Information processing device

Abstract

To provide an information processing device that enables highly accurate map matching. [Solution] An information processing device according to one embodiment of this technology comprises an acquisition unit, a storage unit, and a correction unit. The acquisition unit acquires the current position of a vehicle traveling on a road as an acquisition position from the vehicle, and acquires fixed object information relating to fixed objects present around the vehicle from the vehicle. The storage unit stores the road. The correction unit corrects the acquisition position to a position on the road stored by the storage unit based on the fixed object information acquired by the acquisition unit.

Description

Technical Field

[0001] The present technology relates to an information processing apparatus applicable to correction of the current position of a vehicle.

Background Art

[0002] Patent Document 1 discloses an apparatus for determining the reliability of a moving route of a vehicle. In this apparatus, the reliability of the moving route is determined based on the cost difference from other alternative routes. The cost is calculated based on, in addition to the length of the route, the presence or absence of right and left turns, road type, past driving history, and the like. Thereby, it becomes possible to quantitatively determine the reliability of the moving route.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In such a field, there is a need for a technology that enables accurate map matching (identifying the current position of a vehicle).

[0005] In view of the above circumstances, an object of the present technology is to provide an information processing apparatus that enables accurate map matching.

Means for Solving the Problems

[0006] To achieve the above object, an information processing apparatus according to one aspect of the present technology includes an acquisition unit, a storage unit, and a correction unit. The acquisition unit acquires from the vehicle the current position of the vehicle traveling on a road as an acquisition position, and acquires from the vehicle fixture information regarding fixtures existing around the vehicle. The storage unit stores the road. The correction unit corrects the acquired position to the position on the road stored by the storage unit, based on the fixed object information acquired by the acquisition unit.

[0007] This information processing device acquires information about fixed objects surrounding the vehicle, and corrects the acquisition location to its position on the road based on this fixed object information. This makes it possible to perform map matching with high accuracy.

[0008] The acquisition unit may acquire, as the fixed object information, an image of the surroundings of the vehicle that includes the fixed object.

[0009] The surrounding image may be an image taken from in front of or above the vehicle.

[0010] The storage unit may store the positions and images of the fixed objects present around the road. In this case, the correction unit may correct the acquisition position to the position of the fixed object stored in the storage unit if the surrounding image matches the image of the fixed object stored in the storage unit.

[0011] When correcting the acquisition position, the correction unit may refer to the positions and images of the fixed objects stored in the storage unit that are within a predetermined range based on the acquisition position.

[0012] The vehicle may travel along a predetermined route included in the road. In this case, the storage unit may store the type associated with the road. The correction unit may also correct the acquired position to a position on the road associated with the predetermined type, based on the road and type stored in the storage unit. The predetermined type may also be a type associated with the travel route.

[0013] The information processing apparatus may further include a transmission unit that transmits the signal schedule information of the traffic signal installed on the road and the corrected acquisition position by the correction unit to an in-vehicle device mounted on the vehicle, a reception unit that receives, from the in-vehicle device, first information indicating that the vehicle can pass the traffic signal without stopping or second information indicating that it is impossible, and a control unit that executes priority control to allow the vehicle to pass the traffic signal without stopping when the reception unit receives the second information.

Advantages of the Invention

[0014] According to the present invention, accurate map matching can be performed.

Brief Description of the Drawings

[0015] [Figure 1] It is a schematic diagram showing a configuration example of a signal control system 1 according to an embodiment of the present technology. [Figure 2] It is a schematic diagram showing a functional configuration example of an information processing apparatus 4 and an in-vehicle device 9. [Figure 3] It is a schematic diagram showing an outline of imaging of a fixed object by a camera 17. [Figure 4] It is a schematic diagram showing an example of a surrounding image. [Figure 5] It is a schematic diagram showing an example of a route line L. [Figure 6] It is a schematic diagram showing an example of a processing flow of an in-vehicle device 9. [Figure 7] It is a schematic diagram showing an example of a processing flow of an information processing apparatus 4. [Figure 8] It is a schematic diagram showing a configuration example related to variations of priority control.

Modes for Carrying Out the Invention

[0016] Hereinafter, embodiments according to the present technology will be described with reference to the drawings.

[0017] [Signal Control System] Figure 1 is a schematic diagram showing an example of the configuration of a signal control system 1 according to one embodiment of this technology. The signal control system 1 consists of a bus 2, a wireless base station 3, an information processing device 4, a signal control device 5, and a traffic light 6. In this example, the traffic light 6 is installed on road 7, and bus 2 is traveling on a route 8 that includes road 7. Bus 2 is moving to the right in the diagram, but has not yet reached traffic light 6.

[0018] Bus 2 is typically a public vehicle such as a route bus, and includes regularly scheduled buses and temporary buses that operate according to a timetable. Bus 2 is not limited to these route buses, and may also be a shuttle bus that operates back and forth between a public facility and a terminal such as a train station according to a predetermined timetable.

[0019] Furthermore, although bus 2 is an autonomous vehicle in this embodiment, it may be a conventional vehicle driven manually by a driver. This technology may also be applied to any vehicle other than bus 2. Bus 2 corresponds to one embodiment of the vehicle related to this technology.

[0020] Bus 2 is equipped with an on-board device 9, which transmits location information of Bus 2. The wireless base station 3 receives location information from the on-board device 9 and transmits it to the information processing device 4. Typically, an LTE (Long Term Evolution) line is used as the communication line for the wireless base station 3, but it is not limited to this.

[0021] The information processing device 4 receives location information from the wireless base station 3, performs predetermined processing, and transmits detection notification information to the signal control device 5.

[0022] The signal control device 5 is installed, for example, in a control box (not shown) attached to the support pole of the traffic light 6, and is electrically connected by wires to each of the signal lights (red, yellow, and blue) of the traffic light 6. The signal control device 5 uses commercial power as its power source and controls the illumination of each signal light according to a preset illumination time (display time in seconds, illumination time) and cycle. Furthermore, when the signal control device 5 receives detection notification information from the information processing device 4, it controls the illumination of each signal light according to the detection notification information.

[0023] Figure 2 is a schematic diagram showing an example of the functional configuration of the information processing device 4 and the in-vehicle device 9. The in-vehicle device 9 includes a wireless communication device 12, a GNSS receiver 13, a camera 17, and a controller 14. These are interconnected via a communication bus 15. Instead of the communication bus 15, each block may be connected using a communication network or a proprietary, unstandardized communication method.

[0024] The wireless communication device 12 is a communication module for communicating with other devices via a network such as a LAN (Local Area Network) or a WAN (Wide Area Network). It may be equipped with a wireless LAN module such as WiFi, or a communication module for short-range wireless communication such as Bluetooth®. Communication equipment such as a modem or router may also be used. In this embodiment, communication with the wireless base station 3 is performed via the wireless communication device 12.

[0025] The GNSS receiver 13 is a receiver related to GNSS (Global Navigation Satellite System), such as GPS (Global Positioning System). As shown in Figure 1, the GNSS receiver 13 receives GNSS information representing the position information of bus 2 from multiple GNSS satellites 16 at short intervals. Other systems, such as the Quasi-Zenith Satellite System, may also be used.

[0026] The camera 17 in Figure 2 captures an image of the area around the bus 2, and captures an image of the surroundings that includes fixed objects. In this embodiment, a sky image is captured as the surrounding image. A sky image is an image taken above the bus 2.

[0027] Figure 3 is a schematic diagram illustrating the overview of imaging of a stationary object by camera 17. Figure 4 is a schematic diagram showing an example of a surrounding image. As shown in Figure 3, camera 17 is mounted on top of bus 2. In this example, bus 2 is moving downwards in the figure, and a fixed structure, road lighting 10, is installed in the middle of the figure. A fixed structure, traffic light 6, is installed in the lower part of the figure.

[0028] A fixed object is typically an object whose position and appearance do not fundamentally change. In addition to streetlights 10 and traffic lights 6, any object such as information boards, light beacons, and signs can be considered a fixed object.

[0029] When bus 2 reaches the middle of the diagram, the streetlights 10 will be positioned above camera 17, so a sky image including (captured) the streetlights 10 will be captured. When bus 2 reaches the bottom of the diagram, a sky image including traffic lights 6 will be captured. Figure 4A shows sky image 11 including the streetlights 10. In addition to the streetlights 10, sky image 11 in this example also includes street trees 24 and buildings 25 (not shown in Figure 3).

[0030] The controller 14 controls the operation of each block in the in-vehicle device 9. The controller 14 has hardware circuits necessary for a computer, such as a CPU and memory (RAM, ROM). Various processes are executed by the CPU executing a program related to this technology stored in a memory unit (not shown). As the controller 14, a device such as an FPGA (Field Programmable Gate Array) or other PLD (Programmable Logic Device), or an ASIC (Application Specific Integrated Circuit) may be used.

[0031] In this embodiment, the CPU of the controller 14 executes a program related to this technology (for example, an application program), thereby realizing the location information generation unit 18 and the transmission unit 19 as functional blocks. Dedicated hardware such as ICs (integrated circuits) may be used as appropriate to realize each functional block.

[0032] The position information generation unit 18 receives GNSS information from multiple GNSS satellites 16 via the GNSS receiving device 13, processes the received GNSS information, and generates position information including the latitude, longitude, and speed of the bus 2. In other words, this position information includes the current position of the bus 2.

[0033] The transmitting unit 19 transmits the sky image 11 captured by the camera 17 and the location information generated by the location information generation unit 18 to the information processing device 4 via the wireless communication device 12. Although the wireless base station 3 is not shown in Figure 2, in reality, the transmission is carried out via the wireless base station 3 as shown in Figure 1.

[0034] The information processing device 4 includes a wireless communication device 20, a storage unit 21, and a controller 22. These are interconnected via a communication bus 23. The wireless communication device 20 has a configuration similar to, for example, the wireless communication device 12 found in the in-vehicle device 9.

[0035] The memory unit 21 is a storage device such as non-volatile memory, for example, an HDD (Hard Disk Drive) or SSD (Solid State Drive) may be used. In addition, any non-transient storage medium that can be read by a computer may be used.

[0036] Figure 5 is a schematic diagram showing an example of a route line L. The memory unit 21 stores the road 7. Specifically, as shown in Figure 5, in a geographic coordinate system with latitude and longitude as two axes, a representative point P is defined by the latitude and longitude of a point along the road 7. nThe root line L, which connects points (n=0 to N) with lines, is stored in memory. In other words, the root line L is a line obtained by approximating road 7 with multiple line segments.

[0037] Multiple representative points P n The location does not necessarily have to coincide with road 7, and is set so that the route line L can accurately represent road 7. For example, a representative point P may be located at a point on road 7 where the direction of travel of bus 2 changes significantly, i.e., at an intersection or curve. n This will be set.

[0038] Representative point P n The number N can be arbitrarily determined based on the shape of the road 7, the capacity of the memory unit 21, etc. Note that the route line L does not have to be a straight line; for example, representative point P n An approximate curve obtained by extrapolating the curve may also be acceptable.

[0039] Since the road 7 is approximated as a line segment in the route line L, the data size can be significantly reduced compared to a curve that accurately represents the road 7. As a result, a large-capacity memory unit 21 is not required, leading to a more compact, lighter, and lower-cost design.

[0040] The memory unit 21 also stores the locations of fixed objects around the road 7 and the sky images 11. For example, the location of the road lighting 10 in Figure 3 is represented by two values, latitude and longitude, and the sky image 11 of the road lighting 10 shown in Figure 4A is associated with this and stored. The memory unit 21 stores pairs of the location of various fixed objects around the road 7 and the sky images 11 for each such object.

[0041] The controller 22 has a configuration similar to, for example, the controller 14 of the in-vehicle device 9. The controller 22 comprises a receiving unit 27, a matching unit 28, a priority control determination unit 29, and a sensing notification information transmission unit 30 as functional blocks.

[0042] The receiving unit 27 receives the sky image 11 and location information transmitted from the in-vehicle device 9 via the wireless communication device 20. The receiving unit 27 corresponds to one embodiment of the acquisition unit related to this technology. Furthermore, the current location included in the location information acquired by the receiving unit 27 corresponds to one embodiment of the acquired location.

[0043] The matching unit 28 corrects the position information, also received by the receiving unit 27, to the position on the road 7 stored in the storage unit 21, based on the sky image 11 received by the receiving unit 27.

[0044] Specifically, first, the memory unit 21 references the locations of fixed objects stored in the memory unit 21 that are within a predetermined range based on the current location included in the location information. The predetermined range can be arbitrary; for example, a range with a radius of 20 (m) centered on the current location is used. Then, the sky images 11 associated with the locations of fixed objects within the range are read out. Next, a determination (image matching) is made as to whether the read sky images 11 match the current sky image 11 received by the receiving unit 27.

[0045] Here, "match" does not necessarily mean a perfect match; two sky images 11 may be determined to be a match if the degree of match between the retrieved sky image 11 and the current sky image 11 is above a predetermined level. In other words, even if the two sky images 11 are slightly different, they may be determined to be a match. The specific algorithm for calculating the degree of match is not limited.

[0046] For example, if the predetermined degree of agreement is set too high, the two sky images 11 may not match, and the correction of the current position, described later, may not be performed at all. Therefore, the predetermined degree of agreement is set appropriately to prevent such a situation from occurring.

[0047] If the two sky images 11 are determined to be identical, the current position included in the position information received by the receiving unit 27 is corrected to the position of a fixed object associated with the read sky image 11. Hereinafter, this corrected current position will be referred to as the corrected current position V.

[0048] When a sky image 11 containing a fixed object is captured, the bus 2 will be located approximately directly below that object. Therefore, the two-dimensional position of the fixed object and the two-dimensional position of the bus 2 will roughly coincide. Consequently, the corrected current position V will basically be close to the actual position of the bus 2 on the road 7. However, depending on the predetermined degree of agreement during image matching, a match may be determined even if the two images are slightly different, so there may be cases where the corrected current position V is not located on the road 7.

[0049] In such cases, a recorrection process may be performed to further correct the corrected current position V to a position on the road. In the example in Figure 5, the corrected current position V is located off the road 7 (i.e., on the route line L). In this case, the matching unit 28 corrects the corrected current position V to a position where the distance from the corrected current position V on the road 7 is minimized. Specifically, as shown in the figure, when a perpendicular line is drawn from the corrected current position V to the route line L, the intersection point I of the perpendicular line and the route line L is the position where the distance from the corrected current position V on the road 7 is minimized. Therefore, this intersection point I becomes the recorrected current position V'.

[0050] Furthermore, there are no limitations on the specific methods for readjusting the corrected current position V to a position on road 7. The matching unit 28 corresponds to one embodiment of the correction unit according to this technology.

[0051] The priority control determination unit 29 determines, based on the corrected current position V (or recorrected current position V') and the speed of the bus 2 included in the position information, whether it is possible for the bus 2 to pass the signal 6 without stopping (hereinafter referred to as non-stop passing) if priority control is performed. Typical priority control is performed so that the signal 6 turns green when the bus 2 reaches the signal 6. For example, this includes extending the time the blue light of the signal 6 is on or shortening the time the red light is on. Due to the constraints on the duration of the signal 6's light color, if it is not possible to turn the light blue at the estimated arrival time of the bus 2, the unit may determine that non-stop passing is not possible.

[0052] The detection notification information transmission unit 30 transmits detection notification information to the signal control device 5 via the wireless communication device 20 when the priority control determination unit 29 determines that non-stop passage is permitted. This enables priority control of the traffic signal 6.

[0053] [Processing flow] Figure 6 is a schematic diagram showing an example of the processing flow of the in-vehicle device 9. The series of processes shown in Figure 6 are executed at a predetermined interval, for example, once every two seconds.

[0054] First, the position information generation unit 18 receives GNSS information from multiple GNSS satellites 16 (step 101). Next, the camera 17 captures a sky image 11 (step 102). The position information generation unit 18 then processes the GNSS information to generate position information for bus 2 (step 103). Finally, the position information and the sky image 11 are transmitted to the information processing device 4 (step 104).

[0055] Figure 7 is a schematic diagram showing an example of the processing flow of the information processing device 4. The series of processes shown in Figure 7 are also executed at a predetermined interval. This interval may be the same as or different from the interval of the processing by the in-vehicle device 9 shown in Figure 6. First, the receiving unit 27 determines whether or not location information and sky images 11 have been received from the in-vehicle device 9 (step 201). If they have been received (Yes in step 201), the matching unit 28 reads out the sky images 11 of fixed objects that are within a predetermined range based on the current location included in the location information (step 202).

[0056] The matching unit 28 determines whether any of the read-out sky images 11 match the received sky image 11 (step 203). If a matching sky image 11 exists (Yes in step 203), the current position is corrected to the position of a fixed object associated with the sky image 11 read from the storage unit 21, and a corrected current position V is generated (step 204). Although not shown in the diagram, a further correction process may be performed.

[0057] The priority control determination unit 29 determines whether or not non-stop passage is possible by performing priority control (step 205). If it is possible (Yes in step 205), the detection notification information transmission unit 30 transmits detection notification information and priority control is performed (step 206).

[0058] If location information and sky image 11 are not received (No. in step 201), or if no matching sky image 11 exists (No. in step 203), the process ends without correcting the current location or performing priority control. Also, if non-stop passage would not be possible even if priority control were performed (No. in step 205), the process ends without performing priority control.

[0059] In the information processing device 4 related to this technology, a sky image 11 of fixed objects surrounding the bus 2 is acquired, and the acquisition position by the receiving unit 27 is corrected to a position on the road 7 based on the sky image 11. This makes it possible to perform map matching with high accuracy.

[0060] If there are mountains, buildings, or other obstacles around Bus 2, multipath interference may cause the system to acquire a current position that differs from its actual location. For example, in an experiment conducted by the inventor in Koto Ward, Tokyo, a positional error of 22.8m occurred between the vehicle's actual position and the position acquired based on the GNSS signal. In such cases, it often becomes impossible to accurately perform the aforementioned priority control and other functions.

[0061] In this technology, the current position acquired based on the sky image 11 received by the receiving unit 27 is corrected, making it possible to perform highly accurate map matching.

[0062] Furthermore, this technology acquires a sky image 11 as an ambient image. When the sky image 11 is captured, the positions of fixed objects and the bus 2 are approximately the same, thus enabling even more accurate map matching.

[0063] Furthermore, this technology corrects the current position when two sky images 11 match. This enables even more accurate map matching.

[0064] Furthermore, in this technology, when correcting the received current position, the positions and images of fixed objects within a predetermined range relative to the current position are referenced. This makes it possible to reduce the time required for correction processing.

[0065] <Other Embodiments> This technology is not limited to the embodiments described above, and various other embodiments can be realized.

[0066] [Front view images, etc.] Instead of the sky image 11, a forward image 32 may be captured as the surrounding image. The forward image 32 is an image taken of the front (direction of travel) of the bus 2. Figure 4B shows an example of the forward image 32. When the forward image 32 is captured, the camera 17 is installed on the front of the bus 2.

[0067] Because there is a slight discrepancy between the two-dimensional position of the fixed object and the two-dimensional position of the bus 2 when the forward image 32 is captured, when correcting the current position, the corrected current position V is generated by offsetting the position of the fixed object associated with the forward image 32 stored in the memory unit 21.

[0068] In addition, surrounding images taken from any direction, such as the side of bus 2, may be used. Surrounding images taken from multiple directions may also be used in combination. Alternatively, a roadside unit equipped with a surveillance camera may be placed at the intersection, and the image of the exterior or license plate of bus 2 acquired by the roadside unit may be compared with the surrounding image including the traffic light 6 acquired by bus 2 to correct its current position. Furthermore, not only surrounding images but also information on fixed objects may be used. For example, detection results from a distance measuring sensor such as LiDAR (Light Detection And Ranging) may be used.

[0069] [Correction based on road type] Corrections may be made based on the classification of the type of road 7. For example, the following 11 types are defined. 1: Expressway 2: National Highway 3:Major local roads 4: General prefectural roads 5: Public roads (2 lanes or more) 6: Public roads (less than 2 lanes) 7: Access road to the highway 8: Access road to the national highway 9: Connecting road to a major local road 10: Connecting road to a general prefectural road 11: Connection road to a public road (2 lanes or more) Other arbitrary categories may be defined. For example, "connecting roads to general roads (less than 2 lanes)" may be included. There is also no limit to the specific number of categories. As a database of roads 7 linked to such categories, OpenStreetMap (registered trademark) can be used, for example, but it is not particularly limited, and any database may be used.

[0070] In this example, the memory unit 21 stores the type associated with the road 7, and the matching unit 28 corrects the received current location to a location on the road 7 associated with the same type as the type associated with the bus 2's route 8, based on the road 7 and type stored in the memory unit 21.

[0071] For example, if route 8 includes only national highways and major prefectural roads, the types associated with route 8 will be "2: National Highway" and "3: Major Prefectural Road". Therefore, if, for example, the corrected current location V is on a road 7 associated with another type such as "1: Expressway", or if it is not on any of the roads 7, a recorrection process will be performed with a road 7 associated with "2: National Highway" or "3: Major Prefectural Road" as the recorrection target.

[0072] This allows for corrections based on fixed object information and limited to specific types, making it possible to achieve even higher accuracy in map matching.

[0073] [Variations of priority control] Figure 8 is a schematic diagram showing an example configuration related to variations in priority control. Priority control may be performed based on the assumption of speed adjustment for bus 2. In this example, in addition to the configuration shown in Figure 2, the information processing device 4 further has a transmission unit 33, and the on-board device 9 further has a passage determination unit 34.

[0074] The memory unit 21 stores signal schedule information indicating the light color of the signal light 6 for each time period, and the transmission unit 33 transmits the signal schedule information and the corrected current position V (or re-corrected current position V') to the on-board device 9. The passage determination unit 34 of the on-board device 9 determines, based on the signal schedule information and the corrected current position V, whether the bus 2 can pass through without stopping by adjusting its speed.

[0075] If bus 2 travels too slowly, it will obstruct the passage of surrounding vehicles, and conversely, if it travels too fast, it will exceed the legal speed limit. Therefore, a speed limit is set for bus 2 in advance, and if it is possible to pass without stopping by adjusting the speed within this range, or even without adjusting the speed, a first piece of information indicating this is generated. On the other hand, if it would have to stop at traffic light 6 no matter what speed adjustment is made within the speed limit, a second piece of information indicating that passing without stopping is impossible is generated. Then, the generated first or second piece of information is transmitted to the information processing device 4.

[0076] The receiving unit 27 of the information processing device 4 receives either the first or second information described above. If the priority control determination unit 29 determines that the receiving unit 27 has received the second information, but that non-stop passage is possible by performing priority control, the detection notification information transmission unit 30 transmits detection notification information, and priority control is performed. On the other hand, if the first information is received, or if the second information is received and non-stop passage is impossible even with priority control, priority control is not performed. The priority control determination unit 29 and the sensing notification information transmission unit 30 in this example correspond to one embodiment of the control unit.

[0077] In this embodiment, it is first determined whether or not non-stop passage is possible by adjusting the speed, and only if it is not possible is a determination made regarding the execution of priority control. This prevents traffic around bus 2 from being obstructed by excessive priority control. In addition, since bus 2 will stop less often at traffic lights 6, it is possible to prevent delays in operation and a decrease in passenger comfort due to stops.

[0078] [Other variations] Camera 17 captures video of the area around bus 2, and receiver 27 receives the video. Still images extracted from the video may be used for image matching. Alternatively, based on a sky image 11 or the like, it may be determined whether or not there are buildings in the space above a predetermined elevation angle, and the correction related to this technology may be performed only if it is determined that there are buildings. In other words, the correction may be performed only under conditions where multipath is likely to occur.

[0079] In the example shown in Figure 2, image matching is performed on the information processing device 4 side, which has the advantage of making it easier to secure processing power. On the other hand, image matching may also be performed on the in-vehicle device 9 side. In this case, it becomes possible to reduce the amount of communication between the in-vehicle device 9 and the information processing device 4.

[0080] The correction of the current position related to this technology may be performed for control purposes other than priority control. [Explanation of symbols]

[0081] 1…Signal control system 2…bus 3… Wireless base station 4…Information Processing Devices 5... Signal control device 6… Traffic lights 7…road 8…Operating Route 9…In-vehicle device 10…Street lighting 11…Sky images 12, 20… Wireless communication devices 13…GNSS receiver 14, 22… controller 15, 23... Communications bus 16…GNSS satellite 17…Camera 18...Position information generation unit 19, 33... Transmitter 21...Storage section 24…Street trees 25…Buildings 27... Receiver 28…Matching Department 29…Priority control determination unit 30...Sensing notification information transmission unit 32…Front view 34...Passage determination section I...intersection L... Route line V...Corrected current position V'…Recorrection current position

Claims

1. An acquisition unit that acquires the current position of a vehicle traveling on a road as an acquisition position from the vehicle, and acquires fixed object information regarding fixed objects present around the vehicle from the vehicle, A storage unit for storing the aforementioned road, Based on the fixed object information acquired by the acquisition unit, the correction unit corrects the acquisition position to the position on the road stored by the storage unit. An information processing device equipped with the following.

2. An information processing apparatus according to claim 1, The acquisition unit acquires, as fixed object information, an image of the surroundings of the vehicle that includes the fixed object. Information processing device.

3. An information processing apparatus according to claim 2, The surrounding image is an image taken from in front of or above the vehicle. Information processing device.

4. An information processing apparatus according to claim 2 or 3, The storage unit stores the location and image of the fixed objects present around the road. The correction unit corrects the acquisition position to the position of the fixed object stored in the storage unit when the surrounding image matches the image of the fixed object stored in the storage unit. Information processing device.

5. An information processing apparatus according to claim 4, When correcting the acquisition position, the correction unit refers to the position and image of the fixed object stored in the storage unit, which are located within a predetermined range based on the acquisition position. Information processing device.

6. An information processing apparatus according to claim 1 or 2, The aforementioned vehicle travels along a predetermined route included in the aforementioned road, The memory unit stores the type associated with the road, The correction unit corrects the acquired position to a position on the road associated with a predetermined type, based on the road and type stored in the storage unit. The aforementioned predetermined type is a type associated with the aforementioned operating route. Information processing device.

7. An information processing apparatus according to claim 1 or 2, further, A transmitting unit that transmits the signal schedule information of the traffic signals installed on the road, and the acquired position after correction by the correction unit, to an on-board device mounted on the vehicle, A receiving unit that receives from the in-vehicle device first information indicating that the vehicle can pass the traffic light without stopping, or second information indicating that it cannot, When the receiving unit receives the second information, the control unit executes priority control to the traffic light, allowing the vehicle to pass through the traffic light without stopping. An information processing device equipped with the following.

Images