Information processing system, information processing method, and program

Abstract

To provide an information processing system capable of changing a detection ability of a sensor while maintaining safety.SOLUTION: An information processing system 1 comprises: a determination section 10 which determines whether to change a detection ability of a sensor 50 for detecting an object, the sensor being mounted on a mobile; a decision section 20 by which, in a case where it is determined to change the detection ability, a content of the change and a mode of a notification of attention alert to a monitoring person of the mobile are decided; a notification section 30 which notifies the monitoring person of the mobile of the attention alert in the decided mode; and a change section 40 which changes the detection ability into the decided content.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to an information processing system, an information processing method, and a program for changing the detection ability of sensors mounted on a moving body.

Background Art

[0002] Sensors such as LiDAR (Light Detection And Ranging) are used as means for detecting obstacles by an autonomous vehicle or the like. Since it is unknown when and where an obstacle will appear during autonomous driving, such sensors always operate under certain conditions. Therefore, there is a problem that the power consumption of the sensors increases.

[0003] On the other hand, Patent Document 1 discloses a device that can change the output interval of the laser of LiDAR according to the distance to a detected person when a person is detected based on point cloud information by LiDAR. Thereby, when the distance to a person is large, the output interval of the laser can be lengthened, and the power consumption of LiDAR can be reduced.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in Patent Document 1, when the detection ability of sensors such as LiDAR is changed, there is a risk of problems with safety. For example, there is a risk of problems such as an inability to detect an object moving at a high speed or an inability to detect an object that is a certain distance or more away.

[0006] Therefore, the present disclosure provides an information processing system or the like that can change the detection ability of sensors while maintaining safety.

Means for Solving the Problem

[0007] The information processing system according to the present disclosure includes a sensor mounted on a moving body, a determination unit that determines whether to change the detection ability of the sensor for detecting an object, a determination unit that determines the content of the change and the mode of notifying the monitor of the moving body when it is determined to change the detection ability, a notification unit that notifies the monitor of the moving body of the alert in the determined mode, and a change unit that changes the detection ability according to the determined content.

[0008] These general or specific aspects may be implemented in a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, or may be implemented in any combination of a system, a method, an integrated circuit, a computer program, and a recording medium.

Advantages of the Invention

[0009] According to the information processing system and the like according to an aspect of the present disclosure, the detection ability of the sensor can be changed while maintaining safety.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Figure 18A

Figure 18B

Modes for Carrying Out the Invention

[0011] An information processing system according to one aspect of the present disclosure includes a sensor mounted on a moving body, a determination unit that determines whether to change the detection ability of the sensor for detecting an object, a determination unit that, when it is determined to change the detection ability, determines the content of the change and the mode of notifying the surroundings of the moving body to arouse attention, a notification unit that notifies the surroundings of the moving body to arouse attention in the determined mode, and a change unit that changes the detection ability according to the determined content.

[0012] When changing the detection ability of the sensor, since a warning is notified to the surroundings of the moving body, it can be recognized by the notified warning that the objects around the moving body need to pay attention according to the change in the detection ability of the sensor mounted on the moving body. Therefore, the detection ability of the sensor can be changed while maintaining safety.

[0013] Further, the change in the detection ability includes a limitation of the detection ability, and the determination unit may determine the content of the limitation of the detection ability and determine a notification mode according to the content of the limitation of the detection ability.

[0014] According to this, by limiting the detection ability of the sensor, it is possible to reduce the power consumption of the sensor or extend the life of the sensor. Further, when only the detection ability of the sensor is limited, a safety problem may occur. However, since a warning is notified to the surroundings of the moving body in a notification mode according to the content of the limitation of the detection ability together with the limitation of the detection ability, safety can be maintained.

[0015] Further, the notification mode includes notification content, and the determination unit may determine a detection target or a detection range that is estimated to be difficult to detect due to the limitation of the detection ability, and the notification unit may notify the determined detection target or the detection range.

[0016] For example, due to the limited detection ability of the sensor, a detection target or detection range where detection becomes difficult may occur. In contrast, since a detection target or detection range where detection is estimated to become difficult is notified, an object around the moving body can recognize that it is necessary to pay attention to such a detection target or detection range. Therefore, the detection ability of the sensor can be limited while maintaining safety.

[0017] Further, the notification mode includes a notification means. The determination unit determines a means capable of transmitting a warning to a detection target or detection range where detection is estimated to become difficult due to the limitation of the detection ability, and the notification unit may notify the warning by the determined means.

[0018] For example, due to the limited detection ability of the sensor, a detection target or detection range where detection becomes difficult may occur. In contrast, since a warning is notified by a notification means capable of transmitting a warning to a detection target or detection range where detection is estimated to become difficult, an object in such a detection target or such a detection range around the moving body can recognize that it is necessary to pay attention. Therefore, the detection ability of the sensor can be limited while maintaining safety.

[0019] Further, the notification mode includes a notification location. (a) The determination unit determines a location where a detection target where detection is estimated to become difficult due to the limitation of the detection ability can be recognized, and the notification unit notifies a warning toward the determined location, or (b) the determination unit determines a location corresponding to a detection range where detection is estimated to become difficult due to the limitation of the detection ability, and the notification unit may notify a warning so that the determined location is identified.

[0020] For example, due to the limited detection ability of the sensor, a detection target or detection range where detection becomes difficult may occur. In contrast, since a warning is notified toward a place where a detection target estimated to be difficult to detect can be recognized, such a detection target around the moving body can recognize the warning notified toward that place and thus can recognize that it is necessary to pay attention. Alternatively, as the notification place, since a warning is notified so that a place corresponding to a detection range estimated to be difficult to detect is identified, an object around the moving body can recognize that it is necessary to pay attention regarding such a detection range. Therefore, the detection ability of the sensor can be limited while maintaining safety.

[0021] Further, the determination unit may further acquire the surrounding situation of the moving body or the state of the moving body, and determine whether to change the detection ability based on the surrounding situation of the moving body or the state of the moving body.

[0022] According to this, depending on the surrounding situation of the moving body related to safety or the state of the moving body, the detection ability of the sensor can be changed or not changed.

[0023] For example, the surrounding situation of the moving body includes the traffic situation around the moving body, and the determination unit may determine whether to change the detection ability according to the traffic situation around the moving body.

[0024] According to this, depending on the traffic situation around the moving body as the surrounding situation of the moving body, the detection ability of the sensor can be changed or not changed.

[0025] In addition, as the traffic situation around the moving body, when (i) an object exists around the moving body, (ii) the density of the objects is equal to or greater than a threshold value, or (iii) the number of the objects is equal to or greater than a threshold value, the determination unit determines to change the detection ability. The change in the detection ability includes relaxation of the limitation of the detection ability or release of the limitation of the detection ability. The determination unit may determine the content of the relaxation or release of the detection ability and determine the notification mode according to the content of the relaxation or release of the detection ability.

[0026] When (i) an object exists, (ii) the density of the objects is equal to or greater than a threshold value, or (iii) the number of the objects is equal to or greater than a threshold value around the moving body, since the area around the moving body is likely to be in a dangerous state, safety can be maintained by relaxing the limitation of the sensor's detection ability or releasing the limitation of the sensor's detection ability.

[0027] In addition, as the traffic situation around the moving body, when (i) no object exists around the moving body, (ii) the density of the objects is less than a threshold value, or (iii) the number of the objects is less than a threshold value, the determination unit determines to change the detection ability. The change in the detection ability includes the limitation of the detection ability. The determination unit may determine the content of the limitation of the detection ability and determine the notification mode according to the content of the limitation of the detection ability.

[0028] When (i) no object exists, (ii) the density of the objects is less than a threshold value, or (iii) the number of the objects is less than a threshold value around the moving body, since the area around the moving body is likely to be in a safe state, safety can be maintained even if the detection ability of the sensor is limited.

[0029] In addition, the state of the moving body includes the speed, position, operation status, or driving task of the moving body. The determination unit may determine whether to change the detection ability according to the speed, position, operation status, or driving task of the moving body.

[0030] According to this, the detection ability of the sensor can be changed or not changed according to the speed, position, operating status, or driving task of the moving body as the state of the moving body.

[0031] Further, the determination unit may further determine the mode of notification to the monitor of the moving body according to the content of the determined change, and notify the monitor of the alert in the determined mode.

[0032] According to this, the monitor of the moving body can recognize that it is necessary to pay attention according to the change in the detection ability of the sensor mounted on the moving body.

[0033] Further, the detection ability may include a detection time interval or a detection distance.

[0034] According to this, while maintaining safety, the detection time interval or the detection distance can be changed as the detection ability of the sensor.

[0035] Further, the information processing system may be an information processing device.

[0036] In this way, the information processing system may be an information processing device, and the present disclosure may be realized, for example, as an information processing device mounted on a moving body.

[0037] An information processing method according to an aspect of the present disclosure is an information processing method executed by a computer, which determines whether to change the detection ability of a sensor mounted on a moving body for detecting an object, and when it is determined to change the detection ability, determines the content of the change and the mode of notification of alert to the periphery of the moving body, notifies the periphery of the moving body of the alert in the determined mode, and includes a process of changing the detection ability according to the determined content.

[0038] According to this, it is possible to provide an information processing method capable of changing the detection ability of a sensor while maintaining safety.

[0039] Hereinafter, embodiments will be specifically described with reference to the drawings.

[0040] Note that all of the embodiments described below show comprehensive or specific examples. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components, steps, order of steps, etc. shown in the following embodiments are merely examples and are not intended to limit the present disclosure.

[0041] (Embodiment) Hereinafter, an information processing system according to an embodiment will be described.

[0042] FIG. 1 is a block diagram showing an example of an information processing system 1 according to an embodiment.

[0043] The information processing system 1 is a system for changing the detection ability of sensors mounted on a moving body, and includes a determination unit 10, a decision unit 20, a notification unit 30, a change unit 40, and a sensor 50. The information processing system 1 is a computer including a processor, a memory, and the like. The memory is a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and can store programs executed by the processor. The determination unit 10, the decision unit 20, the notification unit 30, and the change unit 40 are realized by a processor or the like that executes a program stored in the memory.

[0044] For example, the information processing system 1 may be an information processing device (for example, a device mounted on a moving body). Also, for example, the information processing system 1 may be a server. When the information processing system 1 is a server, the sensor 50 is not included in the information processing system 1. Also, the components constituting the information processing system 1 may be distributed and arranged in a plurality of servers.

[0045] The sensor 50 is a sensor mounted on a moving body and is a sensor for detecting an object. The sensor 50 is, for example, a radar such as LiDAR. The moving body is, for example, a vehicle such as an automobile. Note that the moving body may be an unmanned aerial vehicle or the like. The detection ability of the sensor 50 can be changed. The detection ability of the sensor 50 includes, for example, a detection time interval or a detection distance.

[0046] The determination unit 10 determines whether to change the detection ability of the sensor 50. For example, the determination unit 10 acquires moving body information regarding the moving body on which the sensor 50 is mounted via a CAN (Controller Area Network) or the like in the moving body, and determines whether to change the detection ability of the sensor 50 based on the moving body information. Also, for example, the determination unit 10 acquires sensing data obtained by the sensor 50, and determines whether to change the detection ability of the sensor 50 based on the sensing data. Details of the determination unit 10 will be described later.

[0047] When it is determined by the determination unit 10 that the detection ability is to be changed, the determination unit 20 determines the content of the change and the mode of notifying the attention to the surroundings of the moving body. Details of the determination unit 20 will be described later.

[0048] The notification unit 30 notifies the surroundings of the moving body to arouse attention in the notification mode determined by the determination unit 20. Details of the notification unit 30 will be described later.

[0049] The change unit 40 changes the detection ability of the sensor 50 according to the content of the change determined by the determination unit 20. For example, by limiting the detection ability of the sensor 50 so that the detection time interval becomes longer or the detection distance becomes shorter, the power consumption of the sensor 50 can be reduced. Also, when the sensor 50 is a rotating LiDAR or the like, by limiting the detection ability of the sensor 50, the product life of the sensor 50 can be extended.

[0050] Next, the details of the operation of the information processing system 1 will be described with reference to FIG. 2.

[0051] FIG. 2 is a flowchart showing an example of the operation of the information processing system 1 according to the embodiment.

[0052] First, the determination unit 10 determines whether to change the detection ability of the sensor 50 (step S1). For example, the change in the detection ability may include a limitation of the detection ability. Also, for example, the change in the detection ability may include relaxation of the limitation of the detection ability or release of the limitation of the detection ability. That is, after the detection ability is limited, the limitation may be relaxed or released. For example, the determination unit 10 may acquire the surrounding situation of the moving body (the moving body on which the sensor 50 is mounted and also referred to as the host vehicle) or the state of the host vehicle, and determine whether to change the detection ability based on the surrounding situation of the host vehicle or the state of the host vehicle. For example, the surrounding situation of the host vehicle includes the traffic situation around the host vehicle, and the determination unit 10 may determine whether to change the detection ability according to the traffic situation around the host vehicle. An example of the operation of the determination unit 10 when determining whether to change the detection ability according to the traffic situation around the host vehicle will be described with reference to FIG. 3.

[0053] FIG. 3 is a flowchart showing an example of the operation of the determination unit 10 according to the embodiment.

[0054] First, the determination unit 10 determines whether there is a moving body (for example, an automobile, a bicycle, or a person, etc.) within the detection distance of the sensor 50 (step S11). This determination is made because there may be a problem with safety if the detection ability of the sensor 50 is changed when there is a moving body within the detection distance of the sensor 50.

[0055] If a moving object is present within the detection distance of the sensor 50 (Yes in step S11), the determination unit 10 determines whether or not there is a possibility of a collision with the moving object (step S12). For example, the determination unit 10 may make the determination in step S12 by determining, as the traffic conditions around the host vehicle, whether or not an object (e.g., a moving object) is present around the host vehicle, whether or not the density of the objects is equal to or greater than a threshold, or whether or not the number of objects is equal to or greater than a threshold. In addition, for example, the determination unit 10 may make the determination in step S12 by determining whether or not a moving object is approaching the host vehicle at a predetermined speed or greater.

[0056] If there is a possibility of a collision with a moving object (Yes in step S12), the determination unit 10 determines not to change the detection capability of the sensor 50 (for example, not to limit the detection capability) (step S13). In a state where it is known that there is a possibility of a collision with a moving object and that a dangerous state may occur, it is possible to change the detection capability of the sensor 50 so as not to cause an even more dangerous state. In this case, a warning may be given to the moving object that there is a possibility of a collision, a warning may be given to encourage avoidance, or the host vehicle may be controlled so as to perform an avoidance operation.

[0057] If there is no moving object within the detection distance of the sensor 50 (No in step S11), or if there is no possibility of a collision with a moving object (No in step S12), the determination unit 10 determines to change (e.g., limit) the detection capability of the sensor 50 (step S14). In a state where there is no possibility of a collision with a moving object and it is known that there is no risk of a dangerous situation, the detection capability of the sensor 50 can be changed.

[0058] In addition, if the possibility of a collision with a moving object occurs after the detection capability of the sensor 50 has been restricted, the judgment unit 10 changes the detection capability of the sensor 50 (for example, relaxes the restriction on the detection capability or lifts the restriction on the detection capability).

[0059] Thus, for example, the determination unit 10 may determine that, as the traffic situation around the host vehicle, when (i) there is no object around the host vehicle, (ii) the density of objects is less than the threshold, or (iii) the number of objects is less than the threshold, the detection ability is changed (specifically, restricted). Also, for example, the determination unit 10 may determine that, as the traffic situation around the host vehicle, when (i) there is an object around the host vehicle, (ii) the density of objects is equal to or greater than the threshold, or (iii) the number of objects is equal to or greater than the threshold, the detection ability is changed (specifically, the restriction on the detection ability is relaxed or removed).

[0060] In FIG. 3, an example of the operation of the determination unit 10 in the case of determining whether to change the detection ability according to the traffic situation around the host vehicle has been described. However, the determination of whether to change the detection ability may be made according to the state of the host vehicle.

[0061] For example, the state of the host vehicle includes the speed, position, operation status, or driving task of the host vehicle, and the determination unit 10 may determine whether to change the detection ability according to the speed, position, operation status, or driving task of the host vehicle. For example, when the speed of the host vehicle is equal to or lower than a predetermined speed, when the position of the host vehicle is at or near a stop, when the operation status of the host vehicle is a situation of waiting at a stop, or when the driving task of the host vehicle is in a creeping (low speed) mode or a stop mode, since the state of the host vehicle is a relatively safe state, the determination unit 10 may determine to change the detection ability (specifically, restrict the detection ability).

[0062] Returning to the description in FIG. 2, when it is determined that the detection ability of the sensor 50 is not changed (No in step S1), the processing in step S1 (for example, the processing from step S11 to step S14 in FIG. 3) is repeated until it is determined that the detection ability is changed.

[0063] When it is determined that the detection ability of the sensor 50 is to be changed (Yes in step S1), the determination unit 20 determines the content of the change in the detection ability and the mode of notification for alerting the surroundings of the host vehicle (step S2). The notification unit 30 notifies the surroundings of the host vehicle of the alert in the determined mode (step S3), and the change unit 40 changes the detection ability of the sensor 50 according to the determined content of the change (step S4). In step S2, the determination unit 20 may, for example, determine the content of the change in the detection ability first and then determine the mode of notification for alerting, or may determine the content of the change in the detection ability after determining the mode of notification for alerting.

[0064] For example, the determination unit 20 may determine the content of the restriction of the detection ability and determine the mode of notification according to the content of the restriction of the detection ability.

[0065] For example, the mode of notification includes the notification content. The determination unit 20 determines the detection target or detection range that is estimated to be difficult to detect due to the restriction of the detection ability, and the notification unit 30 may notify, as the notification content, the detection target or detection range that is estimated to be difficult to detect due to the restriction of the detection ability. For example, due to the restriction of the detection ability of the sensor 50, a detection target or detection range that is difficult to detect may occur. However, since the detection target or detection range that is estimated to be difficult to detect is notified, an object (for example, a person at a bus stop) around the host vehicle can recognize that it is necessary to pay attention to such a detection target (for example, itself) or detection range (for example, the bus stop where it is located).

[0066] For example, when the host vehicle enters a bus stop, assume that the detection range estimated to be difficult to detect is the bus stop, and the detection target estimated to be difficult to detect is a person at the bus stop. In this case, by notifying the detection target or detection range estimated to be difficult to detect, the person at the bus stop can recognize that it is difficult to detect the bus stop or himself / herself at the bus stop, and can recognize that it is necessary to pay attention.

[0067] Further, for example, the notification mode includes a notification means, the determination unit 20 determines a means capable of transmitting a warning to a detection target or a detection range that is presumed to be difficult to detect due to limitations in detection ability, and the notification unit 30 uses, as the notification means, a means capable of transmitting a warning to a detection target or a detection range that is presumed to be difficult to detect due to limitations in detection ability, and may notify the warning.

[0068] For example, the notification unit 30 may notify a warning by communication such as vehicle-to-vehicle communication as the notification means. For example, a map or the like showing the moving speed, direction, and size of a moving object that can be detected by the host vehicle (i.e., the detectable range), as well as the positional relationship between the position of the host vehicle and the moving object, may be displayed on a display of the moving object by vehicle-to-vehicle communication or the like to notify the warning.

[0069] Further, for example, the notification unit 30 may notify a warning by voice using a speaker or the like as the notification means. For example, speakers with high directivity (i.e., speakers that do not spread sound) may be installed on the front, rear, left, and right of the host vehicle, and a warning may be notified by voice to each of the front, rear, left, and right. In addition, when it is difficult to output sound to the front, rear, left, and right, since the front (traveling direction) of the host vehicle is a direction in which the relative speed with respect to the moving object is likely to increase and is a dangerous direction, it is preferable to install at least a speaker on the front side of the host vehicle.

[0070] Further, for example, the notification unit 30 may notify a warning by display using a lamp, projection mapping, a display, or the like as the notification means. For example, lamps may be installed on the front, rear, left, and right of the host vehicle, the lamp on the traveling direction side of the host vehicle may be lit, and a notification such as "Proceed in the direction of the lit lamp. Please be careful." may be made from the speaker.

[0071] Since a warning is notified by a notification means capable of transmitting a warning to a detection target or a detection range that is presumed to be difficult to detect, an object in such a detection target or such a detection range around the host vehicle can recognize that it is necessary to pay attention.

[0072] Also, for example, the notification mode includes a notification location. The determination unit 20 determines a location where a detection target that is presumed to be difficult to detect due to limitations in detection ability can be recognized. The notification unit 30 may notify a warning toward the location where the detection target that is presumed to be difficult to detect can be recognized as the notification location. For example, a voice may be output toward the location, or light may be irradiated toward the location (for example, light may be irradiated onto a fluorescent paint applied to the location), thereby notifying a warning. Since a warning is notified toward the location where a detection target that is presumed to be difficult to detect can be recognized, such detection targets around the host vehicle can recognize that they need to pay attention by recognizing the warning notified toward the location.

[0073] Alternatively, for example, the determination unit 20 determines a location corresponding to a detection range that is presumed to be difficult to detect due to limitations in detection ability. The notification unit 30 may notify a warning so that the location corresponding to the detection range that is presumed to be difficult to detect is identified as the notification location. For example, the boundary of the detection range that is presumed to be difficult to detect may be mapped and displayed by laser irradiation. Since a warning is notified so that the location corresponding to the detection range that is presumed to be difficult to detect is identified, objects around the host vehicle can recognize that they need to pay attention regarding such a detection range.

[0074] Note that notification using ground features may be performed. For example, it may be notified that the range within the white line indicating a bus stop section or a parking space, etc. is a detection range that is presumed to be difficult to detect. For example, it may be notified that a lane (for example, an overtaking lane, etc.) is a detection range that is presumed to be difficult to detect. For example, it may be notified that a specific closed area such as inside a rotary is a detection range that is presumed to be difficult to detect.

[0075] Also, for example, when the detection ability is relaxed or released after the detection ability is restricted, the determination unit 20 may determine the content of the relaxation or release of the detection ability and determine the notification mode according to the content of the relaxation or release of the detection ability. For example, when the host vehicle starts from a stopped state, merges from a side road into the main line, departs from a stop, or enters a section of a different ODD (Operational Design Domain), etc., the relaxation or release of the detection ability may be performed. When the detection ability is restricted, a warning such as "The detection ability is in low mode. Only moving objects within 20 m from the host vehicle can be detected. Please be careful." is notified from the speaker. After that, when the relaxation or release of the detection ability is performed, a notification such as "The detection ability is in normal mode." or "Merging into the main road. The detection mode has become normal mode." is made from the speaker.

[0076] For example, the changing unit 40 can change the detection distance as the detection ability of the sensor by changing the irradiation laser intensity of the sensor 50 or the range processed by a PC (Personal Computer) or the like among the sensing data obtained by the sensor 50. Also, for example, the changing unit 40 can change the detection time interval of the sensor 50 by changing the timing at which the sensor 50 acquires the sensing data or the timing at which a PC or the like processes the sensing data.

[0077] As described above, when changing the detection ability of the sensor 50, a warning is notified to the surroundings of the host vehicle. Therefore, it can be recognized by the notified warning that the objects around the host vehicle need to pay attention according to the change in the detection ability of the sensor 50 mounted on the host vehicle. Therefore, the detection ability of the sensor 50 can be changed while maintaining safety.

[0078] In addition, by restricting the detection ability of the sensor 50, it is possible to reduce the power consumption of the sensor 50 or increase the lifespan of the sensor 50. If only the detection ability of the sensor 50 is restricted, problems may occur with safety. However, since a warning is notified to the surroundings of the host vehicle in a warning mode corresponding to the content of the restriction of the detection ability along with the restriction of the detection ability, safety can be maintained.

[0079] Next, the present disclosure will be described with reference to Examples 1 to 5.

[0080] First, Example 1 will be described. In Example 1, the detection ability to be changed is the detection time interval, and a warning is given for objects that cannot be detected. In Example 1, the detection distance of the sensor 50 is fixed.

[0081] FIG. 4 is a flowchart showing an example of the operation of the information processing system according to Example 1.

[0082] FIG. 5 is a diagram for explaining the operation of the information processing system according to Example 1.

[0083] First, the information processing system determines whether there is a moving object within the detection distance (range A1 shown in FIG. 5) of the sensor 50 (step S21). In FIG. 5, the moving object 100 is shown as the host vehicle, and as the sensor 50 mounted on the moving object 100, a sensor 51 such as an LiDAR of the MEMS (Micro Electro Mechanical Systems) method using an LCD (Liquid Crystal Display) is shown. The sensor 51 is installed, for example, on the ceiling of the moving object 100, enabling sensing of the surroundings of the moving object 100. In FIG. 5, a range A1, which is the detection range corresponding to the detection distance (for example, 40 m, etc.) of the sensor 51, is shown. Also, in FIG. 5, the upward direction on the paper surface is the front (traveling direction) of the moving object 100, the downward direction on the paper surface is the rear of the moving object 100, the right direction on the paper surface is the right side of the moving object 100, and the left direction on the paper surface is the left side of the moving object 100 (the same applies to FIGS. 8, 10, 12, 14, and 16 described later).

[0084] When there is no moving object within the detection range of the sensor 50 (No in step S21), the information processing system notifies that it is impossible to stop detecting a moving object moving at a third speed or higher (step S22), and restricts the detection time interval to a third time interval (step S23). Stopping detection means that the sensor 50 detects a moving object and stops the moving object 100 so as not to collide with the moving object. For example, the degree of change of the detection time interval can be determined according to the state of the moving object 100 and the traffic conditions around the moving object 100. Here, as an example, it is assumed that the detection time interval is changed to a first time interval, a second time interval, and a third time interval. Also, for example, the speed of a moving object that cannot be stopped from being detected is determined according to the degree of change of the detection time interval to be changed. The third time interval is a time interval longer than the first time interval and the second time interval, and the third speed is a speed slower than the first speed and the second speed to be described later. For example, the speed of a moving object that cannot be stopped from being detected can be calculated from the changed detection time interval and the state of the host vehicle (for example, the detection range of the sensor 50, the speed of the host vehicle, the deceleration acceleration of the host vehicle, the time taken from when it is determined that the host vehicle stops until the start of brake operation, the time taken for object detection processing, etc.). Note that a table in which the speed of a moving object that cannot be stopped from being detected is associated with each combination of the changed detection time interval and the state of the host vehicle may be stored in advance, and the speed of a moving object that cannot be stopped from being detected may be determined by referring to the table.

[0085] When there is no moving object within the detection range of the sensor 50, since the possibility of entering a dangerous state is low even if the detection ability of the sensor 50 is restricted, the detection time interval of the sensor 50 is greatly restricted to the third time interval. However, when the detection time interval of the sensor 50 is restricted to the third time interval, it becomes impossible to stop detecting a moving object moving at a third speed or higher. Therefore, it is notified that it is impossible to stop detecting a moving object moving at a third speed or higher according to the third time interval.

[0086] When there is a moving object within the detection range of the sensor 50 (Yes in step S21), the information processing system determines whether the moving object is an automobile (step S24).

[0087] When the moving object within the detection range of the sensor 50 is an automobile (Yes in step S24), the information processing system notifies that the detection of moving objects moving at a speed equal to or higher than the first speed cannot be stopped (step S25), and restricts the detection time interval to the first time interval (step S26). The first time interval is a time interval shorter than the second time interval and the third time interval, and the first speed is a speed higher than the second speed and the third speed. Since the moving object within the detection range of the sensor 50 is an automobile with a high moving speed, the detection time interval of the sensor 50 is not much restricted to the first time interval. For example, when the original detection time interval is 0.1 second, it is restricted to 0.25 seconds as the first time interval. However, when the detection time interval of the sensor 50 is restricted to the first time interval, the detection of moving objects moving at a speed equal to or higher than the first speed (for example, 40 km / h) cannot be stopped. Therefore, it is notified that the detection of moving objects moving at a speed equal to or higher than the first speed corresponding to the first time interval cannot be stopped. For example, an announcement such as "The detection of moving objects moving at a speed of 40 km / h or higher cannot be stopped. Please be careful." is made by the speaker installed in the moving object 100, and the detection time interval is changed from 0.1 second to 0.25 seconds.

[0088] When the moving object within the detection range of the sensor 50 is not an automobile (No in step S24), for example, when it is a bicycle, it notifies that it cannot stop detecting moving objects with a speed of the second speed or higher (step S27), and restricts the detection time interval to the second time interval (step S28). The second time interval is a time interval shorter than the third time interval and longer than the first time interval, and the second speed is a speed faster than the third speed and slower than the first speed. Since the moving object within the detection range of the sensor 50 is a bicycle with a slower moving speed than an automobile, the detection time interval of the sensor 50 is restricted to a certain extent to the second time interval. For example, when the original detection time interval is 0.1 second, it is restricted to 0.5 second as the second time interval. However, when the detection time interval of the sensor 50 is restricted to the second time interval, it becomes impossible to stop detecting moving objects with a speed of the second speed (for example, 17 km / h) or higher. Therefore, it is notified that it is impossible to stop detecting moving objects with a speed of the second speed or higher according to the second time interval. For example, an announcement such as "It is impossible to stop detecting moving objects with a speed of 17 km / h or higher. Please be careful." is made by the speaker installed in the moving object 100, and the detection time interval is changed from 0.1 second to 0.5 second.

[0089] Note that as the traffic conditions around the moving object 100 and the state of the moving object 100 change, the detection time interval may be gradually restricted. For example, after notifying that it is impossible to stop detecting moving objects with a speed of the first speed or higher and restricting the detection time interval to the first time interval, according to the traffic conditions around the moving object 100 and the state of the moving object 100, it may notify that it is impossible to stop detecting moving objects with a speed of the second speed or higher and restrict the detection time interval to the second time interval. Further, thereafter, according to the traffic conditions around the moving object 100 and the state of the moving object 100, it may notify that it is impossible to stop detecting moving objects with a speed of the third speed or higher and restrict the detection time interval to the third time interval.

[0090] Also, as in step S22, an example was described in which even when there is no moving object within the detection distance, notification is given for a moving object that cannot be stopped from being detected. However, when there is no moving object within the detection distance, it may not be necessary to give notification for a moving object that cannot be stopped from being detected. This will be described with reference to FIG. 6.

[0091] FIG. 6 is a flowchart showing an example of the operation of the information processing system according to a modified example of the first embodiment.

[0092] First, the information processing system determines whether there is a moving object within the detection distance (range A1 shown in FIG. 5) of the sensor 50 (step S31).

[0093] When there is a moving object within the detection distance of the sensor 50 (Yes in step S31), the information processing system notifies that the moving object at a speed equal to or higher than the first speed cannot be stopped from being detected (step S32), and restricts the detection time interval to the first time interval (step S33). Here, as an example, it is assumed that the detection time interval is changed to the first time interval. Also, for example, the speed of the moving object that cannot be stopped from being detected is determined according to the degree of change in the detection time interval. When there is a moving object within the detection distance of the sensor 50, since the moving object at a speed equal to or higher than the first speed corresponding to the first time interval cannot be stopped from being detected, it is notified that the moving object at a speed equal to or higher than the first speed corresponding to the first time interval cannot be stopped from being detected. In the first embodiment, an example was described in which it is determined whether the moving object is an automobile, and the notification content and the degree of restriction of the detection time interval are determined according to the type of the moving object. However, as in the modified example of the first embodiment, it may not be necessary to determine the type of the moving object.

[0094] When there is no moving object within the detection distance of the sensor 50 (No in step S31), the information processing system does not give a warning and restricts the detection time interval to the first time interval. When there is no moving object within the detection distance of the sensor 50, since the possibility of a dangerous state occurring even if the detection ability of the sensor 50 is restricted is low, as in the modified example of the first embodiment, it may not be necessary to give a warning.

[0095] Next, Example 2 will be described. In Example 2, the detection ability to be changed is the detection time interval, and notification is given for objects that cannot be detected. In Example 2, the detection distance of the sensor 50 is fixed.

[0096] FIG. 7 is a flowchart showing an example of the operation of the information processing system according to Example 2.

[0097] FIG. 8 is a diagram for explaining the operation of the information processing system according to Example 2.

[0098] First, the information processing system determines whether there is a moving object within the detection distance (range A2, A3, A4, or A5 shown in FIG. 8) of the sensor 50 (step S41). In FIG. 8, the moving object 100 is shown as the host vehicle, and sensors 51a, 51b, 51c, and 51d such as LiDAR are shown as the sensors 50 mounted on the moving object 100. The sensor 51a is installed, for example, on the front side of the moving object 100 and enables sensing in front of the moving object 100. In FIG. 8, the range A2, which is the detection range corresponding to the detection distance (for example, 40 m or the like) of the sensor 51a, is shown. The sensor 51b is installed, for example, on the right side of the moving object 100 and enables sensing on the right side of the moving object 100. In FIG. 8, the range A3, which is the detection range corresponding to the detection distance (for example, 40 m or the like) of the sensor 51b, is shown. The sensor 51c is installed, for example, on the left side of the moving object 100 and enables sensing on the left side of the moving object 100. In FIG. 8, the range A4, which is the detection range corresponding to the detection distance (for example, 40 m or the like) of the sensor 51c, is shown. The sensor 51d is installed, for example, on the rear side of the moving object 100 and enables sensing behind the moving object 100. In FIG. 8, the range A5, which is the detection range corresponding to the detection distance (for example, 40 m or the like) of the sensor 51d, is shown. Also, although not shown, for example, speakers are installed around the moving object 100.

[0099] When there is a moving object within the detection range of the sensor 50 (Yes in step S41), the information processing system notifies that in the first range, it is impossible to stop detecting moving objects moving at a speed of the first speed or higher, in the second range, it is impossible to stop detecting moving objects moving at a speed of the second speed or higher, and in the third range, it is impossible to stop detecting moving objects moving at a speed of the third speed or higher (step S42), restricts the detection time interval for the first range to the first time interval, restricts the detection time interval for the second range to the second time interval, and restricts the detection time interval for the third range to the third time interval (step S43). For example, here, it is assumed that the first range is range A2, and the detection time interval of range A2, that is, the detection time interval of sensor 51a, is changed to the first time interval. Also, for example, it is assumed that the second range is ranges A3 and A4, and the detection time intervals of ranges A3 and A4, that is, the detection time intervals of sensors 51b and 51c, are changed to the second time interval. Also, for example, it is assumed that the third range is range A5, and the detection time interval of range A5, that is, the detection time interval of sensor 51d, is changed to the third time interval. Also, for example, the speed of the moving object that cannot be stopped from being detected is determined according to the degree of the changed detection time interval. The first time interval is a shorter time interval than the second time interval, the second time interval is a shorter time interval than the third time interval, the first speed is a higher speed than the second speed, and the second speed is a higher speed than the third speed.

[0100] Since the front of the moving body 100 is the traveling direction of the moving body 100 and is likely to be in a dangerous state, the detection time interval of the sensor 51a installed on the front side of the moving body 100 is not very restricted by the first time interval (for example, 0.1 second). However, if the detection time interval of the sensor 51a is restricted by the first time interval, for moving bodies with a speed of the first speed (for example, 40 km / h) or more in the range A2, detection cannot be stopped. Therefore, in the range A2, it is reported that detection cannot be stopped for moving bodies with a speed of the first speed or more corresponding to the first time interval. For example, an announcement such as "Detection and stopping of moving bodies with a speed of 40 km / h or more cannot be performed. Please be careful." is made by a speaker installed on the front side of the moving body 100, and the detection time interval is restricted to 0.1 second. When the original detection time interval is 0.1 second, the first time interval may be 0.1 second, that is, the detection time interval may not be restricted.

[0101] Since the right and left sides of the moving body are directions that intersect the traveling direction of the moving body 100 and the possibility of being in a dangerous state is lower than that of the front, the detection time intervals of the sensors 51b and 51c installed on the right and left sides of the moving body 100 are restricted to a certain extent by the second time interval (for example, 0.2 second). However, if the detection time intervals of the sensors 51b and 51c are restricted by the second time interval, for moving bodies with a speed of the second speed (for example, 20 km / h) or more in the ranges A3 and A4, detection cannot be stopped. Therefore, in the ranges A3 and A4, it is reported that detection cannot be stopped for moving bodies with a speed of the second speed or more corresponding to the second time interval. For example, an announcement such as "Detection and stopping of moving bodies with a speed of 20 km / h or more cannot be performed. Please be careful." is made by speakers installed on the right and left sides of the moving body 100, and the detection time interval is restricted to 0.2 second.

[0102] Since the rear of the moving body is in the direction opposite to the traveling direction of the moving body 100 and has a low risk of becoming a dangerous state, the detection time interval of the sensor 51d installed on the rear side of the moving body 100 is greatly limited to the third time interval (for example, 0.4 seconds). However, when the detection time interval of the sensor 51d is limited to the third time interval, for moving bodies with a third speed (for example, 10 km / h or more) in the range A5, detection cannot be stopped. Therefore, in the range A5, it is reported that detection cannot be stopped for moving bodies with a third speed or more corresponding to the third time interval. For example, an announcement such as "Detection and stopping cannot be performed for moving bodies traveling at 10 km / h or more. Please be careful." is made by a speaker installed on the rear side of the moving body 100, and the detection time interval is limited to 0.4 seconds.

[0103] When there is no moving body within the detection distance of the sensor 50 (No in step S41), the information processing system, for example, does not notify of attention, limits the detection time interval to the first time interval for the first range, limits the detection time interval to the second time interval for the second range, and limits the detection time interval to the third time interval for the third range.

[0104] Note that, as in the first embodiment, the content of the notification and the degree of limitation of the detection time interval may be determined according to the type of the moving body within the detection distance.

[0105] Next, a modified example of the second embodiment will be described. In the modified example of the second embodiment, the detection ability to be changed is the detection time interval, and a notification about a target that cannot be detected is made. In the modified example of the second embodiment, the detection distance of the sensor 50 is fixed.

[0106] FIG. 9 is a flowchart showing an example of the operation of the information processing system according to the modified example of the second embodiment.

[0107] FIG. 10 is a diagram for explaining the operation of the information processing system according to the modified example of the second embodiment.

[0108] First, the information processing system determines whether there is a moving object within the detection distance of the sensor 50 (range A6, A7, A8, or A9 shown in FIG. 10) (step S51). FIG. 10 shows the moving object 100 as the host vehicle, and as the sensor 50 mounted on the moving object 100, a sensor 51 such as a MEMS-based LiDAR using an LCD is shown. The sensor 51 is installed, for example, on the ceiling of the moving object 100, enabling sensing of the surroundings of the moving object 100. FIG. 10 shows the detection ranges A6, A7, A8, and A9, which are the detection ranges corresponding to the detection distance (e.g., 40 m, etc.) of the sensor 51. Range A6 is the range in front of the moving object 100, range A7 is the range to the right of the moving object 100, range A8 is the range to the left of the moving object 100, and range A9 is the range behind the moving object 100. Although not shown, for example, speakers are installed around the moving object 100, front, rear, left, and right.

[0109] When there is a moving object within the detection range of the sensor 50 (Yes in step S51), the information processing system notifies that it is impossible to stop detecting a moving object moving at a speed of the first speed or higher in the first direction, a moving object moving at a speed of the second speed or higher in the second direction, and a moving object moving at a speed of the third speed or higher in the third direction (step S52), restricts the detection time interval for the first direction to the first time interval, restricts the detection time interval for the second direction to the second time interval, and restricts the detection time interval for the third direction to the third time interval (step S53). For example, here, the first direction is set as the front of the moving object 100, and it is assumed that the detection time interval of the range A6 corresponding to the front of the moving object 100, that is, the detection time interval when the sensor 50 senses the range A6, is changed to the first time interval. Also, for example, the second direction is set as the right and left sides of the moving object 100, and it is assumed that the detection time intervals of the ranges A7 and A8 corresponding to the right and left sides of the moving object 100, that is, the detection time intervals when the sensor 50 senses the ranges A7 and A8, are changed to the second time interval. Also, for example, the third direction is set as the rear of the moving object 100, and it is assumed that the detection time interval of the range A9 corresponding to the rear of the moving object 100, that is, the detection time interval when the sensor 50 senses the range A9, is changed to the third time interval. Also, for example, the speed of the moving object that cannot be stopped from being detected is determined according to the degree of the changed detection time interval. The first time interval is a shorter time interval than the second time interval, the second time interval is a shorter time interval than the third time interval, the first speed is a higher speed than the second speed, and the second speed is a higher speed than the third speed.

[0110] Since the front of the moving body 100 is the direction of travel of the moving body 100 and is likely to be in a dangerous state, when the sensor 50 senses the front of the moving body 100, the detection time interval is not very restricted and is the first time interval (for example, 0.2 seconds). However, if the detection time interval of the sensor 50 is restricted to the first time interval, for moving bodies with a speed of the first speed (for example, 20 km / h) or more in the range A6, detection cannot be stopped. Therefore, in the range A6, it is reported that detection cannot be stopped for moving bodies with a speed of the first speed or more corresponding to the first time interval. For example, an announcement such as "Detection of moving bodies with a speed of 20 km / h or more cannot be stopped. Please be careful." is made by a speaker installed on the front side of the moving body 100, and the detection time interval is restricted to 0.2 seconds.

[0111] Since the right and left sides of the moving body are directions that intersect the direction of travel of the moving body 100 and the possibility of being in a dangerous state is lower than that of the front, when the sensor 50 senses the right and left sides of the moving body, the detection time interval is restricted to a certain extent and is the second time interval (for example, 0.3 seconds). However, if the detection time interval of the sensor 50 is restricted to the second time interval, for moving bodies with a speed of the second speed (for example, 15 km / h) or more in the ranges A7 and A8, detection cannot be stopped. Therefore, in the ranges A7 and A8, it is reported that detection cannot be stopped for moving bodies with a speed of the second speed or more corresponding to the second time interval. For example, an announcement such as "Detection of moving bodies with a speed of 15 km / h or more cannot be stopped. Please be careful." is made by speakers installed on the right and left sides of the moving body 100, and the detection time interval is restricted to 0.3 seconds.

[0112] Since the rear of the moving body is in the direction opposite to the traveling direction of the moving body 100 and is less likely to be in a dangerous state, when the sensor 50 senses the rear of the moving body 100, the detection time interval is greatly limited to the third time interval (for example, 0.4 seconds). However, if the detection time interval of the sensor 50 is limited to the third time interval, for a moving body with a third speed (for example, 10 km / h or more) in the range A9, detection cannot be stopped. Therefore, in the range A9, it is reported that detection cannot be stopped for a moving body with a third speed or more corresponding to the third time interval. For example, an announcement such as "Detection cannot be stopped for moving bodies with a speed of 10 km / h or more. Please be careful." is made by a speaker installed on the rear side of the moving body 100, and the detection time interval is limited to 0.4 seconds.

[0113] When there is no moving body within the detection distance of the sensor 50 (No in step S51), for example, no warning is given, the detection time interval is limited to the first time interval in the first direction, the detection time interval is limited to the second time interval in the second direction, and the detection time interval is limited to the third time interval in the third direction.

[0114] Note that, similar to the first embodiment, the content of the notification and the degree of limitation of the detection time interval may be determined according to the type of the moving body within the detection distance.

[0115] Next, Example 3 will be described. In Example 3, the detection ability to be changed is the detection distance, and a notification is made about the range that cannot be detected (specifically, the object in the range that cannot be detected). In Example 3, the detection time interval of the sensor 50 is fixed.

[0116] FIG. 11 is a flowchart showing an example of the operation of the information processing system according to Example 3.

[0117] FIG. 12 is a diagram for explaining the operation of the information processing system according to Example 3.

[0118] First, the information processing system determines whether there is a moving object within the detection distance (e.g., the maximum detection distance) of the sensor 50 (step S61). FIG. 12 shows the moving object 100 as the host vehicle, and as the sensor 50 mounted on the moving object 100, a sensor 51 such as a MEMS-based LiDAR using an LCD is shown. The sensor 51 is installed, for example, on the ceiling of the moving object 100 and enables sensing of the surroundings of the moving object 100. The detection distance of the sensor 51 is variable, and FIG. 12 shows a range B1 which is the detection range corresponding to the detection distance L1 (e.g., 40 m, etc.) of the sensor 51, a range B2 which is the detection range corresponding to the detection distance L2 (e.g., 30 m, etc.), and a range B3 which is the detection range corresponding to the detection distance L3 (e.g., 20 m, etc.).

[0119] If there is no moving object within the detection distance of the sensor 50 (No in step S61), the information processing system notifies that it is impossible to detect a moving object in a range beyond the third distance (step S62) and limits the detection distance to the third distance (step S63). For example, the degree of change of the detection distance can be determined according to the state of the moving object 100 and the traffic conditions around the moving object 100. Here, as an example, it is assumed that the detection distance is changed to the first distance (e.g., detection distance L1), the second distance (e.g., detection distance L2), and the third distance (e.g., detection distance L3). Also, for example, the non-detectable range is determined according to the degree of change of the detection distance to be changed. The range B3 corresponding to the third distance is a narrower range than the range B1 corresponding to the first distance and the range B2 corresponding to the second distance. For example, the non-detectable range can be calculated from the changed detection distance and the state of the host vehicle. A table in which the non-detectable range is associated with each combination of the changed detection distance and the state of the host vehicle may be stored in advance, and the non-detectable range may be determined by referring to the table.

[0120] When there is no moving object within the detection range of the sensor 50, since the possibility of entering a dangerous state is low even if the detection ability of the sensor 50 is restricted, the detection range of the sensor 50 is greatly restricted to the third distance. However, when the detection range of the sensor 50 is restricted to the third distance, moving objects beyond the third distance cannot be detected, and thus it is reported that moving objects beyond the third distance cannot be detected. For example, an announcement such as "Moving objects more than 20 m away from the host vehicle cannot be detected. Please be careful." is made by a speaker installed in the moving object 100, and the detection range is changed to 20 m.

[0121] When there is a moving object within the detection range of the sensor 50 (Yes in step S61), the information processing system determines whether the moving object is an automobile (step S64).

[0122] When the moving object within the detection range of the sensor 50 is an automobile (Yes in step S 64), it is reported that moving objects beyond the first distance cannot be detected (step S65), and the detection range is restricted to the first distance (step S66). The range B1 corresponding to the first distance is wider than the range B2 corresponding to the second distance and the range B3 corresponding to the third distance. Since the moving object within the detection range of the sensor 50 is an automobile with a high moving speed, the detection range of the sensor 50 is not restricted much to the first distance. However, when the detection range of the sensor 50 is restricted to the first distance, moving objects beyond the first distance cannot be detected, and thus it is reported that moving objects beyond the first distance cannot be detected. For example, an announcement such as "Moving objects more than 40 m away from the host vehicle cannot be detected. Please be careful." is made by a speaker installed in the moving object 100, and the detection range is changed to 40 m.

[0123] When the moving object within the detection range of the sensor 50 is not an automobile (No in step S64), for example, when it is a bicycle, it notifies that it cannot detect the moving object within a range of the second distance or more (step S67), and restricts the detection distance to the second distance (step S68). The range B2 corresponding to the second distance is wider than the range B3 corresponding to the third distance and narrower than the range B1 corresponding to the first distance. Since the moving object within the detection range of the sensor 50 is a bicycle whose moving speed is slower than that of an automobile, the detection distance of the sensor 50 is restricted to a certain extent to the second distance. However, when the detection distance of the sensor 50 is restricted to the second distance, it becomes impossible to detect the moving object within a range of the second distance or more, so it is notified that it cannot detect the moving object within a range of the second distance or more. For example, an announcement such as "Moving objects more than 30 m away from the own vehicle cannot be detected. Please be careful." is made by a speaker installed in the moving object 100, and the detection distance is changed to 30 m.

[0124] Note that as the traffic situation around the moving object 100 and the state of the moving object 100 change, the detection distance may be restricted step by step. For example, it notifies that it cannot detect the moving object within a range of the first distance or more, restricts the detection distance to the first distance, and then, according to the traffic situation around the moving object 100 and the state of the moving object 100, it may notify that it cannot detect the moving object within a range of the second distance or more and restrict the detection distance to the second distance. Further, thereafter, according to the traffic situation around the moving object 100 and the state of the moving object 100, it may notify that it cannot detect the moving object within a range of the third distance or more and restrict the detection distance to the third distance.

[0125] Also, although an example in which a notification about a moving object that cannot be stopped from being detected is made even when there is no moving object within the detection distance has been described, similar to the modification example of the first embodiment, when there is no moving object within the detection distance, a notification about a range that cannot be detected may not be made.

[0126] Next, Example 4 will be described. In Example 4, the detection ability to be changed is the detection distance, and notification is made for a range that cannot be detected (specifically, a target in a range that cannot be detected). In Example 4, the detection time interval of the sensor 50 is fixed.

[0127] FIG. 13 is a flowchart showing an example of the operation of the information processing system according to Example 4.

[0128] FIG. 14 is a diagram for explaining the operation of the information processing system according to Example 4.

[0129] First, the information processing system determines whether there is a moving object within the detection distance (for example, the maximum detection distance) of the sensor 50 (step S71). In FIG. 14, the moving object 100 is shown as the host vehicle, and sensors 51a, 51b, 51c, and 51d such as LiDAR are shown as the sensors 50 mounted on the moving object 100. The sensor 51a is installed, for example, on the front side of the moving object 100 and enables sensing in front of the moving object 100. The sensor 51b is installed, for example, on the right side of the moving object 100 and enables sensing to the right of the moving object 100. The sensor 51c is installed, for example, on the left side of the moving object 100 and enables sensing to the left of the moving object 100. The sensor 51d is installed, for example, on the rear side of the moving object 100 and enables sensing behind the moving object 100. The detection distances of the sensors 51a, 51b, 51c, and 51d are variable. In FIG. 14, for the sensor 51a, the range B4 which is the detection range corresponding to the detection distance L4 (for example, 40 m, etc.), for the sensor 51b, the range B5 which is the detection range corresponding to the detection distance L5 (for example, 20 m, etc.), for the sensor 51c, the range B6 which is the detection range corresponding to the detection distance L6 (for example, 20 m, etc.), and for the sensor 51d, the range B7 which is the detection range corresponding to the detection distance L7 (for example, 10 m, etc.) are shown. Also, although not shown, for example, speakers are installed around the moving object 100.

[0130] When there is a moving object within the detection range of the sensor 50 (Yes in step S71), the information processing system notifies that it cannot detect moving objects within a range of the first distance or more in the first range, within a range of the second distance or more in the second range, and within a range of the third distance or more in the third range (step S72), restricts the detection range to the first distance for the first range, restricts the detection range to the second distance for the second range, and restricts the detection range to the third distance for the third range (step S73). For example, here, assuming the first range is range B4, the detection range of range B4, that is, the detection range of sensor 51a, is changed to the first distance (for example, detection distance L4). Also, for example, assuming the second range is ranges B5 and B6, the detection ranges of ranges B5 and B6, that is, the detection ranges of sensors 51b and 51c, are changed to the second distance (for example, detection distances L5 and L6). Also, for example, assuming the third range is range B7, the detection range of range B7, that is, the detection range of sensor 51d, is changed to the third distance (for example, detection distance L7). Also, for example, depending on the degree of the changed detection range, the non-detectable range is determined. The range B4 corresponding to the first distance is a wider range than the ranges B5 and B6 corresponding to the second distance, and the ranges B5 and B6 corresponding to the second distance are wider ranges than the range B7 corresponding to the third distance.

[0131] Since the front of the moving object 100 is the traveling direction of the moving object 100 and is likely to be in a dangerous state, the detection range of the sensor 51a installed on the front side of the moving object 100 is not much restricted from the first distance. However, when the detection range of the sensor 51a is restricted to the first distance, moving objects within a range of the first distance or more outside range B4 cannot be detected, so it is notified that moving objects more than the first distance away from the moving object 100 in front of the moving object 100 cannot be detected. For example, an announcement such as "Moving objects more than 40 m away from the own vehicle cannot be detected. Please be careful." is made by a speaker installed on the front side of the moving object 100, and the detection range is restricted to 40 m. When the original detection range is 40 m, the first distance may be 40 m, that is, the detection range may not be restricted.

[0132] Since the right and left sides of the moving body are in directions that intersect the traveling direction of the moving body 100 and the possibility of being in a dangerous state is lower than that of the front, the detection distances of the sensors 51b and 51c installed on the right and left sides of the moving body 100 are limited to a certain extent to the second distance. However, if the detection distances of the sensors 51b and 51c are limited to the second distance, moving bodies located in a range beyond the second distance outside the ranges B5 and B6 cannot be detected. Therefore, it is notified that moving bodies located on the right and left sides of the moving body 100 and separated from the moving body 100 by more than the second distance cannot be detected. For example, an announcement such as "Moving bodies more than 20 m away from the own vehicle cannot be detected. Please be careful." is made by speakers installed on the right and left sides of the moving body 100, and the detection distance is limited to 20 m.

[0133] Since the rear of the moving body is in the direction opposite to the traveling direction of the moving body 100 and the possibility of being in a dangerous state is low, the detection distance of the sensor 51d installed on the rear side of the moving body 100 is greatly limited to the third distance. However, if the detection distance of the sensor 51d is limited to the third distance, moving bodies located in a range beyond the third distance outside the range B7 cannot be detected. Therefore, it is notified that moving bodies located behind the moving body 100 and separated from the moving body 100 by more than the third distance cannot be detected. For example, an announcement such as "Moving bodies more than 10 m away from the own vehicle cannot be detected. Please be careful." is made by a speaker installed on the rear side of the moving body 100, and the detection distance is limited to 10 m.

[0134] When there is no moving body within the detection distance of the sensor 50 (No in step S71), the information processing system, for example, does not notify of attention arousal, limits the detection distance to the first distance for the first range, limits the detection distance to the second distance for the second range, and limits the detection distance to the third distance for the third range.

[0135] Note that, as in the third embodiment, the notification content and the degree of limitation of the detection distance may be determined according to the type of moving body within the detection distance.

[0136] Next, a modification of Example 4 will be described. In the modification of Example 4, the detection ability to be changed is the detection distance, and notification is given for a range where detection is not possible (specifically, a target in a range where detection is not possible). In the modification of Example 4, the detection time interval of the sensor 50 is fixed.

[0137] FIG. 15 is a flowchart showing an example of the operation of the information processing system according to the modification of Example 4.

[0138] FIG. 16 is a diagram for explaining the operation of the information processing system according to the modification of Example 4.

[0139] First, the information processing system determines whether there is a moving object within the detection distance of the sensor 50 (for example, the maximum detection distance, range B8 shown in FIG. 16) (step S81). In FIG. 16, the moving object 100 is shown as the host vehicle, and as the sensor 50 mounted on the moving object 100, a sensor 51 such as a MEMS-based LiDAR using an LCD is shown. The sensor 51 is installed, for example, on the ceiling of the moving object 100, enabling sensing of the surroundings of the moving object 100. FIG. 16 shows a range B8 which is the detection range corresponding to the detection distance L8 (for example, 40 m etc.) of the sensor 51, a range B9 which is the detection range corresponding to the detection distance L9 (for example, 20 m etc.), a range B10 which is the detection range corresponding to the detection distance L10 (for example, 10 m etc.), a range B11 which is the detection range corresponding to the detection distance L11 (for example, 10 m etc.), and a range B12 which is the detection range corresponding to the detection distance L12 (for example, 5 m etc.). The range B9 is the range in front of the moving object 100, the range B10 is the range on the right side of the moving object 100, the range B11 is the range on the left side of the moving object 100, and the range B12 is the range behind the moving object 100. Also, although not shown, for example, speakers are installed around the moving object 100 in the front, rear, left, and right directions.

[0140] When there is a moving object within the detection range of the sensor 50 (Yes in step S81), the information processing system notifies that it cannot detect moving objects within a range of at least the first distance in the first direction, within a range of at least the second distance in the second direction, and within a range of at least the third distance in the third direction (step S82), and restricts the detection range to the first distance in the first direction, to the second distance in the second direction, and to the third distance in the third direction (step S83). For example, here, assume that the first direction is in front of the moving object 100, and the detection range when the sensor 50 senses in front of the moving object 100 is changed to the first distance (for example, detection range L9) (that is, for the front of the moving object 100, the sensing range of the sensor 50 is restricted to range B9). Also, for example, assume that the second direction is to the right and left of the moving object 100, and the detection range when the sensor 50 senses to the right and left of the moving object 100 is changed to the second distance (for example, detection ranges L10 and L11) (that is, for the right and left of the moving object 100, the sensing range of the sensor 50 is restricted to ranges B10 and B11). Also, for example, assume that the third direction is behind the moving object 100, and the detection range when the sensor 50 senses behind the moving object 100 is changed to the third distance (for example, detection range L12) (that is, for the back of the moving object 100, the sensing range of the sensor 50 is restricted to range B12). Also, for example, depending on the degree of change in the detection range, the non-detectable range is determined. The range B9 corresponding to the first distance is wider than the ranges B10 and B11 corresponding to the second distance, and the ranges B10 and B11 corresponding to the second distance are wider than the range B12 corresponding to the third distance.

[0141] Since the front of the moving body 100 is the traveling direction of the moving body 100 and is likely to be in a dangerous state, when the sensor 50 senses the front of the moving body 100, the detection distance is not very restricted by the first distance. For example, when the original detection distance is 40 m, it is restricted to 20 m as the first distance. However, if the detection distance of the sensor 50 is restricted by the first distance, moving bodies in the range beyond the first distance outside the range B9 cannot be detected. Therefore, it is reported that moving bodies that are more than the first distance away from the moving body 100 in front of the moving body 100 cannot be detected. For example, an announcement such as "Moving bodies more than 20 m away from the own vehicle cannot be detected. Please be careful." is made by a speaker installed on the front side of the moving body 100, and the detection distance is restricted from 40 m to 20 m.

[0142] Since the right and left sides of the moving body are directions that intersect the traveling direction of the moving body 100 and the possibility of being in a dangerous state is lower than that in the front, when the sensor 50 senses the right and left sides of the moving body, the detection distance is restricted to a certain extent by the second distance. For example, when the original detection distance is 40 m, it is restricted to 10 m as the second distance. However, if the detection distance of the sensor 50 is restricted by the second distance, moving bodies in the range beyond the second distance outside the ranges B10 and B11 cannot be detected. Therefore, it is reported that moving bodies that are more than the second distance away from the moving body 100 on the right and left sides of the moving body 100 cannot be detected. For example, an announcement such as "Moving bodies more than 10 m away from the own vehicle cannot be detected. Please be careful." is made by speakers installed on the right and left sides of the moving body 100, and the detection distance is restricted from 40 m to 10 m.

[0143] Since the rear of the moving body is in the direction opposite to the traveling direction of the moving body 100 and is less likely to be in a dangerous state, when the sensor 50 senses the rear of the moving body 100, the detection distance is greatly limited to the third distance. For example, when the original detection distance is 40 m, it is limited to 5 m as the third distance. However, when the detection distance of the sensor 50 is limited to the third distance, moving bodies located in a range of more than the third distance outside the range B12 cannot be detected. Therefore, it is reported that moving bodies located behind the moving body 100 and separated from the moving body 100 by more than the third distance cannot be detected. For example, an announcement such as "Moving bodies more than 5 m away from the own vehicle cannot be detected. Please be careful." is made by a speaker installed on the rear side of the moving body 100, and the detection distance is limited from 40 m to 5 m.

[0144] When there is no moving body within the detection distance of the sensor 50 (No in step S81), the information processing system, for example, does not give a warning, limits the detection distance to the first distance in the first direction, limits the detection distance to the second distance in the second direction, and limits the detection distance to the third distance in the third direction.

[0145] Note that, as in the third embodiment, the content of the notification and the degree of limitation of the detection distance may be determined according to the type of the moving body within the detection distance.

[0146] Next, a fifth embodiment will be described. In the fifth embodiment, the detection capabilities to be changed are both the detection time interval and the detection distance, and a notification about a target that cannot be detected is given.

[0147] FIG. 17 is a flowchart showing an example of the operation of the information processing system according to the fifth embodiment.

[0148] First, the information processing system determines whether there is a moving body within the detection distance of the sensor 50 (step S91).

[0149] When there is no moving object within the detection range of the sensor 50 (No in step S91), the information processing system notifies that it is impossible to stop detecting moving objects with a speed equal to or higher than the third speed (step S92), restricts the detection time interval to the third time interval (step S93), and restricts the detection range to the third range (step S94). For example, according to the state of the moving object 100 and the traffic conditions around the moving object 100, it is possible to determine the degree of change in the detection time interval and the degree of change in the detection range. Here, as an example, it is assumed that the detection range is changed to the first range, the second range, and the third range. Also, for example, according to the degree of change in the detection range to be changed, the degree of change in the detection range to be changed is determined. For example, it is assumed that the detection time interval is changed to the first time interval, the second time interval, and the third time interval. Also, for example, according to the degree of change in the detection time interval to be changed, the speed of the moving object that cannot be stopped from being detected is determined. The third range is shorter than the first range and the second range, the third time interval is longer than the first time interval and the second time interval, and the third speed is slower than the first speed and the second speed to be described later. For example, the speed of the moving object that cannot be stopped from being detected can be calculated from the detection time interval after the change, the detection range, and the state of the host vehicle. Note that a table in which the speed of the moving object that cannot be stopped from being detected is associated with each combination of the detection time interval after the change, the detection range, and the state of the host vehicle may be stored in advance, and the speed of the moving object that cannot be stopped from being detected may be determined by referring to the table.

[0150] When there is no moving object within the detection range of the sensor 50, since the possibility of entering a dangerous state is low even if the detection ability of the sensor 50 is restricted, the detection time interval of the sensor 50 is greatly restricted to the third time interval, and the detection range of the sensor 50 is restricted to the third range. However, when the detection time interval of the sensor 50 is restricted to the third time interval and the detection range of the sensor 50 is restricted to the third range, it becomes impossible to stop detecting moving objects with a speed equal to or higher than the third speed. Therefore, it is notified that it is impossible to stop detecting moving objects with a speed equal to or higher than the third speed.

[0151] When there is a moving object within the detection range of the sensor 50 (Yes in step S91), the information processing system determines whether the moving object is an automobile (step S95).

[0152] When the moving object within the detection range of the sensor 50 is an automobile (Yes in step S95), the information processing system notifies that the detection of moving objects with a speed equal to or higher than the first speed cannot be stopped (step S96), restricts the detection time interval to the first time interval (step S97), and restricts the detection range to the first distance (step S98). The first time interval is a time interval shorter than the second and third time intervals, the first distance is a distance longer than the second and third distances, and the first speed is a speed faster than the second and third speeds. Since the moving object within the detection range of the sensor 50 is an automobile with a high moving speed, the detection time interval and detection range of the sensor 50 are not overly restricted to the first time interval and the first distance. However, when the detection time interval of the sensor 50 is restricted to the first time interval and the detection range is restricted to the first distance, the detection of moving objects with a speed equal to or higher than the first speed cannot be stopped, so it is notified that the detection of moving objects with a speed equal to or higher than the first speed cannot be stopped.

[0153] When the moving object within the detection range of the sensor 50 is not an automobile (No in step S95), for example, when it is a bicycle, the information processing system notifies that the detection of moving objects with a speed equal to or higher than the second speed cannot be stopped (step S99), restricts the detection time interval to the second time interval (step S100), and restricts the detection range to the second distance (step S101). The second time interval is a time interval shorter than the third time interval and longer than the first time interval, the second distance is a distance longer than the third distance and shorter than the first distance, and the second speed is a speed faster than the third speed and slower than the first speed. Since the moving object within the detection range of the sensor 50 is a bicycle with a lower moving speed than an automobile, the detection time interval and detection range of the sensor 50 are restricted to a certain extent to the second time interval and the second distance. However, when the detection time interval of the sensor 50 is restricted to the second time interval and the detection range is restricted to the second distance, the detection of moving objects with a speed equal to or higher than the second speed cannot be stopped, so it is notified that the detection of moving objects with a speed equal to or higher than the second speed cannot be stopped.

[0154] Note that as the traffic conditions around the moving body 100 and the state of the moving body 100 change, the detection time interval and the detection distance may be gradually restricted. For example, after notifying that a moving body with a speed equal to or higher than the first speed cannot be detected, restricting the detection time interval to the first time interval and the detection distance to the first distance, according to the traffic conditions around the moving body 100 and the state of the moving body 100, it may be notified that a moving body with a speed equal to or higher than the second speed cannot be detected, and the detection time interval may be restricted to the second time interval and the detection distance may be restricted to the second distance. Further, thereafter, according to the traffic conditions around the moving body 100 and the state of the moving body 100, it may be notified that a moving body with a speed equal to or higher than the third speed cannot be detected, and the detection time interval may be restricted to the third time interval and the detection distance may be restricted to the third distance.

[0155] (Other Embodiments) As described above, the information processing system according to one or more aspects of the present disclosure has been described based on the embodiments. However, the present disclosure is not limited to these embodiments. Without departing from the spirit of the present disclosure, various modifications conceived by those skilled in the art applied to each embodiment, and forms constructed by combining components in different embodiments may also be included within the scope of one or more aspects of the present disclosure.

[0156] For example, the determination unit 20 may further determine the mode of notification to the monitor of the moving body according to the content of the determined change in the detection ability, and the notification unit 30 may notify the monitor to arouse attention in the determined mode.

[0157] FIG. 18A is a diagram showing an example of the attention call notified to the monitor.

[0158] FIG. 18B is a diagram showing another example of the attention call notified to the monitor.

[0159] For example, by displaying on a monitoring monitor or the like a display as shown in FIG. 18A or FIG. 18B, a monitor can grasp the detection ability of the sensor 50 mounted on the moving object being monitored. In addition, by displaying a message such as "During detection ability degradation" or changing the color of the displayed text, the monitor may be made to recognize that the detection ability is restricted. Further, the monitoring priority may be controlled according to the content of the determined change in the detection ability. For example, the monitoring priority of a moving object equipped with the sensor 50 whose detection ability is restricted may be increased. Also, based on the monitoring priority, the content of notification to the monitor and the means of notification may be determined. For example, when the monitoring priority is high, notification may be made both by display and sound, or the color, brightness, or size of the display may be made prominent, or the display may blink.

[0160] For example, in the above embodiment, an example has been described in which a detection target or a detection range that is presumed to be difficult to detect due to the limitation of the detection ability of the sensor 50 is determined. However, a detection target or a detection range that is presumed to be detectable even if the detection ability of the sensor 50 is restricted may be determined.

[0161] For example, in the above embodiment, an example has been described in which a means capable of communicating a warning to a detection target or a detection range that is presumed to be difficult to detect due to the limitation of the detection ability of the sensor 50 is determined. However, a means capable of communicating a warning to a detection target or a detection range that is presumed to be detectable even if the detection ability of the sensor 50 is restricted may be determined.

[0162] For example, in the above embodiment, an example has been described in which a location where a detection target that is presumed to be difficult to detect due to the limitation of the detection ability of the sensor 50 is recognizable, or a location corresponding to a detection range that is presumed to be difficult to detect due to the limitation of the detection ability of the sensor 50 is determined. However, a location where a detection target that is presumed to be detectable even if the detection ability of the sensor 50 is restricted is recognizable, or a location corresponding to a detection range that is presumed to be detectable even if the detection ability of the sensor 50 is restricted may be determined.

[0163] Note that the present disclosure can be realized not only as an information processing system but also as an information processing method including steps (processes) performed by each component constituting the information processing system.

[0164] For example, the information processing method is an information processing method executed by a computer. As shown in FIG. 2, it is a sensor mounted on a moving body, and determines whether to change the detection ability of the sensor for detecting an object (step S1). When it is determined to change the detection ability (Yes in step S1), it determines the content of the change and the mode of notifying the attention to the surroundings of the moving body (step S2), notifies the attention to the surroundings of the moving body in the determined mode (step S3), and changes the detection ability according to the determined content (step S4).

[0165] For example, the present disclosure can be realized as a program for causing a processor to execute the steps included in the information processing method. Further, the present disclosure can be realized as a non-transitory computer-readable recording medium such as a CD-ROM recording the program.

[0166] For example, when the present disclosure is realized by a program (software), each step is executed by using hardware resources such as a CPU, a memory, and an input / output circuit of a computer to execute the program. That is, each step is executed by the CPU acquiring data from the memory or the input / output circuit or the like and performing calculations, or outputting the calculation result to the memory or the input / output circuit or the like.

[0167] In the above embodiment, each component included in the information processing system may be configured by dedicated hardware or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

[0168] Some or all of the functions of the information processing system according to the above-described embodiment are typically realized as an LSI, which is an integrated circuit. These may be individually integrated into one chip, or may be integrated into one chip so as to include some or all of them. Further, the integration is not limited to LSI, and may be realized by a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after LSI manufacturing, or a reconfigurable processor that can reconfigure the connection and setting of circuit cells inside the LSI may be used.

[0169] Furthermore, various modifications obtained by making changes within the scope conceivable by those skilled in the art to each embodiment of the present disclosure are also included in the present disclosure without departing from the gist of the present disclosure.

Industrial Applicability

[0170] The present disclosure can be applied to an autonomous vehicle equipped with a radar such as LiDAR.

Explanation of Signs

[0171] 1 Information processing system 10 Determination unit 20 Decision unit 30 Notification unit 40 Change unit 50, 51, 51a, 51b, 51c, 51d Sensor 100 Moving body A1, A2, A3, A4, A5, A6, A7, A8, A9, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, B11, B12 Range L1, L2, L3, L4, L5, L6, L7, L8, L9, L10, L11, L12 Detection distance

Claims

1. A sensor mounted on a moving body, comprising: a determination unit that determines whether to change the detection ability of the sensor for detecting an object; a determination unit that, when it is determined to change the detection ability, determines the content of the change and the mode of notifying the monitor of the moving body of the alert; a notification unit that notifies the monitor of the moving body of the alert in the determined mode; a change unit that changes the detection ability according to the determined content, wherein the change of the detection ability includes the limitation of the detection ability; the determination unit determines the content of the limitation of the detection ability and determines the mode of notification according to the content of the limitation of the detection ability; the mode of notification includes the content of notification; the determination unit determines a detection target or a detection range that is estimated to be difficult to detect due to the limitation of the detection ability; the notification unit notifies the determined detection target or detection range; An information processing system.

2. A sensor mounted on a moving body, comprising: a determination unit that determines whether to change the detection ability of the sensor for detecting an object; a determination unit that, when it is determined to change the detection ability, determines the content of the change and the mode of notifying the monitor of the moving body of the alert; a notification unit that notifies the monitor of the moving body of the alert in the determined mode; a change unit that changes the detection ability according to the determined content, wherein the change of the detection ability includes the limitation of the detection ability; the determination unit determines the content of the limitation of the detection ability and determines the mode of notification according to the content of the limitation of the detection ability; the mode of notification includes notification means; the determination unit determines a means capable of communicating an alert to a detection target or a detection range that is estimated to be difficult to detect due to the limitation of the detection ability; the notification unit notifies the alert by the determined means; An information processing system.

3. A sensor mounted on a moving body, comprising: a determination unit that determines whether to change the detection ability of the sensor for detecting an object; a determination unit that, when it is determined to change the detection ability, determines the content of the change and the mode of notifying the monitor of the moving body of the alert; a notification unit that notifies the monitor of the moving body of the alert in the determined mode; a change unit that changes the detection ability according to the determined content, wherein the change of the detection ability includes the limitation of the detection ability; the determination unit determines the content of the limitation of the detection ability and determines the mode of notification according to the content of the limitation of the detection ability; The determination unit determines a location corresponding to a detection range where detection is estimated to be difficult due to limitations of the detection ability, and the notification unit notifies a warning so that the determined location is identified. An information processing system.

4. The determination unit further acquires the surrounding situation of the moving body or the state of the moving body, and determines whether to change the detection ability based on the surrounding situation of the moving body or the state of the moving body. The information processing system according to any one of claims 1 to 3.

5. The surrounding situation of the moving body includes the traffic situation around the moving body, and the determination unit determines whether to change the detection ability according to the traffic situation around the moving body. The information processing system according to claim 4.

6. A sensor mounted on a moving body, comprising: a determination unit that determines whether to change the detection ability of a sensor for detecting an object; a determination unit that, when it is determined to change the detection ability, determines the content of the change and the mode of notifying a warning to a monitor of the moving body; a notification unit that notifies a warning to a monitor of the moving body in the determined mode; and a change unit that changes the detection ability according to the determined content. The determination unit further determines whether to change the detection ability according to the traffic situation around the moving body, and the determination unit determines to change the detection ability when, as the traffic situation around the moving body, (i) an object exists, (ii) the density of objects is equal to or greater than a threshold value, or (iii) the number of objects is equal to or greater than a threshold value in the vicinity of the moving body. The change in the detection ability includes relaxation of the limitation of the detection ability or release of the limitation of the detection ability. The determination unit determines the content of the relaxation or release of the detection ability, and determines the mode of notification according to the content of the relaxation or release of the detection ability. An information processing system.

7. A sensor mounted on a moving body, comprising: a determination unit that determines whether to change the detection ability of a sensor for detecting an object; a determination unit that, when it is determined to change the detection ability, determines the content of the change and the mode of notifying a warning to a monitor of the moving body; a notification unit that notifies a warning to a monitor of the moving body in the determined mode; and a change unit that changes the detection ability according to the determined content. The determination unit further determines whether to change the detection ability according to the traffic situation around the moving body, The determination unit determines that the detection ability is to be changed when, as the traffic situation around the moving body, (i) there is no object, (ii) the density of objects is less than a threshold value, or (iii) the number of objects is less than a threshold value, in the vicinity of the moving body. The change in the detection ability includes a limitation of the detection ability. The determination unit determines the content of the limitation of the detection ability and determines a notification mode according to the content of the limitation of the detection ability. Information processing system.

8. The state of the moving body includes the speed, position, operation status, or travel task of the moving body. The determination unit determines whether to change the detection ability according to the speed, position, operation status, or travel task of the moving body. The information processing system according to any one of claims 4 to 7.

9. The determination unit determines a notification mode to the monitor of the moving body according to the determined content of the change. The information processing system according to any one of claims 1 to 8.

10. The detection ability includes a detection time interval or a detection distance. The information processing system according to any one of claims 1 to 9.

11. The information processing system is an information processing device. The information processing system according to any one of claims 1 to 10.

12. An information processing method executed by a computer, comprising: determining whether to change the detection ability of a sensor mounted on a moving body for detecting an object; when it is determined to change the detection ability, determining the content of the change and a notification mode for alerting the monitor of the moving body; alerting the monitor of the moving body in the determined mode; changing the detection ability according to the determined content; The change in the detection ability includes a limitation of the detection ability. In the determination, the content of the limitation of the detection ability is determined, and a notification mode according to the content of the limitation of the detection ability is determined. The notification mode includes notification content. In the determination, a detection target or a detection range that is estimated to be difficult to detect due to the limitation of the detection ability is determined. In the notification, the determined detection target or the detection range is notified. Information processing method.

13. An information processing method executed by a computer, comprising: determining whether to change the detection ability of a sensor mounted on a moving body for detecting an object; when it is determined to change the detection ability, determining the content of the change and a notification mode for alerting the monitor of the moving body; Notify the monitor of the mobile object to raise awareness in a determined manner, Change the detection ability according to the determined content, The change in the detection ability includes the limitation of the detection ability, In the determination, the content of the limitation of the detection ability is determined, and the mode of notification corresponding to the content of the limitation of the detection ability is determined, The mode of notification includes notification means, In the determination, means capable of communicating a warning to a detection target or a detection range that is estimated to be difficult to detect due to the limitation of the detection ability are determined, In the notification, a warning is notified by the determined means Information processing method.

14. An information processing method executed by a computer, A sensor mounted on a mobile object, determining whether to change the detection ability of the sensor for detecting an object, When it is determined to change the detection ability, determine the content of the change and the mode of notification for raising awareness to the monitor of the mobile object, Notify the monitor of the mobile object to raise awareness in the determined manner, Change the detection ability according to the determined content, The change in the detection ability includes the limitation of the detection ability, In the determination, the content of the limitation of the detection ability is determined, and the mode of notification corresponding to the content of the limitation of the detection ability is determined, In the determination, determine the location corresponding to the detection range that is estimated to be difficult to detect due to the limitation of the detection ability, In the notification, a warning is notified so that the determined location is identified Information processing method.

15. An information processing method executed by a computer, A sensor mounted on a mobile object, determining whether to change the detection ability of the sensor for detecting an object, When it is determined to change the detection ability, determine the content of the change and the mode of notification for raising awareness to the monitor of the mobile object, Notify the monitor of the mobile object to raise awareness in the determined manner, Change the detection ability according to the determined content, In the determination, further determine whether to change the detection ability according to the traffic conditions around the mobile object, In the determination, as the traffic conditions around the mobile object, when (i) an object exists, (ii) the density of the objects is equal to or higher than a threshold value, or (iii) the number of the objects is equal to or higher than a threshold value in the vicinity of the mobile object, it is determined to change the detection ability, The change in the detection ability includes relaxation of the limitation of the detection ability or release of the limitation of the detection ability, In the determination, the content of relaxation or release of the detection ability is determined, and the mode of notification according to the content of relaxation or release of the detection ability is determined. Information processing method.

16. An information processing method executed by a computer, a sensor mounted on a moving body, determines whether to change the detection ability of the sensor for detecting an object, when it is determined to change the detection ability, determines the content of the change and the mode of notification for alerting the monitor of the moving body, alerts the monitor of the moving body in the determined mode, changes the detection ability according to the determined content, in the determination, further determines whether to change the detection ability according to the traffic conditions around the moving body, in the determination, as the traffic conditions around the moving body, when (i) no object exists, (ii) the density of objects is less than the threshold, or (iii) the number of objects is less than the threshold in the vicinity of the moving body, it is determined to change the detection ability, the change in the detection ability includes the limitation of the detection ability, in the determination, the content of the limitation of the detection ability is determined, and the mode of notification according to the content of the limitation of the detection ability is determined. Information processing method.

17. A program for causing a computer to execute the information processing method according to any one of Claims 12 to 16.

Images