control unit 12 determines whether or not a moving object group is included among the multiple moving objects 2 based on the positions and velocity vectors of the multiple moving objects 2 acquired in the processing of step S1 (step S2). The control unit 12 determines that multiple moving objects 2 that satisfy all of the first condition, the second condition, and the third condition belong to a moving object group. For example, in FIG. 2, the control unit 12 determines that moving object 2A and moving object 2B belong to a moving object group. The control unit 12 may determine any combination of multiple moving objects 2 as multiple second moving objects 2j and perform the above-mentioned determination processing on the multiple second moving objects 2j. In other words, in the processing of step S2, the control unit 12 may determine that various combinations of moving objects 2 belong to a moving object group.

[0061] The control unit 12 calculates the repulsive force vector F acting on each of the plurality of moving bodies 2 based on the positions and velocity vectors of the plurality of moving bodies 2 acquired in the process of step S1. i 1 That is, the control unit 12 sequentially sets each of the plurality of moving bodies 2 as a first moving body 2i, and calculates the repulsive force vector F i 1 Furthermore, when the control unit 12 acquires the position of the obstacle in the process of step S1, the control unit 12 calculates a repulsive force vector F that each of the plurality of moving bodies 2 receives from the obstacle as the first moving body 2i. i 3 Also calculate.

[0062] In the process of step S3, the first moving object 2i receives F i 1 When calculating the parameter σ and the parameter V, the control unit 12 executes a first adjustment process and a second adjustment process. The control unit 12 executes the first adjustment process and the second adjustment process for the first moving body 2i and the second moving body 2j that is different from the moving body group determined in the process of step S2. Furthermore, the control unit 12 executes a third adjustment process based on the determination result of step S2. Here, the control unit 12 calculates the parameter σ and the parameter V by the first adjustment process or the second adjustment process. ij 0 When the parameter σ and the parameter V are not adjusted, the parameter σ and the parameter V are set in advance based on the intended use of the information processing device 1. ij 0 may be used.

[0063] The control unit 12 calculates the gravitational force vector F acting on each of the plurality of moving bodies 2 based on the position and velocity vectors of the plurality of moving bodies 2 acquired in the process of step S1. i 2 That is, the control unit 12 sequentially sets each of the plurality of moving bodies 2 as a first moving body 2i, and calculates the gravitational force vector F acting on each of the plurality of moving bodies 2 as the first moving body 2i. i 2 Calculate.

[0064] The control unit 12 calculates the repulsive force vector F for each of the plurality of moving bodies 2 in the process of step S3. i 1 and the gravitational vector F calculated in the processing of step S4. i 2 The resultant force vector F acting on the obstacle in the process of step S3 is calculated (step S5). i 3 When the repulsive force vector F i 1 and the gravitational vector F i 2 and the repulsive force vector F i 3 The resultant force vector of the moving body 2 is calculated by the above.

[0065] The control unit 12 predicts the positions and velocity vectors of the multiple moving bodies 2 at time T based on the resultant force vector calculated in the processing of step S5 (step S6). That is, the control unit 12 sequentially sets each of the multiple moving bodies 2 as a first moving body 2i, and predicts the positions and velocity vectors of the multiple moving bodies 2 at time T using the resultant force vector calculated in the processing of step S5 and the equation of motion of the first moving body 2, which is equation (1). Time T is expressed as "T = T0 + N × Δt". The integer N is the number of times the processing of steps S3 to S5 has been calculated. In the first processing of step S6, the control unit 12 predicts the positions and velocity vectors of the multiple moving bodies 2 at time T (T = T0 + Δt).

[0066] The control unit 12 determines whether or not the position and velocity vector of the moving body 2 have been predicted in the processing of step S12 up to the set time TS (step S7). If the control unit 12 determines that the position and velocity vector of the moving body 2 have been predicted up to the set time TS (step S7: YES), the control unit 12 ends the execution of the flowchart shown in Fig. 16. If the control unit 12 does not determine that the position and velocity vector of the moving body 2 have been predicted up to the set time TS, the control unit 12 returns to the processing of step S3. In the processing of steps S3 to S5 that is executed again, the control unit 12 uses the position and velocity vector of the moving body 2 predicted in the processing of step S6.

[0067] 16, the control unit 12 determines the route of the target moving object based on the predicted trajectory of each of the multiple moving objects 2. For example, the control unit 12 determines the route of the target moving object to the destination so that the target moving object does not collide with each of the multiple moving objects 2. The control unit 12 may execute the process from step S1 again after a predetermined time has elapsed after the execution of the flowchart shown in FIG. 16 is completed. The predetermined time may be set depending on the intended use of the information processing device 1.

[0068] As described above, in the information processing device 1 according to this embodiment, the control unit 12 predicts the position of the first moving body 2i based on SFM. Furthermore, when the control unit 12 determines that the first moving body 2i and the second moving body 2j are moving in the same direction, the control unit 12 adjusts the parameter σ to be smaller than when the control unit 12 determines that the first moving body 2i and the second moving body 2j are moving toward each other. As described above, when the control unit 12 determines that the first moving body 2i and the second moving body 2j are moving toward each other, it is highly likely that the first moving body 2i and the second moving body 2j are moving together. Furthermore, by reducing the parameter σ, the range of the repulsive potential that the first moving body 2i receives from the second moving body 2j becomes smaller. This configuration can prevent multiple moving bodies 2 moving together from repelling each other and resulting in unnatural movement in the SFM simulation described in [1]. As a result, according to this embodiment, the position of the moving body 2 can be predicted with high accuracy.

[0069] Furthermore, in this embodiment, the moving object 2 may be a pedestrian or a delivery robot. In recent years, the use of delivery robots has been increasing to solve logistics problems. Therefore, there is a demand for delivery robots that can safely travel in cooperation with pedestrians. As described above, the information processing device 1 according to this embodiment can accurately predict the position of the moving object 2, and therefore can accurately predict the trajectory of the position of the moving object 2. Therefore, by installing the information processing device 1 according to this embodiment in a moving object 2 that is a delivery robot, the delivery robot can safely travel in cooperation with the moving object 2, such as a pedestrian, based on the predicted trajectory of the position of the moving object 2. However, the moving object 2 is not limited to the above examples. The moving object 2 according to this embodiment may be a car, a motorcycle, a bicycle, an animal such as a dog or a cat, an aircraft such as a drone, or any other appropriate moving object.

[0070] While the present disclosure has been described based on various drawings and examples, it should be noted that those skilled in the art would easily be able to make various modifications and alterations based on the present disclosure. Therefore, it should be noted that these modifications and alterations are within the scope of the present disclosure. For example, the functions included in each functional unit can be rearranged so as not to cause logical inconsistencies. Multiple functional units can be combined into one or separated. The above-described embodiments of the present disclosure are not limited to faithful implementation of each of the described embodiments, but can be implemented by combining features or omitting some features as appropriate. In other words, those skilled in the art can make various modifications and alterations based on the present disclosure. Therefore, these modifications and alterations are within the scope of the present disclosure. For example, in each embodiment, each functional unit, means, or step can be added to other embodiments so as not to cause logical inconsistencies, or can be replaced with each functional unit, means, or step of other embodiments. Furthermore, in each embodiment, multiple functional units, means, or steps can be combined into one or separated. Furthermore, each of the above-described embodiments of the present disclosure is not limited to being implemented faithfully according to each of the described embodiments, but can also be implemented by combining each feature or omitting some of them as appropriate.

[0071] For example, in the above-described embodiment, the information processing device 1 has been described as being mounted on or carried by the moving body 2. However, the information processing device 1 does not have to be mounted on or carried by the moving body 2. As another example, the information processing device 1 may be a server. In this case, the information processing device 1 may receive the position and velocity vector of the moving body 2 from a sensor unit 10 or a surveillance camera provided on the moving body 2. The information processing device 1 may predict the position of the moving body 2 based on SFM using the received position and velocity vector of the moving body 2 in the same or similar manner as in the above-described embodiment.

[0072] For example, an embodiment is also possible in which a general-purpose computer functions as the information processing device 1 according to the above-described embodiment. Specifically, a program describing the processing content for realizing each function of the information processing device 1 according to the above-described embodiment is stored in the memory of the general-purpose computer, and the program is read and executed by a processor. Therefore, the present disclosure can also be realized as a program executable by a processor, or a non-transitory computer-readable medium storing the program.

[0073] In one embodiment, (1) an information processing device includes: a control unit that, when it is determined that a first moving body and a second moving body are moving in the same direction, adjusts the first parameter so that it is smaller than when it is determined that the first moving body and the second moving body are facing each other and approaching each other; the first parameter determines a range of a repulsive potential that the first moving body receives from the second moving body in a Social Force Model (SFM); The control unit predicts the position of the first moving object based on the SFM.

[0074] (2) In the information processing device described in (1), The control unit may determine that the first moving body and the second moving body are moving in the same direction when an inner product of a velocity vector of the first moving body and a velocity vector of the second moving body exceeds zero.

[0075] (3) In the information processing device according to (1) or (2), The control unit may adjust the first parameter to be smaller when it determines that the first moving body and the second moving body are moving in the same direction and that the distance between the first moving body and the second moving body is less than or equal to a first distance.

[0076] (4) In the information processing device according to any one of (1) to (3), The control unit may adjust a second parameter that determines the magnitude of the repulsive potential so as to increase in accordance with the degree to which the first parameter is reduced.

[0077] (5) In the information processing device according to any one of (1) to (4), The control unit may determine that the first moving body and the second moving body are approaching each other when an inner product of a velocity vector of the first moving body and a velocity vector of the second moving body is less than zero.

[0078] (6) In the information processing device according to any one of (1) to (5), When the control unit determines that the first moving body and the second moving body are approaching each other and that the distance between the first moving body and the second moving body is less than or equal to a second distance, the control unit may adjust the first parameter to be larger than when it determines that the first moving body and the second moving body are moving in the same direction.

[0079] (7) In the information processing device described in (6), The control unit may adjust a second parameter that determines the magnitude of the repulsive potential so as to decrease in accordance with the degree to which the first parameter is increased.

[0080] (8) In the information processing device according to any one of (1) to (7), The control unit may predict a trajectory of the position of the first moving object by successively predicting the position of the first moving object.

[0081] (9) In the information processing device according to any one of (5) to (8) dependent on (4), The repulsive potential is given by the following equation: TIFF2026017874000009.tif25167In the above formula, The parameter σ is the first parameter, Parameter V ij 0 is the second parameter, The parameter b may be determined by the relative speed between the first moving body and the second moving body and the distance between the first moving body and the second moving body.

[0082] (10) In the information processing device according to any one of (1) to (9), When the control unit determines that the second moving bodies are a group of moving bodies moving together in the same direction, the control unit may adjust the repulsive force that the first moving body receives from the second moving bodies so that it becomes a repulsive force that the first moving body receives from one of the second moving bodies.

[0083] (11) In the information processing device described in (10), the control unit determines that the plurality of second moving objects belong to the moving object group when all of a first condition, a second condition, and a third condition are satisfied; the first condition is a condition that a distance between each of the plurality of second moving bodies is equal to or less than a distance threshold; the second condition is a condition that an angle formed by each of the velocity vectors of the plurality of second moving objects is equal to or smaller than an angle threshold value; The third condition may be a condition that a difference in speed between each of the plurality of second moving bodies is equal to or less than a speed threshold.

[0084] (12) In the information processing device according to (10) or (11), When the control unit determines that the plurality of second moving objects are the moving object group, setting a central position of the plurality of second moving bodies to the position of a virtual third moving body, and setting an average value of the velocity vectors of the plurality of second moving bodies to the velocity vector of the third moving body; The repulsive force that the first moving body receives from the third moving body may be calculated based on the position and velocity vector of the third moving body, and the repulsive force that the first moving body receives from the multiple second moving bodies may be adjusted to be the repulsive force that the first moving body receives from one of the second moving bodies.

[0085] (13) In the information processing device described in (12), the control unit calculates a repulsive force that the first moving body receives from the third moving body based on a repulsive potential given by the following equation: TIFF2026017874000010.tif25167In the above formula, The parameter σ determines the range of the repulsive potential that the first moving body receives from the third moving body; Parameter V ij 0 determines the magnitude of the repulsive potential, The parameter b may be determined by the relative speed between the first moving body and the third moving body and the distance between the first moving body and the third moving body.

[0086] In one embodiment, (14) an information processing method includes: When it is determined that the first moving body and the second moving body are moving in the same direction, adjusting the first parameter to be smaller than when it is determined that the first moving body and the second moving body are facing each other and approaching each other; predicting the location of the first moving object based on the SFM; The first parameter determines the range of the repulsive potential that the first moving body receives from the second moving body in a social force model (SFM).

[0087] In one embodiment, (15) the program On the computer, When it is determined that the first moving body and the second moving body are moving in the same direction, adjusting the first parameter to be smaller than when it is determined that the first moving body and the second moving body are facing each other and approaching each other; predicting a position of the first moving object based on the SFM; The first parameter determines the range of the repulsive potential that the first moving body receives from the second moving body in a social force model (SFM).

[0088] In this disclosure, descriptions such as "first" and "second" are identifiers for distinguishing the configuration. Configurations distinguished by descriptions such as "first" and "second" in this disclosure can exchange numbers in the configuration. For example, a first mobile unit can exchange identifiers "first" and "second" with a second mobile unit. The exchange of identifiers is performed simultaneously. The configurations remain distinguished even after the identifier exchange. Identifiers may be deleted. Configurations from which identifiers have been deleted are distinguished by symbols. The descriptions of identifiers such as "first" and "second" in this disclosure should not be used solely to interpret the order of the configurations or to justify the existence of identifiers with smaller numbers. [Explanation of symbols]

[0089] 1: information processing device, 2, 2A to 2E, 2a to 2h, 2m, 2n, 2p to 2s: moving bodies, 2i: first moving body, 2j: second moving body, 2k: third moving body, 3: obstacle, 4: moving body group, 10: sensor unit, 11: memory unit, 12: control unit< / sfm>

Claims

1. a control unit that, when it is determined that a first moving body and a second moving body are moving in the same direction, adjusts the first parameter so that it is smaller than when it is determined that the first moving body and the second moving body are approaching each other; the first parameter determines a range of a repulsive potential that the first moving body receives from the second moving body in a Social Force Model (SFM); The control unit predicts the position of the first moving object based on the SFM.

2. 2. The information processing device according to claim 1, wherein the control unit determines that the first moving body and the second moving body are moving in the same direction when the dot product of the velocity vector of the first moving body and the velocity vector of the second moving body exceeds zero.

3. 2. The information processing device according to claim 1, wherein the control unit adjusts the first parameter to be smaller when it determines that the first moving body and the second moving body are moving in the same direction and that the distance between the first moving body and the second moving body is less than or equal to a first distance.

4. The information processing device according to claim 1 , wherein the control unit adjusts the second parameter that determines the magnitude of the repulsive potential so as to increase in accordance with the degree to which the first parameter is reduced.

5. 2. The information processing device according to claim 1, wherein the control unit determines that the first moving body and the second moving body are approaching each other when the dot product of the velocity vector of the first moving body and the velocity vector of the second moving body is below zero.

6. 2. The information processing device of claim 1, wherein when the control unit determines that the first moving body and the second moving body are approaching each other and that the distance between the first moving body and the second moving body is less than a second distance, the control unit adjusts the first parameter to be larger than when it determines that the first moving body and the second moving body are moving in the same direction.

7. The information processing device according to claim 6 , wherein the control unit adjusts the second parameter that determines the magnitude of the repulsive potential so as to decrease in accordance with the degree to which the first parameter is increased.

8. The information processing device according to claim 1 , wherein the control unit predicts a trajectory of the position of the first moving object by successively predicting the position of the first moving object.

9. The repulsive potential is given by the following equation: In the above formula, The parameter σ is the first parameter, Parameter V ｉｊ ０ is the second parameter, The information processing apparatus according to claim 4 , wherein the parameter b is determined by a relative speed between the first moving body and the second moving body and a distance between the first moving body and the second moving body.

10. 2. The information processing device according to claim 1, wherein when the control unit determines that a plurality of second moving bodies are a group of moving bodies moving together in the same direction, the control unit adjusts the repulsive force that the first moving body receives from the plurality of second moving bodies so that it becomes a repulsive force that the first moving body receives from one of the second moving bodies.

11. the control unit determines that the plurality of second moving objects belong to the moving object group when all of a first condition, a second condition, and a third condition are satisfied; the first condition is a condition that a distance between each of the plurality of second moving objects is equal to or less than a distance threshold; the second condition is a condition that an angle formed by each of the velocity vectors of the plurality of second moving objects is equal to or smaller than an angle threshold value; The information processing apparatus according to claim 10 , wherein the third condition is a condition that a difference in speed between each of the plurality of second moving bodies is equal to or less than a speed threshold value.

12. When the control unit determines that the plurality of second moving objects are the moving object group, setting a central position of the plurality of second moving bodies to the position of a virtual third moving body, and setting an average value of velocity vectors of the plurality of second moving bodies to the velocity vector of the third moving body; 11. The information processing device of claim 10, wherein the repulsive force that the first moving body receives from the third moving body is calculated based on the position and velocity vector of the third moving body, and the repulsive force that the first moving body receives from the plurality of second moving bodies is adjusted to be the repulsive force that the first moving body receives from one of the second moving bodies.

13. the control unit calculates a repulsive force that the first moving body receives from the third moving body based on a repulsive potential given by the following equation: In the above formula, The parameter σ determines the range of the repulsive potential that the first moving body receives from the third moving body, and Parameter V ｉｊ ０ determines the magnitude of the repulsive potential, The information processing apparatus according to claim 12 , wherein the parameter b is determined by a relative speed between the first moving body and the third moving body and a distance between the first moving body and the third moving body.

14. When it is determined that the first moving body and the second moving body are moving in the same direction, adjusting the first parameter to be smaller than when it is determined that the first moving body and the second moving body are facing each other and approaching each other; predicting a position of the first moving object based on the SFM; An information processing method, wherein the first parameter determines a range of a repulsive potential that the first moving body receives from the second moving body in an SFM (Social Force Model).

15. On the computer, When it is determined that the first moving body and the second moving body are moving in the same direction, adjusting the first parameter to be smaller than when it is determined that the first moving body and the second moving body are facing each other and approaching each other; predicting a position of the first moving body based on the SFM; A program in which the first parameter determines a range of a repulsive potential that the first moving body receives from the second moving body in an SFM (Social Force Model).

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