Autonomous mobile object, control method, and program

Abstract

To provide an autonomous moving body capable of avoiding collision with another autonomous flying body even in the case of an update failure of space-time data.SOLUTION: An autonomous mobile body capable of autonomous flight includes a space information acquisition unit that acquires space information from a holding unit that holds space information in association with a unique identifier, an evaluation unit that evaluates reliability of the space information acquired by the space information acquisition unit, a photographing unit that obtains photographing information obtained by photographing a periphery of the autonomous mobile body, an infrastructure information acquisition unit that acquires infrastructure information based on the space information acquired by the space information acquisition unit and the photographing information obtained by the photographing unit, a driving unit that drives the autonomous mobile body, and a control unit that controls the autonomous mobile body based on the reliability evaluated by the evaluation unit. And a control unit configured to control the driving unit in accordance with the infrastructure information acquired by the infrastructure information acquisition unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an autonomous moving body, a control method, and a program. [Background technology]

[0002] In recent years, with technological innovations such as autonomous mobile control devices and spatial recognition systems, the development of digital architecture design centers that contain spatial information is progressing around the world. By utilizing digital architecture design centers, autonomous mobile control devices and spatial recognition systems can obtain more information. Furthermore, by utilizing digital architecture design centers, they can work with external devices and systems to solve larger problems.

[0003] To achieve this, technologies have been developed that link real-world space with digital information. Conventional technologies for linking real-world space with digital information include those described in Patent Document 1. In Patent Document 1, a single processor divides a space-time domain in time and space according to space-time management data provided by a user to generate multiple space-time divided domains. Furthermore, taking into account the proximity of the space-time divided domains in time and space, an identifier expressed as a one-dimensional integer value is assigned to each of the multiple space-time divided domains to uniquely identify them. The patent also discloses a space-time data management system that determines the arrangement of time-series data so that data from space-time divided domains with similar identifiers are arranged nearby on a storage device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-002519 Summary of the Invention [Problem to be solved by the invention]

[0005] The spatiotemporal data used for flight is set in a space specified by latitude and longitude. The spatiotemporal data stored there is created and updated sequentially by cameras from various sensors and LIDAR, which monitors spatial data. LiDAR stands for Light Detection and Ranging. However, LIDAR is vulnerable to rain, and cameras cannot acquire information when fog or condensation caused by sudden changes in weather occurs. If this occurs, the spatiotemporal management system will detect an error, preventing the spatiotemporal data from being updated and ensuring the reliability of the information.

[0006] Furthermore, because spatiotemporal data is also transmitted to the spatiotemporal data management system via communication, if that communication is radio wave-based, it can be disrupted by weather or the information update can be delayed due to communication equipment failure. This means that the current state of the spatiotemporal data is no longer reflected, reducing reliability. In this situation, autonomous aircraft are more likely to collide with other autonomous aircraft at intersections and other locations.

[0007] The present invention has been made in consideration of the above points, and aims to provide an autonomous mobile body that can avoid collision with other autonomous flying bodies even in the event of a faulty update of spatiotemporal data. [Means for solving the problem]

[0008] An autonomous mobile body according to one embodiment of the present invention is an autonomous mobile body capable of autonomous flight, and is characterized by having: a spatial information acquisition means for acquiring spatial information from a storage means that associates and stores spatial information representing the state of a space, the spatial information including information indicating the presence of a specific object in the space with a unique identifier assigned to each divided three-dimensional space; an evaluation means for evaluating the reliability of the spatial information acquired by the spatial information acquisition means; a photographing means for acquiring photographic information of the surroundings of the autonomous mobile body; an infrastructure information acquisition means for acquiring infrastructure information from the spatial information acquired by the spatial information acquisition means and the photographic information acquired by the photographing means; a driving means for driving the autonomous mobile body; and a control means for controlling the driving means in accordance with the infrastructure information acquired by the infrastructure information acquisition means, depending on the reliability evaluated by the evaluation means. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide an autonomous moving body that can avoid collision with other autonomous flying bodies even when spatiotemporal data is not updated properly. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram illustrating an example of the overall configuration of an autonomous mobile object control system according to a first embodiment of the present invention. [Figure 2] FIG. 10A is a diagram showing an example of an input screen when a user inputs location information, and FIG. 10B is a diagram showing an example of a selection screen for selecting an autonomous moving body to be used. [Figure 3] FIG. 1A is a diagram showing an example of a screen for checking the current position of an autonomous moving body, and FIG. 1B is a diagram showing an example of a map display screen when checking the current position of an autonomous moving body. [Figure 4] 2 is a functional block diagram showing an example of the internal configuration of each device constituting the autonomous mobile control system 20 shown in FIG. 1. FIG. [Figure 5] FIG. 2 is a perspective view showing a configuration example of an autonomous moving body 12. [Figure 6] 1A and 1B are diagrams for explaining a three-dimensional map used by an autonomous moving body according to the first embodiment. [Figure 7] 1A is a diagram showing latitude / longitude information of the Earth, and FIG. 1B is a perspective view showing a predetermined space 100 of FIG. 1A. [Figure 8] 1 is a diagram showing a schematic diagram of spatial information within a space 100. FIG. [Figure 9] (A) is a conceptual diagram of height and lateral flight restrictions in urban canyons, and (B) is a conceptual diagram looking down on urban canyons from above. [Figure 10] 1 is a flowchart of a process according to the first embodiment of the present invention. [Figure 11] 1 is a flowchart of autonomous flight control using infrastructure. [Figure 12]10 is a flowchart of a process according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiments. Furthermore, the following embodiments do not limit the scope of the present invention as defined by the claims, and not all of the combinations of features described in the present embodiments are necessarily essential to the solution of the present invention. In each drawing, the same members or elements are designated by the same reference numerals, and duplicate descriptions are omitted or simplified.

[0012] In the embodiment, an example will be described in which the present invention is applied to the control of an autonomous moving body, but the moving body may be one in which the user can operate at least a part of the movement of the moving body. That is, for example, the present invention may be configured to provide various displays regarding the travel route, etc. to the user, and the user may perform some of the driving operations of the moving body by referring to the displays.

[0013] <Embodiment 1> 1 is a diagram showing an example of the overall configuration of an autonomous mobile object control system according to a first embodiment of the present invention. The autonomous mobile object control system 20 includes a system control device 10, a user interface 11, an autonomous mobile object 12, a route determination device 13, a conversion information storage device 14, and a sensor node 15. Here, the user interface 11 refers to a user terminal device.

[0014] In this embodiment, the devices shown in Fig. 1 are connected via the Internet 16 by respective network connection units described below. However, other network systems, such as a LAN, may also be used. LAN is an abbreviation for Local Area Network. Furthermore, the system control device 10, the user interface 11, the route determination device 13, and the conversion information storage device 14 do not necessarily have to be individual devices, and the roles of any two or more of these devices may be fulfilled by a single device.

[0015] The system control device 10, user interface 11, autonomous mobile body 12, route determination device 13, conversion information storage device 14, and sensor node 15 each include an information processing device consisting of a CPU, ROM, RAM, HDD, etc. The CPU functions as a computer, and the ROM, RAM, HDD, etc. function as storage media. CPU is an abbreviation for Central Processing Unit. ROM is an abbreviation for Read Only Memory. RAM is an abbreviation for Random Access Memory. HDD is an abbreviation for Hard Disk Drive. Details of the function and internal configuration of each device will be explained later.

[0016] Next, the service application software (hereinafter abbreviated as "app") provided by the autonomous mobile object control system 20 will be described. First, a screen image displayed on the user interface 11 when the user inputs location information will be described with reference to FIGS. 2(A) and 2(B). Next, a screen image displayed on the user interface 11 when the user views the current location of the autonomous mobile object 12 will be described with reference to FIGS. 3(A) and 3(B). These descriptions will be used to explain, using examples, how apps are operated in the autonomous mobile object control system 20. For convenience, map display will be described on a two-dimensional plane in this description. However, in this embodiment, the user can specify a three-dimensional position including "height" and can also input "height" information. That is, according to this embodiment, a three-dimensional map can be used.

[0017] 2(A) is a diagram showing an example of an input screen when a user inputs location information, and FIG. 2(B) is a diagram showing an example of a selection screen for selecting an autonomous mobile object to use. When a user operates the display screen of the user interface 11 to access the Internet 16 and selects, for example, a route setting app of the autonomous mobile object control system 20, a web page of the system control device 10 is displayed on the user interface 11.

[0018] The first thing displayed on the web page is an input screen 40 for inputting a departure point, a stopover point, and a destination point for setting the departure point, a stopover point, and a destination point when moving the autonomous moving body 12. The input screen 40 displays a list display button 48 for displaying a list of autonomous moving bodies (mobilities) to be used. When the user presses the list display button 48, the user interface 11 displays a mobility list display screen 47 as shown in FIG. 2(B).

[0019] The user first selects an autonomous moving body (mobility) to be used on the list display screen 47. For example, three mobilities M1, M2, and M3 are displayed as selectable on the list display screen 47, but the number is not limited to this. When the user selects one of the mobilities M1 to M3 by clicking or the like, the user interface 11 that receives the selection displays the input screen 40 of FIG. 2(A). At this time, the input screen 40 displays the name of the mobility selected on the list display screen 47 of FIG. 2(B) on the list display button 48.

[0020] The user then inputs the location to be set as the departure point into the "Departure Point" input field 41. The user also inputs the location to be set as the waypoint into the "Waypoint 1" input field 42. It is possible to add waypoints, and when the Add Waypoint button 44 is pressed once, the user interface 11 additionally displays the input field 46 for "Waypoint 2," allowing the user to input the waypoint to be added. Each time the Add Waypoint button 44 is pressed, the user interface 11 additionally displays the input field 46 for "Waypoint 3," "Waypoint 4," etc., allowing the user to input multiple waypoints to be added.

[0021] The user also inputs the location to be set as the destination into the "destination" input field 43. Although not shown in the figure, when the input fields 41 to 43 and 46 are clicked, the user interface 11 temporarily displays a keyboard or the like for inputting characters, allowing the user to input characters.

[0022] Then, when the user presses the decision button 45, the user interface 11 sets the travel route of the autonomous moving body 12 in accordance with the input on the input screen 40. In the example of FIG. 2(A), "AAA" is set as the departure point, "BBB" as the waypoint 1, and "CCC" as the arrival point. The text to be input in the input fields 41 to 43 and 46 may be, for example, an address, or location information indicating a specific location, such as latitude / longitude information, a store name, or a telephone number, may be input.

[0023] Fig. 3(A) is a diagram showing an example of a screen for confirming the current position of the autonomous moving body, and Fig. 3(B) is a diagram showing an example of a map display screen when confirming the current position of the autonomous moving body. After setting the movement route of the autonomous moving body 12 on the input screen 40 of Fig. 2(A), for example, the user interface 11 accepts operation of an operation button (not shown) by the user and displays the confirmation screen 50 of Fig. 3(A). On the confirmation screen 50, the current position of the autonomous moving body 12 is displayed on the web page of the user interface 11, for example, as a current location 56. Therefore, the user can easily understand the current position by referring to the confirmation screen 50.

[0024] Furthermore, when the user presses the update button 57, the user interface 11 updates the screen display information to the latest state and displays the confirmation screen 50. When the user presses the change via / arrival button 54, the user interface 11 changes the departure point, via / arrival point. That is, the user inputs the locations they want to reset in the "departure point" input field 51, the "via / arrival point 1" input field 52, and the "arrival point" input field 53, respectively, and presses the change via / arrival point button 54. Upon receiving this, the user interface 11 changes the departure point, via / arrival point, and arrival point according to the input.

[0025] 3(B) shows an example of a map display screen 60 that is switched from the confirmation screen 50 when the user presses the map display button 55 in FIG. 3(A). The user interface 11 displays the map display screen 60 upon receiving the pressing of the map display button 55. The map display screen 60 displays the position of a current location 62 on a map, thereby enabling the current location of the autonomous moving body 12 to be more clearly confirmed. Furthermore, upon receiving the user pressing the back button 61, the user interface 11 returns the display screen to the confirmation screen 50 in FIG. 3(A).

[0026] As described above, the user can easily set a travel route for moving the autonomous moving body 12 from one predetermined location to another by operating the user interface 11. Note that such a route setting app can also be applied to, for example, a taxi dispatch service or a drone delivery service.

[0027] Next, an example of the configuration and function of the system control device 10, user interface 11, autonomous mobile object 12, route determination device 13, conversion information storage device 14, and sensor node 15 shown in FIG. 1 will be described in detail with reference to FIG. 4. FIG. 4 is a functional block diagram showing an example of the internal configuration of each device constituting the autonomous mobile object control system 20 shown in FIG. 1. Note that some of the functional blocks shown in FIG. 4 are implemented by causing a computer (not shown) included in each device to execute a computer program stored in a memory (not shown) serving as a storage medium. However, some or all of these may be implemented by hardware. Examples of hardware that can be used include dedicated circuits (ASICs) and processors (reconfigurable processors, DSPs). ASIC stands for Application Specific Integrated Circuit. DSP stands for Digital Signal Processor. Furthermore, the functional blocks shown in FIG. 4 do not have to be built into the same housing, and may be configured as separate devices connected to each other via signal and data transmission paths.

[0028] As shown in FIG. 4, the user interface 11 includes an operation unit 11-1, a control unit 11-2, a display unit 11-3, an information storage unit 11-4, and a network connection unit 11-5. The operation unit 11-1 is configured with a touch panel, key buttons, etc., and is used for inputting data. The display unit 11-3 is, for example, an LCD screen, and is used for displaying route information and other data. The information storage unit 11-4 is, for example, a memory or HD. HD is an abbreviation for Hard Disk Drive. The functions and internal configuration of each device will be described in detail later.

[0029] The display screen of the user interface 11 shown in Figures 2 and 3 is displayed on the display unit 11-3. The user can select a route, input information, check information, etc. using the menu displayed on the display unit 11-3. In other words, the operation unit 11-1 and the display unit 11-3 provide an operation interface for the user to actually perform operations. Instead of providing the operation unit 11-1 and the display unit 11-3 separately, a touch panel may be used as both the operation unit and the display unit.

[0030] The control unit 11-2 has a built-in CPU as a computer, manages various applications in the user interface 11, manages modes such as information input and information confirmation, and controls communication processing. It also controls processing in each unit within the system control device. The information storage unit 11-4 is a database for storing necessary information such as computer programs to be executed by the CPU. The network connection unit 11-5 controls communication via the Internet, LAN, wireless LAN, etc. The user interface 11 may be a device such as a smartphone, or may be in the form of a tablet terminal.

[0031] In this way, the user interface 11 of this embodiment displays the departure point, intermediate points, and arrival point on the input screen 40 on the browser screen of the system control device 10, allowing the user to input location information such as the departure point, intermediate points, and arrival point. Furthermore, the user interface 11 can display the current location of the autonomous moving body 12 by displaying a confirmation screen 50 and a map display screen 60 on the browser screen.

[0032] 4, the route determination device 13 includes a map information management unit 13-1, a control unit 13-2, a position / route information management unit 13-3, an information storage unit 13-4, and a network connection unit 13-5. The map information management unit 13-1 holds wide-area map information, searches for route information indicating a route on a map based on specified position information, and transmits the route information obtained as a result of the search to the position / route information management unit 13-3. The information storage unit 13-4 is, for example, a memory or a hard disk.

[0033] Map information is three-dimensional information that includes information on topography and latitude / longitude / altitude, as well as regulatory information related to the Road Traffic Act, such as roadways, sidewalks, direction of travel, and traffic regulations. Of course, map information can use coordinate systems other than latitude / longitude / altitude (e.g., East, North, Up). Three-dimensional map information includes three-dimensional point cloud information measured by LiDAR or stereo cameras, topographical information, and so on. Map information also includes traffic regulation information that changes over time, such as one-way streets at certain times of the day or pedestrian-only streets at certain times of the day, along with the respective time information.

[0034] The control unit 13-2 has a built-in CPU as a computer and controls the processing of each unit in the route determination device 13. The position / route information management unit 13-3 manages the position information of the autonomous moving object acquired via the network connection unit 13-5, transmits the position information to the map information management unit 13-1, and manages the route information acquired from the map information management unit 13-1 as a search result. The control unit 13-2 converts the route information managed by the position / route information management unit 13-3 into a predetermined data format in accordance with a request from an external system, and transmits the converted route information to the external system. As described above, in this embodiment, the route determination device 13 is configured to search for a route based on specified position information and output the route information in a predetermined data format.

[0035] As shown in Fig. 4, the conversion information storage device 14 includes a position / route information management unit 14-1, a unique identifier management unit 14-2, a control unit 14-3, a format database 14-4, an information storage unit 14-5, and a network connection unit 14-6. The conversion information storage device 14 also assigns a unique identifier to each of the divided three-dimensional spaces defined by coordinates such as latitude, longitude, and altitude. It can also function as a formatting means that associates spatial information related to the state and time of objects existing in the space with the unique identifier, formats the information, and stores it. The information storage unit 14-5 is, for example, a memory or a hard disk.

[0036] The position / route information management unit 14-1 manages predetermined position information acquired through the network connection unit 14-6 and transmits the position information to the control unit 14-3 in response to a request from the control unit 14-3. The control unit 14-3 incorporates a CPU as a computer and controls the processing of each unit in the conversion information storage device 14. The control unit 14-3 converts the position information acquired from the position / route information management unit 14-1 into a unique identifier defined by the format based on the position information and the format information managed by the format database 14-4. The control unit 14-3 converts the position information specified via the user interface 11 into coordinates such as latitude, longitude, and altitude, and converts it into a unique identifier corresponding to the coordinates. The control unit 14-3 then transmits the converted unique identifier to the unique identifier management unit 14-2. The format will be described in detail later; it assigns an identifier (hereinafter, a unique identifier) ​​to each divided space starting from a predetermined position, and manages the space using the unique identifier. In this embodiment, the corresponding unique identifier and information within the space can be acquired based on predetermined position information.

[0037] The unique identifier management unit 14-2 manages the unique identifier converted by the control unit 14-3 and transmits it via the network connection unit 14-6. The format database 14-4 manages format information and transmits the format information to the control unit 14-3 in response to a request from the control unit 14-3. The format database 14-4 also manages the information in the space acquired via the network connection unit 14-6 using a format.

[0038] The conversion information storage device 14 manages information about a space acquired by an external device, apparatus, or network by linking it to a unique identifier. It also provides the unique identifier and information about the space linked to it to the external device, apparatus, or network. As described above, the conversion information storage device 14 acquires the unique identifier and information about the space based on predetermined location information, and manages and provides the information so that it can be shared by external devices, apparatus, and networks connected to it. The conversion information storage device 14 also converts location information specified by the system control device 10 into a unique identifier and provides it to the system control device 10. The conversion information storage device 14 is an example of a storage means that associates and stores space information, including information on the presence of a specific object in the space and representing the state of the space, with a unique identifier assigned to each divided three-dimensional space.

[0039] The system control device 10 shown in FIG. 4 includes a unique identifier management unit 10-1, a control unit 10-2, a position / route information management unit 10-3, an information storage unit 10-4, and a network connection unit 10-5. The position / route information management unit 10-3 holds simple map information that associates topographical information with latitude / longitude information, and manages predetermined position information and route information acquired through the network connection unit 10-5. The position / route information management unit 10-3 can also divide the route information at predetermined intervals and generate position information such as the latitude / longitude of the divided locations. The unique identifier management unit 10-1 manages information obtained by converting the position information and route information into unique identifiers. The information storage unit 10-4 is, for example, a memory or a hard disk.

[0040] The control unit 10-2 has a built-in CPU as a computer, and controls the communication functions of the system control device 10 for position information, route information, and unique identifiers, and controls processing in each unit within the system control device 10. The control unit 10-2 also provides a web page to the user interface 11, and transmits predetermined position information acquired from the web page to the route determination device 13. The control unit 10-2 also acquires predetermined route information from the route determination device 13, and transmits each piece of position information in the route information to the conversion information storage device 14. The control unit 10-2 then transmits the route information converted into the unique identifier acquired from the conversion information storage device 14 to the autonomous moving body 12.

[0041] As described above, the system control device 10 is configured to obtain predetermined position information specified by the user, transmit and receive position information and route information, generate position information, and transmit and receive route information using a unique identifier, thereby providing control instructions to the autonomous mobile body. Furthermore, the system control device 10 collects route information necessary for the autonomous mobile body 12 to move autonomously based on the position information input to the user interface 11, and provides the autonomous mobile body 12 with route information using a unique identifier. In this embodiment, the system control device 10, route determination device 13, and conversion information storage device 14 function as, for example, servers.

[0042] The autonomous mobile object 12 shown in FIG. 4 includes a detection unit 12-1, a control unit 12-2, a direction control unit 12-3, an information storage unit 12-4, a network connection unit 12-5, and a drive unit 12-6. The autonomous mobile object 12 is capable of autonomous flight. The detection unit 12-1 has, for example, multiple image sensors and has a function of measuring distance based on parallax obtained from a stereo camera using the multiple image sensors. The detection unit 12-1 may also measure distance based on the phase difference of signals obtained from a ToF (Time of Flight) sensor. The detection unit 12-1 also has a self-location estimation function that acquires detection information (hereinafter, "detection information") such as surrounding terrain and obstacles such as building walls, and estimates its own location based on the detection information and map information. The detection unit 12-1 also has a self-location detection function such as a GPS (Global Positioning System) and a direction detection function such as a geomagnetic sensor. The control unit 12-2 can generate a 3D map of cyberspace based on the detection information, self-location estimation information, and direction detection information acquired by the detection unit 12-1. The self-location estimation and 3D map generation can also be performed using SLAM (Simultaneous Localization And Mapping) technology. The information storage unit 12-4 is, for example, a memory or a hard disk.

[0043] Here, a 3D map of cyberspace is a map that can express spatial information equivalent to the positions of features in the real world as digital data. Within this 3D map of cyberspace, information about the autonomous mobile body 12 that exists in the real world and its surrounding features is stored as spatially equivalent digital data. Therefore, efficient movement is possible by using this digital data.

[0044] The autonomous moving body 12 stores learning result data of object detection performed by machine learning in, for example, the information storage unit 12-4, and can detect objects from captured images using machine learning. Note that detection information can also be acquired from an external system via the network connection unit 12-5 and reflected in the 3D map.

[0045] The control unit 12-2 incorporates a CPU as a computer and controls the movement, direction changes, and autonomous flight functions of the autonomous mobile body 12, as well as the processing of each component within the autonomous mobile body 12. The direction control unit 12-3 changes the direction of movement of the autonomous mobile body 12 by changing the driving direction of the mobile body by the driving unit 12-6. The driving unit 12-6 is composed of a driving device such as a motor and generates propulsion for the autonomous mobile body 12. The autonomous mobile body 12 reflects its own position, detection information, and object detection information in a 3D map, generates a route that maintains a certain distance from surrounding terrain, buildings, obstacles, and objects, and can fly autonomously. Meanwhile, the autonomous mobile body 12 more accurately detects the positions of surrounding obstacles on the route determined by the route determination device 13, and generates a route to move without coming into contact with them based on its own size. The driving unit 12-6 is an example of a driving means for driving the autonomous mobile body.

[0046] The information storage unit 12-4 of the autonomous mobile body 12 can also store the mobility type of the autonomous mobile body 12 itself. This mobility type refers to, for example, the legally identified type of mobile body, such as a car, bicycle, drone, etc. Based on this mobility type, route information can be generated using a format described below.

[0047] Next, the main body configuration of the autonomous mobile body 12 in this embodiment will be described with reference to Fig. 5. Fig. 5 is a perspective view showing an example configuration of the autonomous mobile body 12 according to embodiment 1. Note that in this embodiment, the autonomous mobile body 12 will be described as an unmanned aerial vehicle (drone) having a propeller. However, the present invention is not limited to this, and the autonomous mobile body 12 may be a running body having wheels, or may have any form as long as it is capable of moving autonomously.

[0048] 4, the autonomous moving body 12 is provided with a detection unit 12-1, a control unit 12-2, a direction control unit 12-3, an information storage unit 12-4, a network connection unit 12-5, and a drive unit 12-6. The drive unit 12-6 includes a propeller, and the autonomous moving body 12 is provided with at least two or more drive units 12-6.

[0049] Then, as described above, the direction control unit 12-3 changes the moving direction of the autonomous moving body 12 by changing the output of each of the multiple drive units 12-6 and changing the direction of the drive units 12-6 by rotationally driving the shafts. Furthermore, the drive units 12-6 move the autonomous moving body 12 forward, backward, etc. by rotating the rotation shafts of the propellers. Note that the configuration described using Fig. 5 is just one example, and the present invention is not limited to this, and any structure that can achieve the same effect will suffice.

[0050] As described above, the autonomous mobile body 12 is a mobile body equipped with, for example, SLAM (Simultaneous Localization And Mapping) technology. The autonomous mobile body 12 is configured to be able to autonomously move along a specified route based on detection information detected by the detection unit 12-1 and detection information from an external system such as an external server obtained via the Internet.

[0051] The autonomous mobile body 12 can perform tracing movements, such as tracing precisely specified points, or it can pass through roughly set points and generate its own route information and move in the space between them. Furthermore, the autonomous mobile body 12 can send and receive identification signals using the detection unit 12-1, and can detect other autonomous air vehicles. The autonomous mobile body 12 can also exchange detailed position, speed, and other information with other autonomous air vehicles.

[0052] Next, the 3D map of cyberspace used in this embodiment will be described in detail with reference to Figures 6(A) and 6(B). Figures 6(A) and 6(B) are diagrams for explaining the 3D map used by the autonomous mobile body 12 according to this embodiment. Figure 6(A) is a diagram showing the spatial positional relationship between the autonomous mobile body 12 in the real world and a pillar 99 that exists as feature information around it.

[0053] The position of the autonomous mobile body 12 is identified as the same position α0 within the autonomous mobile body 12 from latitude and longitude position information acquired by a GPS (not shown) or the like of the autonomous mobile body 12. The orientation of the autonomous mobile body 12 is identified by the difference between the orientation αY acquired by an electronic compass (not shown) or the like and the moving direction 12Y of the autonomous mobile body 12. For example, the position of a pillar 99 is identified as the position of a vertex 99-1 from position information measured in advance. The distance from α0 of the autonomous mobile body 12 to the vertex 99-1 can be acquired by the ranging function of the autonomous mobile body 12.

[0054] In Figure 6(A), if the movement direction 12Y of the autonomous mobile body 12 is the Y axis of the XYZ coordinate system and α0 is the origin, the coordinates of the vertex 99-1 can be shown as (Wx, Wy, Wz). In the three-dimensional map of cyberspace, the information acquired in this way is managed as digital data and can be reconstructed as spatial information as shown in Figure 6(B).

[0055] FIG. 6B shows a state in which the autonomous mobile body 12 and the pillar 99 are mapped into an XYZ coordinate system space with an arbitrary P0 as the origin. That is, by setting P0 to a predetermined latitude and longitude in the real world and taking the north direction in the real world as the Y-axis direction, the autonomous mobile body 12 can be represented as P1 and the pillar 99 as P2 in this arbitrary XYZ coordinate system space. Specifically, based on the latitude and longitude of α0 and the latitude and longitude of P0, the position of α0 in this space can be managed as P1, and similarly the position of the pillar 99 can be managed as P2. Note that in this embodiment, the position is identified using latitude and longitude information acquired by a GPS or the like of the autonomous mobile body 12. However, this is not limiting, and the position may also be identified by sensing the surrounding environment of the autonomous mobile body 12 using a detection unit 12-1 such as a camera or LiDAR.

[0056] The direction of the coordinate system in the 3D map may be determined from the direction acquired by an electronic compass or the like, or the direction may be determined from shape information of surfaces and lines in the surrounding environment by sensing the surrounding environment of the autonomous mobile body 12 using a detection unit 12-1 such as a camera or LiDAR. For example, a wall surface 98 around the autonomous mobile body 12 is sensed by a camera and recognized. By taking the direction along the recognized wall surface as the Y-axis direction, it is possible to identify this arbitrary XYZ coordinate system space. Furthermore, in the example of FIG. 6, the autonomous mobile body 12 and the pillar 99 are represented on a 3D map of cyberspace, but it goes without saying that multiple objects can be handled in the same way.

[0057] As described above, the 3D map in this embodiment is a map of the user's own position and objects in the real world in a 3D space.

[0058] 5, the control unit 12-2 of the autonomous mobile body 12 can detect objects from the captured images acquired by the detection unit 12-1 by storing learning result data obtained by machine learning or the like in the information storage unit 12-4. Furthermore, the control unit 12-2 can also acquire the detection information from an external system via the network connection unit 12-5 and reflect the information in a 3D map. In addition, the control unit 12-2 determines whether it is possible to navigate to the specified delivery destination 15 and place the package without colliding with surrounding objects based on the acquired surrounding object information and the created 3D map.

[0059] The route generation performed by the above-mentioned route determination device 13 generates a rough route mainly based on three-dimensional information of the apartment building interior acquired in advance. In contrast, the route generation for autonomous navigation performed by the autonomous mobile body 12 detects the positional relationship between the autonomous mobile body 12 itself and surrounding obstacles more accurately, and generates a detailed route to move without coming into contact with them.

[0060] Here, the management format of the three-dimensional space managed in the conversion information storage device 14 will be described in detail with reference to Figures 7(A), 7(B), and 8. Figure 7(A) is a diagram showing the latitude / longitude information of the Earth, and Figure 7(B) is a perspective view showing a predetermined space 100 in Figure 7(A). In Figure 7(B), the center of the predetermined space 100 is defined as center 101. Figure 8 is a diagram schematically showing the spatial information within space 100.

[0061] As shown in Figures 7(A) and 7(B), the format managed by the format database 14-4 divides the Earth's space into three-dimensional spaces determined by ranges starting from latitude / longitude / altitude, and each space can be managed by linking it to a unique identifier. For example, here, space 100 is displayed as a predetermined three-dimensional space. Space 100 is a divided space defined with a center 101 at, for example, 20 degrees north latitude, 140 degrees east longitude, and height H, with a width in the latitude direction defined as D, a width in the longitude direction defined as W, and a width in the height direction defined as T. Furthermore, it is a single space obtained by dividing the Earth's space into spaces determined by ranges starting from the latitude / longitude / altitude.

[0062] For convenience, only space 100 is shown in Figure 7(A), but in terms of the format specifications, as mentioned above, spaces specified in the same way as space 100 are arranged side by side in the latitude / longitude / height directions. The horizontal position of each of the arranged divided spaces is defined by the latitude / longitude, and they also overlap in the height direction, with their height position defined by the height.

[0063] 7(B), the center 101 of the divided space is set as the origin of the latitude / longitude / height, but this is not limited to this, and the origin may be, for example, a corner of the space or the center of the bottom. Furthermore, the shape may be a roughly rectangular parallelepiped, and when considering the case of laying out the shapes on the surface of a sphere such as the Earth, it is better to set the top surface of the rectangular parallelepiped slightly wider than the bottom surface in order to arrange them more tightly with no gaps.

[0064] Taking space 100 as an example in Figure 8, information (spatial information) regarding the types of objects that exist or can enter the range of space 100 and time restrictions is formatted and stored in conversion information storage device 14, each associated with a unique identifier. Furthermore, the formatted spatial information is stored in chronological order, such as from the past to the future. That is, conversion information storage device 14 formats and stores spatial information regarding the types of objects that exist or can enter a three-dimensional space defined by latitude / longitude / height, associated with a unique identifier. However, the three-dimensional space in this embodiment is not limited to one defined by latitude / longitude / height, and may be one defined by any reference system (coordinate system).

[0065] Furthermore, the spatial information can be updated periodically or when an event occurs based on information input from an external system communicatively connected to the conversion information storage device 14, such as a surveillance camera in an apartment building. That is, the spatial state information can be acquired from an imaging device such as a camera or a measuring device such as LiDAR mounted on the autonomous mobile body 12 itself, or from an external server via a network. Alternatively, the spatial state information may be acquired from an imaging device or a measuring device such as LiDAR installed on the movement path of the autonomous mobile body 12. Alternatively, the spatial state information may be shared with other external systems communicatively connected to the conversion information storage device 14.

[0066] As described above, in this embodiment, information regarding the types of objects that exist or can enter a three-dimensional space defined by latitude / longitude / height and time restrictions (hereinafter referred to as spatial information) is associated with a unique identifier, formatted, and stored in a database. Space-time can then be managed using the formatted spatial information. In this embodiment, this information is referred to as space-time data or space-time management data.

[0067] Figure 9(A) shows the height and lateral flight restrictions that an autonomous mobile body can fly in, for example, a valley between buildings 91 in an urban area, and for example, 92 is an image of the restricted range of maximum and minimum altitudes for the autonomous mobile body. Figure 9(B) is an image of a vertical view of an urban building 91 from above, showing the top of a delivery drone 93, which is an autonomous mobile body 12, and the view from above the urban building 91.

[0068] In such a situation, a large number of other delivery drones 94 may gather in a small space with a restricted range 92. Furthermore, in the shadows of buildings or tunnels, there are many obstacles, and data collected for updating spatiotemporal data may not be transmitted due to communication failures, making it impossible to reflect the current state of the information and ensuring reliability. This embodiment addresses this issue, and details of how a delivery drone 93 determines whether spatiotemporal data has been updated properly and avoids the risk of collision at an intersection in a location with a restricted range 92, such as in a valley between buildings 91 in an urban area, are described below.

[0069] Collision risk avoidance at an intersection for an autonomous moving body according to the first embodiment of the present invention will be described using the flowchart in Fig. 10. Fig. 10 is a flowchart of processing according to the first embodiment of the present invention. Here, the description will be made assuming that the autonomous moving body 12 is a delivery drone 93.

[0070] When the delivery drone 93 enters a narrow space with a restricted range 92, such as a group of buildings as shown in Figure 9(A), in step S101 the delivery drone 93 recognizes from the spatiotemporal data acquired from the conversion information storage device 14 that it has entered a space with flight restrictions.

[0071] Next, in step S102, the delivery drone 93 obtains the surrounding spatiotemporal data from the conversion information storage device 14 via the network connection unit 12-5 and stores the surrounding spatiotemporal data in the information storage unit 12-4. The processing of step S102 is an example of a spatial information acquisition means that acquires the spatial information from the storage means. In step S103, the delivery drone 93 extracts spatiotemporal data of the traveling direction from the spatiotemporal data stored in the information storage unit 12-4 in step S102, and obtains the update times of the spatiotemporal data of points that may intersect with the flight path in the traveling direction of the delivery drone 93.

[0072] Next, in step S104, the delivery drone 93 compares the acquired update time with the scheduled update time stored in the same spatiotemporal data, and determines whether the difference between the update time and the scheduled update time is within a predetermined range, i.e., whether the update was performed as scheduled. If the delivery drone 93 determines that the difference between the update time and the scheduled update time is within the predetermined range, the process of step S105 is executed. If the delivery drone 93 determines that the difference between the update time and the scheduled update time is not within the predetermined range, the process of step S105 is executed. The process of step S104 is an example of an evaluation means for evaluating the reliability of the spatial information acquired by the spatial information acquisition means.

[0073] In step S105, the delivery drone 93 performs normal flight control. That is, the delivery drone 93 obtains information about the speed and altitude of other delivery drones 94 in the spatiotemporal data and determines the possibility of a collision at an intersection based on the delivery drone 93's own current speed and altitude. If there is a possibility of a collision at an intersection, the delivery drone 93 writes the evasive action to be taken to the spatiotemporal data via the network connection unit 12-5 so that the other delivery drones 94 can be notified of the evasive action. Furthermore, in order to avoid a collision with other delivery drones 94 with which there is a possibility of a collision at an intersection, the delivery drone 93 issues a command to the drive unit 12-6 to perform evasive action, and continues flying to its destination within the space with the restricted range 92 while avoiding the other delivery drones 94. Examples of commands to the drive unit 12-6 to perform evasive action include commands to decelerate or accelerate the delivery drone 93, and further, if a change in altitude is possible, to ascend or descend.

[0074] Meanwhile, in step S106, the delivery drone 93 performs flight control using, for example, public infrastructure information. Details of the processing in step S106 will be explained below using the flowchart in Figure 11. Figure 11 is a flowchart of autonomous flight control using infrastructure. The flowchart in Figure 11 shows the control of flight using infrastructure information in step S106 of the delivery drone 93.

[0075] In step S111, the delivery drone 93 acquires surrounding information obtained by photographing the surroundings using the camera of the detection unit 12-1. The processing of step S111 is an example of an imaging means for acquiring photographic information obtained by photographing the surroundings of the autonomous moving body. Next, in step S112, the delivery drone 93 acquires ground infrastructure information from the spatiotemporal data and the photographic information acquired by the camera of the detection unit 12-1. The infrastructure information is information about the presence and status of structures such as buildings, roads, signs, railroad crossings, and traffic lights, as well as other moving bodies. The processing of step S112 is an example of an infrastructure information acquisition means for acquiring infrastructure information using the spatial information acquired by the spatial information acquisition means and the photographic information acquired by the photographic means.

[0076] Next, in step S113, the delivery drone 93 corrects its flight position in accordance with the Road Traffic Act. For example, if the delivery drone 93 recognizes that its current location is on a road based on the acquired infrastructure information, it controls the drive unit 12-6 to strictly comply with the Road Traffic Act, avoiding sidewalks and moving into a lane for vehicles. Furthermore, the delivery drone 93 moves between lanes so that its own direction of travel is aligned with the direction of travel of the lane.

[0077] Next, in step S114, the delivery drone 93 continues traveling while avoiding collisions with other delivery drones 94 traveling in the same direction, using the surrounding information acquired by the camera of the detection unit 12-1. In step S115, while traveling, the delivery drone 93 acquires information about ground intersections located in the direction of travel from the spatiotemporal data from the information recording unit 12-4 and the surrounding information acquired by the camera of the detection unit 12-1. In step S116, the delivery drone 93 determines whether the acquired traffic light status indicates a green light that allows travel. If the delivery drone 93 determines that the traffic light is green and therefore allows travel, the process of step S117 is executed. If the delivery drone 93 determines that the traffic light is yellow or red and therefore does not allow travel, the process of step S115 is executed, and the delivery drone 93 waits for the light to change to green. In step S117, the delivery drone 93 controls the drive unit 12-6 to pass through the intersection and continues flying to the destination using the surrounding information acquired by the camera of the detection unit 12-1. The process of step S117 is an example of a control means that controls the driving means in accordance with the infrastructural information acquired by the infrastructural information acquisition means, depending on the reliability evaluated by the evaluation means.

[0078] Note that the case where only the delivery drone 93 has the functionality of the autonomous mobile body 12 has been described here. However, the other delivery drones 94 may also have the functionality of the autonomous mobile body 12 and may execute flight control with reference to the spatiotemporal data, just like the delivery drone 93. In this case, the delivery drone 93 and the other delivery drones 94 will switch to operation in accordance with the public infrastructure information shown in Figure 11 almost simultaneously. Therefore, no inconsistency will occur when only one of the delivery drone 93 and the other delivery drone 94 performs flight control based on the spatiotemporal data (step S105) while the other follows the public infrastructure information.

[0079] As described above, according to embodiment 1, if the delivery drone 93 determines that the reliability of the current spatiotemporal data cannot be guaranteed based on the update time of the spatiotemporal data, it can avoid collisions between delivery drones at intersections by using information from public infrastructure.

[0080] <Embodiment 2> In the second embodiment of the present invention, only the differences from the first embodiment will be described, and the description of the similarities between the first embodiment and the second embodiment will be omitted. The second embodiment is an example in which a delivery drone 93 communicates spatiotemporal data with another delivery drone 94 in a location with a restricted range 92, and performs collision risk avoidance by comparing the spatiotemporal data with data obtained through communication. Next, collision risk avoidance at an intersection for an autonomous mobile body in the second embodiment will be described using the flowchart in Figure 12.

[0081] 12 is a flowchart of processing according to the second embodiment of the present invention. Here, the description will be given assuming that the autonomous moving body 12 is a delivery drone 93.

[0082] When the delivery drone 93 enters a narrow space with a restricted range 92, such as a group of buildings as shown in Figure 9(A), in step S121 the delivery drone 93 recognizes from the acquired spatiotemporal data that it has entered a space with flight restrictions.

[0083] Next, in step S122, the delivery drone 93 obtains the surrounding spatiotemporal data via the network connection unit 12-5 and stores the surrounding spatiotemporal data in the information storage unit 12-4. In step S123, the delivery drone 93 acquires the aircraft position and ID information of other delivery drones 94 within the communication range of the delivery drone 93 from the spatiotemporal data stored in the information storage unit 12-4 in step S122.

[0084] Next, in step S124, the delivery drone 93 begins communication with other nearby delivery drones 94 using a communication device that is part of the functionality of the network connection unit 12-5. This communication requests the aircraft positions and ID information of the other nearby delivery drones 94. In step S125, the delivery drone 93 acquires the aircraft positions and ID information of the other delivery drones 94 through the communication that began in step S124. The processing of step S124 is an example of a communication means for communicating with other autonomous moving bodies.

[0085] In step S126, the delivery drone 93 compares the aircraft position and ID information of the other delivery drones 94 acquired in step S123 with the aircraft position and ID information of the other delivery drones 94 acquired in step S125. In step S127, the delivery drone 93 determines whether the aircraft positions and IDs of the other surrounding delivery drones 94 are the same as a result of the comparison in step S126. If the delivery drone 93 determines that the aircraft positions and IDs of the other surrounding delivery drones 94 are the same, processing of step S128 is executed. If the delivery drone 93 determines that the aircraft positions and IDs of the other surrounding delivery drones 94 are not the same, processing of step S129 is executed. The processing of steps S126 and S127 is an example of an evaluation means for evaluating the reliability of the spatial information acquired by the spatial information acquisition means.

[0086] In step S128, the delivery drone 93 performs normal flight control. The processing in step S128 is similar to the processing in step S105 of Figure 10, so a detailed description will be omitted. Meanwhile, in step S129, the delivery drone 93 performs flight control using, for example, public infrastructure information. The processing in step S129 is similar to the processing in step S106 of Figure 10, so a detailed description will be omitted.

[0087] As described above, according to embodiment 2, when a delivery drone 93 determines that the reliability of the current spatiotemporal data cannot be guaranteed based on the communication results with other delivery drones 94, it can avoid collisions between delivery drones at intersections by using information from public infrastructure.

[0088] In the second embodiment, the reliability of the spatial information of the spatio-temporal data is evaluated by comparing the position and ID information of other moving objects obtained through communication with the position and ID information of other moving objects obtained from the spatio-temporal data. However, the present invention is not limited to this, and the reliability of the spatial information of the spatio-temporal data may be evaluated by comparing the number of other moving objects obtained through communication with the number of other moving objects obtained from the spatio-temporal data.

[0089] (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.

[0090] 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.

[0091] The disclosure of this embodiment includes the following configuration, method, and program. (Configuration 1) An autonomous moving body capable of autonomous flight, a space information acquiring means for acquiring the space information from a storage means for storing space information that includes information indicating the presence of a specific object in the space and that represents a state of the space, in association with a unique identifier assigned to each of the divided three-dimensional spaces; evaluation means for evaluating the reliability of the spatial information acquired by the spatial information acquisition means; an imaging means for obtaining imaging information obtained by imaging the surroundings of the autonomous moving body; an infrastructure information acquisition means for acquiring infrastructure information based on the spatial information acquired by the spatial information acquisition means and the photographing information captured by the photographing means; a driving means for driving the autonomous moving body; a control means for controlling the driving means in accordance with the infrastructure information acquired by the infrastructure information acquisition means in response to the reliability evaluated by the evaluation means; An autonomous moving body comprising: (Configuration 2) The evaluation means evaluates the reliability of the spatial information based on the difference between the scheduled update time of the spatial information and the time when the spatial information is updated. 2. The autonomous moving body according to configuration 1, (Configuration 3) further comprising a communication means for communicating with another autonomous moving body; The evaluation means evaluates the reliability of the spatial information by comparing the position and ID information of the other autonomous moving body obtained through communication by the communication means with the position and ID information of the other autonomous moving body included in the spatial information. 3. The autonomous moving body according to configuration 1 or 2. (Method 1) A control method for an autonomous moving body capable of autonomous flight, comprising: a spatial information acquisition step of acquiring spatial information from a storage means that stores spatial information that includes information indicating the presence of a specific object in the space and that represents a state of the space, in association with a unique identifier assigned to each of the divided three-dimensional spaces; an evaluation step of evaluating the reliability of the spatial information acquired in the spatial information acquisition step; an imaging step of obtaining imaging information obtained by imaging the surroundings of the autonomous moving body; an infrastructure information acquisition step of acquiring infrastructure information based on the spatial information acquired in the spatial information acquisition step and the photographing information captured in the photographing step; a driving step of driving the autonomous moving body; a control step of controlling the driving step according to the infrastructural information acquired in the infrastructural information acquisition step, in accordance with the reliability evaluated in the evaluation step; A control method comprising: (Program 1) A computer included in an autonomous moving body capable of autonomous flight, a space information acquiring means for acquiring the space information from a storage means for storing space information that includes information indicating the presence of a specific object in the space and that represents the state of the space, in association with a unique identifier assigned to each of the divided three-dimensional spaces; evaluation means for evaluating the reliability of the spatial information acquired by the spatial information acquisition means; an imaging means for obtaining imaging information obtained by imaging the surroundings of the autonomous moving body; an infrastructure information acquisition means for acquiring infrastructure information based on the spatial information acquired by the spatial information acquisition means and the photographing information captured by the photographing means; a driving means for driving the autonomous moving body; and a control means for controlling the driving means in accordance with the infrastructure information acquired by the infrastructure information acquisition means in response to the reliability evaluated by the evaluation means; A program characterized by functioning as [Explanation of symbols]

[0092] 10 System control device 11 User Interface 12 Autonomous Mobile Vehicles 13 Route determination device 14 Identity Conversion Device 15 sensor nodes 16. Internet 20 Autonomous Mobile Control System

Claims

1. An autonomous moving body capable of autonomous flight, a space information acquiring means for acquiring the space information from a storage means for storing space information that includes information indicating the presence of a specific object in the space and that represents a state of the space, in association with a unique identifier assigned to each of the divided three-dimensional spaces; evaluation means for evaluating the reliability of the spatial information acquired by the spatial information acquisition means; an imaging means for obtaining imaging information obtained by imaging the surroundings of the autonomous moving body; an infrastructure information acquisition means for acquiring infrastructure information based on the spatial information acquired by the spatial information acquisition means and the photographing information captured by the photographing means; a driving means for driving the autonomous moving body; a control means for controlling the driving means in accordance with the infrastructure information acquired by the infrastructure information acquisition means in response to the reliability evaluated by the evaluation means; An autonomous moving body comprising:

2. The evaluation means evaluates the reliability of the spatial information based on the difference between the scheduled update time of the spatial information and the time when the spatial information is updated.

2. The autonomous moving body according to claim 1 .

3. further comprising a communication means for communicating with another autonomous moving body; The evaluation means evaluates the reliability of the spatial information by comparing the position and ID information of the other autonomous moving body obtained through communication by the communication means with the position and ID information of the other autonomous moving body included in the spatial information.

2. The autonomous moving body according to claim 1 .

4. A control method for an autonomous moving body capable of autonomous flight, comprising: a spatial information acquisition step of acquiring spatial information from a storage means that stores spatial information that includes information indicating the presence of a specific object in the space and that represents a state of the space, in association with a unique identifier assigned to each of the divided three-dimensional spaces; an evaluation step of evaluating the reliability of the spatial information acquired in the spatial information acquisition step; an imaging step of obtaining imaging information obtained by imaging the surroundings of the autonomous moving body; an infrastructure information acquisition step of acquiring infrastructure information based on the spatial information acquired in the spatial information acquisition step and the photographing information captured in the photographing step; a driving step of driving the autonomous moving body; a control step of controlling the driving step according to the infrastructural information acquired in the infrastructural information acquisition step, in accordance with the reliability evaluated in the evaluation step; A control method comprising:

5. A computer included in an autonomous moving body capable of autonomous flight, a space information acquiring means for acquiring the space information from a storage means for storing space information that includes information indicating the presence of a specific object in the space and that represents a state of the space, in association with a unique identifier assigned to each of the divided three-dimensional spaces; evaluation means for evaluating the reliability of the spatial information acquired by the spatial information acquisition means; an imaging means for obtaining imaging information obtained by imaging the surroundings of the autonomous moving body; an infrastructure information acquisition means for acquiring infrastructure information based on the spatial information acquired by the spatial information acquisition means and the photographing information captured by the photographing means; a driving means for driving the autonomous moving body; and a control means for controlling the driving means in accordance with the infrastructure information acquired by the infrastructure information acquisition means in response to the reliability evaluated by the evaluation means; A program characterized by functioning as

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