Risk area information management device, risk area information management method and program

Abstract

SOLUTION: Provided is a risk area information management device including: a receiving unit that receives positional information about a risk area which is detected by a vehicle and may be a risk in traveling of the vehicle; a storage unit that stores risk area information including the positional information about the risk area; an acquisition unit that acquires area-related information related to an area corresponding to the position of the risk area; a deletion time determination unit that based on the area-related information, determines a deletion time at which the risk area information is deleted from the storage unit; and a deletion unit that deletes the risk area information from the storage unit in accordance with the deletion time determined by the deletion time determination unit.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to a risk area information management device, a risk area information management method, and a program. [Background technology]

[0002] Patent Document 1 describes a system in which a risk area is managed by a MEC (Mobile Edge Computing) server, and the MEC server provides information about the risk area to each vehicle. [Prior art document] [Patent Documents] Patent Document 1: JP 2021-140470 A Summary of the Invention [Problem to be solved by the invention]

[0003] However, reducing the processing load required to improve safety is an issue. The present application aims to address this issue by improving vehicle safety, thereby further improving traffic safety and contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0004] According to one embodiment of the present invention, there is provided a risk area information management device. The risk area information management device may include a receiving unit that receives location information of a risk area detected by a vehicle that may pose a risk to the vehicle's travel. The risk area information management device may include a memory unit that stores risk area information including the location information of the risk area. The risk area information management device may include an acquisition unit that acquires area-related information related to an area corresponding to the location of the risk area. The risk area information management device may include a deletion time determination unit that determines a deletion time for deleting the risk area information from the memory unit based on the area-related information. The risk area information management device may include a deletion unit that deletes the risk area information from the memory unit in accordance with the deletion time determined by the deletion time determination unit.

[0005] In the risk area information management device, the area-related information may include historical information on the parking time that vehicles have previously spent parked in areas corresponding to the location of the risk area, and the deletion time determination unit may determine the deletion time based on the historical information.

[0006] In any of the risk area information management devices, the history information may include multiple parking and stopping times, and the deletion time determination unit may determine the deletion time using a first time that has the smallest sum of differences from the multiple parking and stopping times included in the history information.

[0007] In any of the risk area information management devices, the history information may include multiple parking and stopping times, and the deletion time determination unit may determine the deletion time using the time that has the smallest sum of values ​​obtained by multiplying each of the differences from the multiple parking and stopping times included in the history information by the probability that a vehicle will detect the risk area when the risk area is present.

[0008] The deletion time determination unit may determine, as the deletion time, a time obtained by adding the first time to a detection time when the risk area is detected. The deletion time determination unit may determine, as the deletion time, a time obtained by adding the first time multiplied by a predetermined positive value smaller than 1 to the detection time when the risk area is detected. If the absence of the risk area is not confirmed by another vehicle between the detection time and a time obtained by subtracting the first time multiplied by a predetermined value smaller than 1 from the detection time, the deletion time determination unit may determine, as the deletion time, a time obtained by adding the first time multiplied by a predetermined value smaller than 1 to the detection time when the absence of the risk area is confirmed by another vehicle. If the absence of the risk area is confirmed by another vehicle between the detection time and the time obtained by subtracting the first time from the detection time when the absence of the risk area is confirmed, the deletion time determination unit may determine, as the deletion time, a time obtained by adding the first time to the detection time when the absence of the risk area is confirmed.

[0009] In any of the risk area information management devices, the acquisition unit may acquire map information of an area corresponding to the location of the risk area, and the deletion time determination unit may input the map information acquired by the acquisition unit into a learning model that takes map information as input and parking time as output, generated by machine learning using map information of the area corresponding to the location where the vehicle is parked and the parking time of the vehicle, and determine the deletion time based on the parking time output from the learning model and the detection time when the risk area was detected.

[0010] Any of the risk area information management devices may be an MEC server.

[0011] According to one embodiment of the present invention, there is provided a program for causing a computer to function as the risk area information management device.

[0012] According to one embodiment of the present invention, there is provided a risk area information management method executed by a computer. The risk area information management method may include a receiving step of receiving location information of a risk area detected by a vehicle that may pose a risk to the vehicle's travel. The risk area information management method may include a storing step of storing risk area information including the location information of the risk area in a storage unit. The risk area information management method may include an acquiring step of acquiring area-related information related to an area corresponding to the location of the risk area. The risk area information management method may include a deletion time determination step of determining a deletion time for deleting the risk area information from the storage unit based on the area-related information. The risk area information management method may include a deletion step of deleting the risk area information from the storage unit in accordance with the deletion time determined in the deletion time determination step.

[0013] The above summary of the invention does not list all of the features of the present invention, and subcombinations of these features may also constitute inventions. [Brief explanation of the drawings]

[0014] [Figure 1] 1 shows a schematic diagram of a usage scenario of the system 10. [Figure 2] 10 shows a situation in which an information processing device 64 provided in a vehicle 60 requests position information of a risk area. [Figure 3] 10 shows a situation in which the information processing device 64 makes an inquiry regarding a risk area. [Figure 4] FIG. 10 is an explanatory diagram for explaining the timing of deleting risk area information. [Figure 5] FIG. 10 is an explanatory diagram for explaining an example of a deletion time Td. [Figure 6] FIG. 10 is an explanatory diagram for explaining an example of a deletion time Td. [Figure 7] FIG. 10 is an explanatory diagram for explaining a learning model 382. [Figure 8] 2 shows the system configuration of a vehicle 20. [Figure 9] 2 shows the system configuration of the server 52. [Figure 10] 2 shows a schematic diagram of a risk area identified by a risk area identifying unit 220 in a vehicle 20. [Figure 11] 10 shows the data structure of risk area information stored in the storage unit 380 of the server 52. [Figure 12] An example of the flow of processing by the server 52 is shown schematically below. [Figure 13] 2 illustrates a schematic diagram of an example of the hardware configuration of a computer 2000 in which multiple embodiments of the present invention may be implemented in whole or in part. DETAILED DESCRIPTION OF THE INVENTION

[0015] The present invention will be described below through embodiments of the invention, but the following embodiments do not limit the scope of the invention according to the claims. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0016] 1 schematically shows a scenario in which the system 10 is used. The system 10 includes a vehicle 20, a vehicle 60, a terminal 82, a base station 50, and a server 52. The server 52 may be an example of a risk area information management device.

[0017] Vehicle 20 and vehicle 60 are vehicles traveling on a road 70. Vehicle 20 is equipped with an information processing device 24 and a sensor 29. The sensor 29 is configured to include a camera. The information processing device 24 has a function of processing information acquired by the sensor 29 and a function of communicating with a server 52 external to the vehicle 60. Vehicle 20 is a vehicle equipped with, for example, an Advanced Driving Assistant System (ADAS) function. Vehicle 60 is equipped with an information processing device 64. The information processing device 64 has a function of communicating with the server 52. Vehicle 60 is a vehicle not equipped with, for example, an ADAS function.

[0018] The terminal 82 is a terminal carried by the person 80. The terminal 82 is, for example, a mobile terminal such as a smartphone. The base station 50 is a mobile communication base station. The server 52 is a server connected to the base station 50. The server 52 may include, for example, an edge computing server such as an MEC server. The server 52 continuously manages the location information of the terminal 82. For example, the server 52 manages the latest location information transmitted from the terminal 82. Note that while one server 52 is illustrated in FIG. 1 , the server 52 may be configured by multiple servers, each connected to a multiple base stations. The information processing device 24 may communicate with one of the multiple servers constituting the server 52 that is located near the vehicle 20, and the information processing device 64 may communicate with one of the multiple servers constituting the server 52 that is located near the vehicle 60.

[0019] 1, vehicle 20 and vehicle 60 are vehicles traveling along road 70. Vehicle 90 is a vehicle parked on road 70. Vehicle 60 is traveling behind vehicle 20 in the same direction as vehicle 20.

[0020] For the vehicle 20, an area 110 on the side of the parked vehicle 90 in the traveling direction of the vehicle 20 is an area that is difficult to see from the position of the vehicle 20. The information processing device 24 identifies the area 110 that cannot be seen from the vehicle 20 as a risk area based on information such as an image in the traveling direction acquired by the sensor 29.

[0021] For example, the information processing device 24 determines four vertices 111, 112, 113, and 114 of a rectangular area 110 that includes the position of the vehicle 90, based on the recognition information of the image acquired by the sensor 29. The vertex 113 is a point that is a distance L1 away from the vertex 111 determined based on the recognition information of the image in the traveling direction of the vehicle 20. The vertex 114 is a point that is a distance L1 away from the vertex 112 determined based on the recognition information of the image in the traveling direction of the vehicle 20. L1 is a distance determined according to the vehicle speed of the vehicle 20.

[0022] The information processing device 24 transmits location information of the risk area to the server 52 to inquire of the server 52 whether or not the terminal 82 is present within the area 110. The location information may include four vertices 111, 112, 113, and 114. In the example of FIG. 1 , since the terminal 82 is not present within the area 110 defined by the four vertices 111, 112, 113, and 114, the server 52 either discards the inquiry information or transmits response information to the vehicle 20a indicating that the terminal 82 is not present.

[0023] The server 52 stores risk area information including coordinate information of the two vertices 111 and 112 located closer to the vehicle 20 out of the four vertices 111, 112, 113, and 114 included in the position information received from the information processing device 24, identification information for identifying the risk area, and the detection time when the risk area was detected. The server 52 provides the risk area information to other vehicles including the vehicle 60 following the vehicle 20.

[0024] 2 shows a situation in which the information processing device 64 provided in the vehicle 60 requests position information of a risk area. When the information processing device 64 is present in an area where it can communicate with the server 52, it transmits risk area request information to the server 52. The request information may include position information of the vehicle 60. The server 52 transmits risk area information to the information processing device 64, including coordinate information of the vertices 111 and 112 of the area 110 that it has stored, identification information of the risk area, and the detection time. The risk area information transmitted to the information processing device 64 does not need to include the detection time. The information processing device 64 stores the risk area information received from the server 52.

[0025] 3 shows a situation in which the information processing device 64 makes an inquiry about a risk area. The information processing device 64 transmits inquiry information to the server 52 when the distance from the vehicle 60 to the position indicated by the coordinate information of at least one of the vertices 111 and 112 becomes less than a predetermined distance. The inquiry information includes the identification information of the risk area received from the server 52.

[0026] The server 52 determines vertices 113' and 114' by extending a distance L2 in the traveling direction of the vehicle 60 from the two vertices 111 and 112 of the risk area identified by the risk area identification information included in the inquiry information received from the information processing device 64. The distance L2 may be set according to the vehicle speed of the vehicle 60. When the location information of the terminal 82 managed by the server 52 is included within the area 110' defined by the vertices 111, 112, 113', and 114', the server 52 transmits warning information to the information processing device 64 and the terminal 82. Upon receiving the warning information from the server 52, the information processing device 64 outputs a warning to the occupants of the vehicle 60. For example, the information processing device 64 outputs a warning to the occupants through an HMI (Human Machine Interface) function of the vehicle 60. As a result, the information processing device 64 can output a warning using the risk area received from the server 52 via a wireless communication function, even if the information processing device 64 itself does not have a function to recognize the risk area using sensing means such as a camera. Furthermore, when the terminal 82 receives the warning information from the server 52, it outputs a warning to the person 80. For example, the terminal 82 outputs the warning to the person 80 through an HMI function that the terminal 82 has.

[0027] Like the information processing device 64, the information processing device 24 may request the server 52 for location information of a risk area and receive the risk area information from the server 52. When the information processing device 24 is unable to detect a risk area at the location of the risk area indicated by the risk area information, the information processing device 24 may transmit non-detection information indicating that the risk area was unable to be detected to the server 52.

[0028] The server 52 may manage the number of pieces of non-detection information received for each of the multiple pieces of risk area information it manages. The server 52 may delete the target risk area information when the number of pieces of non-detection information becomes equal to a predetermined threshold. For example, if the threshold is set to 1, the server 52 deletes the risk area information when it receives non-detection information for that risk area information. For example, if the threshold is set to 5, the server 52 deletes the risk area information when it receives non-detection information for that risk area information five times.

[0029] As a result, after a risk area is detected, if the information processing device 24 confirms that the risk area has disappeared, the risk area information can be deleted from the server 52. However, for example, if the area is a place with little vehicle 20 traffic, the risk area that is no longer a risk will continue to remain in the server 52.

[0030] In response to this, it is conceivable to delete each of the multiple pieces of risk area information if it has not been updated for a preset period. However, the shorter the set period, the greater the possibility that a problem (sometimes referred to as problem A) will occur in which, even if a risk area exists, the risk area information is deleted from the server 52, making it impossible to provide assistance to pedestrians who need assistance. Furthermore, the longer the set period, the greater the possibility that a problem (sometimes referred to as problem B) will occur in which, even if a risk area does not exist, the risk area information remains on the server 52, causing unnecessary warnings and reducing the reliability of the service.

[0031] Fig. 4 is an explanatory diagram for explaining the timing of deleting risk area (sometimes referred to as RA) information. In a Gaussian distribution sample, if the deletion time is set to the time when the average time that a vehicle 90 constitutes the risk area (if the risk area is constituted by a vehicle 90 parked on the road, the average parking and stopping time of the vehicle 90) has elapsed since the risk area was generated, the result will be as shown in Fig. 4.

[0032] If the time Td for deleting the RA information is set before the time ti when RAi actually disappears, a period will occur during which problem A may occur. If the time Td for deleting the RA information is set after the time ti when RAi actually disappears, a period will occur during which problem B may occur.

[0033] The server 52 according to this embodiment acquires area-related information related to each of a plurality of areas, for example. An area may be a road. One area may be one road. An area may also be in units of a city, ward, town, village, etc. An area may also be in units of an arbitrarily determined size.

[0034] The area-related information may include map information within the area. The area-related information may include historical information on the parking and stopping times of vehicles in the past within the area. The server 52 acquires parking and stopping times, for example, from vehicles 20 that have previously parked and stopped within the area, or from vehicles equipped with a GPS (Global Positioning System) function. The area-related information includes, for example, historical information on the parking and stopping times of vehicles in the past in areas corresponding to the location of the risk area. The historical information includes multiple parking and stopping times. The server 52 may acquire the parking and stopping times from, for example, another server. The other server has a function to acquire location information of connected cars in various locations and information collected by sensors installed in infrastructure in various locations and identify the parking and stopping times of vehicles in the past within each area. Alternatively, the server 52 itself may acquire location information of connected cars in various locations and information collected by sensors installed in infrastructure in various locations and identify the parking and stopping times.

[0035] When the server 52 receives the risk area information, the server 52 may determine the deletion time for deleting the risk area information based on the area-related information of the area corresponding to the location of the risk area.

[0036] The server 52 determines the deletion time based on, for example, history information on the parking and stopping times of vehicles in the past in an area corresponding to the location of the risk area. As a specific example, the server 52 acquires N parking and stopping times and calculates the time T that satisfies the following formula 1. That is, the server 52 calculates the time T that minimizes the sum of the differences from the N parking and stopping times. ti indicates the acquired parking and stopping times.

[0037]

number

[0038] The server 52 may calculate the time T that satisfies the following formula 2 instead of the above formula 1. If ti is short, the probability that the vehicle 20 will detect the area as a risk area is low in the first place, and if ti is long, the probability that the vehicle 20 will detect the area as a risk area is high. Therefore, the server 52 weights ti by the probability that a risk area will be detected when a certain risk area exists, as shown in the following formula 2. In other words, the server 52 calculates the time T at which the sum of the values ​​obtained by multiplying each of the differences from the N parking / stopping times by the probability that the vehicle 20 will detect the risk area when the risk area exists is minimized.

[0039]

number

[0040] The server 52 determines the deletion time Td to be, for example, the time when the risk area was detected (the risk area detection time may be simply referred to as the detection time), plus the calculated time T. This makes it possible to delete the risk area information at a timing when there is a high probability that the risk area has disappeared.

[0041] Furthermore, the server 52 determines, for example, the deletion time Td by adding the detection time to the time obtained by multiplying the calculated time T by a predetermined positive value that is smaller than 1. As a specific example, the server 52 determines, as the deletion time Td, the time obtained by adding T / 2 to the detection time.

[0042] If vehicle 20 passes nearby immediately after vehicle 90 has parked or stopped, there will be almost no time lag between the occurrence of a risk area and the detection of the risk area. However, as illustrated in FIG. 5, if vehicle 20 passes nearby some time after vehicle 90 has parked or stopped, a time lag will occur between the occurrence of the risk area and the detection of the risk area. In such a case, if the calculated time T is added to the detection time, the deletion of the risk area information will be delayed, which may increase the possibility of problem B occurring. In contrast, by setting the deletion time Td to a time obtained by adding a time shorter than the calculated time T to the detection time, such a possibility can be reduced.

[0043] Note that if another vehicle 20 confirms that the risk area does not exist before the detection time, the occurrence of the risk area is determined to be after the time of confirmation. Therefore, for example, if the absence of the risk area is not confirmed by another vehicle 20 between the time obtained by subtracting T / 2 from the detection time of the risk area and the detection time of the risk area, the server 52 determines the time obtained by adding T / 2 to the detection time as the deletion time Td. Then, if the absence of the risk area is confirmed by another vehicle 20 between the time obtained by subtracting T / 2 from the detection time of the risk area and the detection time of the risk area, the server 52 determines the time obtained by subtracting the time tn at which the absence of the risk area was confirmed from the detection time tf from the calculated time T as the deletion time Td, as shown in FIG. 6.

[0044] The server 52 may store in advance a learning model 382 that takes map information as input and outputs parking and stopping times, the learning model 382 being generated by machine learning using multiple combinations of map information of an area of ​​a predetermined size and past vehicle parking and stopping times within the area. The server 52 may generate the learning model 382 itself. The server 52 may also acquire a learning model 382 generated by another device.

[0045] Then, when the server 52 receives the risk area information, as illustrated in FIG. 7, the server 52 may input map information of an area of ​​a predetermined size centered on the risk area RAi into the learning model 382, ​​and determine the deletion time Td based on the parking time Tm output from the learning model 382 and the detection time of the risk area. The length of time a vehicle parks at a certain location is considered to depend on the environment of that location. For example, on roads near convenience stores, parking times are often relatively short, while on roads near parks, parking times are often relatively long. Therefore, the existence period of the target risk area is likely to be close to the existence period of risk areas in locations with the same environment as the target risk area. The server 52 can determine the deletion time Td taking into account the existence period of risk areas in locations with the same environment as the target risk area, thereby making it possible to delete the risk area information so as to reduce the likelihood of problems A and B occurring.

[0046] For example, the server 52 determines the deletion time Td to be the time obtained by adding the detection time to the parking / stop time Tm. Alternatively, the server 52 determines the deletion time Td to be the time obtained by adding the detection time to the time obtained by multiplying the parking / stop time Tm by a predetermined positive value less than 1. As a specific example, the server 52 determines the deletion time Td to be the time obtained by adding Tm / 2 to the detection time. Alternatively, if it is confirmed by another vehicle 20 that the risk area does not exist between the time obtained by subtracting T / 2 from the detection time and the detection time, the server 52 determines the deletion time Td to be the time obtained by adding Tm / 2 to the detection time. Alternatively, if it is confirmed by another vehicle 20 that the risk area does not exist between the time obtained by subtracting T / 2 from the detection time and the detection time, the server 52 determines the deletion time Td to be the time obtained by subtracting the time tn at which it was confirmed that the risk area does not exist from the detection time, and then subtracting the result from the parking / stop time Tm.

[0047] The learning model 382 may be generated by machine learning using multiple combinations of map information of an area of ​​a predetermined size, past vehicle parking and stopping times in the area, and time information. In this case, when the server 52 receives risk area information, the server 52 may input the map information and time information of an area of ​​a predetermined size centered on the risk area RAi into the learning model 382, ​​and determine the deletion time Td based on the parking and stopping time Tm output from the learning model 382 and the detection time when the risk area was detected.

[0048] 8 shows the system configuration of the vehicle 20. The vehicle 20 includes a sensor 29, an information processing device 24, a communication device 48, and an information output device 40.

[0049] The sensor 29 includes a radar 21, a camera 22, a GNSS receiver 25, and a vehicle speed sensor 26. The radar 21 may be a light detection and ranging (LiDAR) radar, a millimeter-wave radar, or the like. The GNSS receiver 25 receives radio waves transmitted from a Global Navigation Satellite System (GNSS) satellite. The GNSS receiver 25 generates information indicating the current position of the vehicle 20 based on the signal received from the GNSS satellite. The camera 22 is an example of an imaging device mounted on the vehicle 20. The camera 22 captures an image of the periphery of the vehicle 20 to generate image information. For example, the camera 22 captures an image in the traveling direction of the vehicle 20 to generate the image information. The camera 22 may be a monocular camera. The camera 22 may be a compound camera capable of acquiring distance information to an object. The camera 22 recognizes an object based on an image acquired by an imaging function and outputs position information of the recognized object. The vehicle speed sensor 26 detects the speed of the vehicle 20. The sensor 29 may include a position sensor such as an odometer, or an IMU (Inertial Measurement Unit) such as an acceleration sensor or an attitude sensor.

[0050] The vehicle 20 may be equipped with a driving assistance control device that uses information detected by the sensor 29 to assist in driving the vehicle 20. The driving assistance control device may be realized by an ECU (Electronic Control Unit) that provides an ADAS function.

[0051] The communication device 48 is responsible for communication with the server 52. The communication device 48 may communicate with the server 52 via mobile communication. The communication device 48 may be capable of communicating, for example, through a mobile unit via base station (Uu) interface for vehicle-to-vehicle communication.

[0052] The information output device 40 is a device that outputs warning information. The information output device 40 may have an HMI function. The information output device 40 may include a head-up display or a navigation system. The information output device 40 may be a portable terminal carried by an occupant of the vehicle 20. The information output device 40 may include an audio output device that outputs warning information by voice.

[0053] The information processing device 24 includes a control unit 200 and a storage unit 280. The control unit 200 is realized by a circuit such as an arithmetic processing unit including a processor. The storage unit 280 is realized by including a non-volatile storage medium. The control unit 200 performs processing using information stored in the storage unit 280. The control unit 200 may be realized by an ECU including a microcomputer equipped with a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), I / O (Input / Output), a bus, etc.

[0054] The control unit 200 includes a coordinate information acquisition unit 210, a risk area identification unit 220, a risk area information acquisition unit 230, and an HMI function unit 208. A configuration may be adopted in which the control unit 200 does not have some of the functions of the functional blocks shown in Fig. 8. For example, a configuration may be adopted in which only some of the functions are implemented in the control unit 200, and the other functions are implemented as functions of other circuits such as the sensor 29.

[0055] The risk area identification unit 220 identifies a risk area outside the vehicle 20. The communication device 48 transmits risk area information indicating the risk area identified by the risk area identification unit 220 to a server 52 that stores information about the risk area. The risk area identification unit 220 may identify an area defined by a plurality of points as the risk area, and the communication device 48 may transmit coordinate information of the plurality of points as the risk area information to the server 52. The plurality of points that define the risk area may be a plurality of vertices that define the area identified as the risk area. The plurality of points that define the risk area may be a plurality of vertices that define a polygonal area identified as the risk area.

[0056] The risk area may be an area outside the vehicle 20 that poses a risk to the travel of the vehicle 20. The risk area may be an area that is out of sight from the position of the vehicle 20 due to an object outside the vehicle 20. The out-of-sight area is, for example, position information of an area that is occluded when viewed from the position of the vehicle 20 by being blocked by a three-dimensional object such as another vehicle, a building, or a roadside tree.

[0057] The coordinate information acquisition unit 210 acquires coordinate information of an object recognized from an image of the outside of the vehicle 20 captured by the camera 22 mounted on the vehicle 20. The risk area identification unit 220 may identify a risk area based on the coordinate information of the object recognized from the image of the outside of the vehicle 20 captured by the camera 22.

[0058] The risk area information acquisition unit 230 acquires risk area information from the server 52. For example, when the risk area information acquisition unit 230 is present in an area where communication with the server 52 is possible, the risk area information acquisition unit 230 transmits risk area request information to the server 52 via the communication device 48 and receives risk area information from the server 52.

[0059] If the risk area identification unit 220 is unable to detect the risk area at the location of the risk area indicated by the risk area information acquired by the risk area information acquisition unit 230, the risk area identification unit 220 transmits non-detection information indicating that the risk area could not be detected to the server 52 via the communication device 48.

[0060] The HMI functional unit 208 may control the execution of driving assistance for the vehicle 20 or the execution of a warning to the occupants of the vehicle 20. For example, if the information output device 40 is equipped with a head-up display, the HMI functional unit 208 may cause the head-up display of the vehicle 20 to output light for forming a mark as warning information indicating that a pedestrian is present in a risk area. Furthermore, the HMI functional unit 208 causes the head-up display to output light for forming a mark in a display area corresponding to the position of the risk area where the pedestrian is present. The HMI functional unit 208 may project the light for forming the mark toward a reflective member provided on the windshield of the vehicle 20. The HMI functional unit 208 may output warning information by voice or text. Furthermore, the HMI functional unit 208 may control the traveling of the vehicle 20 through a driving assistance control device provided in the vehicle 20.

[0061] 9 shows the system configuration of the server 52. The server 52 includes a communication device 390, a control unit 300, and a storage unit 380.

[0062] The control unit 300 controls the communication device 390. The communication device 390 is responsible for communication between the terminal 82, the information processing device 24, and the information processing device 64. The communication device 390 includes a receiving unit 392 and a transmitting unit 394. The control unit 200 is realized by a circuit such as an arithmetic processing device including a processor. The storage unit 380 is realized by including a non-volatile storage medium. The control unit 300 performs processing using information stored in the storage unit 380. The control unit 300 may be realized by a microcomputer including a CPU, ROM, RAM, I / O, a bus, etc.

[0063] The storage unit 380 stores various types of information. For example, the storage unit 380 stores area-related information for various locations. The storage unit 380 may store area-related information received from the outside by the receiving unit 392. For example, the storage unit 380 stores a learning model 382. The storage unit 380 may store the learning model 382 received from the outside by the receiving unit 392. The storage unit 380 may store the learning model 382 generated by the server 52.

[0064] The control unit 300 includes a selection unit 310, a presence determination unit 320, an acquisition unit 330, a deletion time determination unit 340, a non-detection information acquisition unit 350, and a deletion unit 360. A configuration may be adopted in which the control unit 300 does not have some of the functions of the functional blocks shown in FIG.

[0065] The receiving unit 392 receives location information of a risk area detected by the vehicle 20 that may pose a risk to the vehicle 20's travel and the time of detection. The location information includes, for example, four vertices that define the risk area. The storage unit 380 stores risk area information that includes at least a portion of the location information, identification information that identifies the risk area, and the time of detection. For example, when the location information includes four vertices, the storage unit 380 includes, in the risk area information, two of the four vertices that are closest to the detected vehicle 20.

[0066] The transmitting unit 394 transmits the risk area information stored in the storage unit 380 to the other vehicles 20 and 60.

[0067] For example, when the receiving unit 392 receives request information from the vehicle 20, the selecting unit 310 selects the risk area information corresponding to the location of the vehicle 20 from the risk area information stored in the memory unit 380, and the transmitting unit 394 transmits the selected risk area information to the vehicle 20.

[0068] For example, when the receiving unit 392 receives request information from the vehicle 60, the selecting unit 310 selects the risk area information corresponding to the location of the vehicle 60 from the risk area information stored in the memory unit 380, and the transmitting unit 394 transmits the selected risk area information to the vehicle 60.

[0069] The receiving unit 392 may receive inquiry information from another vehicle 60 as to whether a moving object is present in a risk area. The inquiry information includes designation information that designates the risk area. The designation information may be identification information for the risk area or may be location information for the risk area. The presence determination unit 320 determines whether a predetermined object is present in an area determined from the risk area information stored in the storage unit 380 and designated by the designation information. The predetermined object may be, for example, a pedestrian or a terminal 82 carried by the pedestrian. The presence determination unit 320 may determine whether any terminal is present in the risk area designated by the designation information included in the inquiry information, based on location information for multiple terminals managed by the server 52.

[0070] When the presence determination unit 320 determines that a predetermined object exists in an area determined from the position information of a risk area specified from the risk area designation information, the transmission unit 394 transmits warning information. The transmission unit 394 may transmit the warning information to the vehicle 60, or may transmit the warning information to the terminal 82 present in the risk area.

[0071] When the receiving unit 392 receives the location information of a risk area from the vehicle 20 and the memory unit 380 stores the risk area information, the acquiring unit 330 acquires area-related information of an area corresponding to the location of the risk area from the memory unit 380. The deletion time determining unit 340 determines the deletion time at which to delete the risk area information stored in the memory unit 380 from the memory unit 380, based on the area-related information acquired by the acquiring unit 330.

[0072] The deletion time determination unit 340 determines the deletion time based on, for example, historical information about parking and stopping times included in the area-related information. As an example, the deletion time determination unit 340 determines the deletion time using the time (sometimes referred to as the first time) with the smallest total difference from multiple parking and stopping times included in the historical information. For example, the deletion time determination unit 340 determines the deletion time to be the time obtained by adding the first time to the detection time when the risk area was detected. For example, the deletion time determination unit 340 determines the deletion time to be the time obtained by multiplying the first time by a predetermined positive value smaller than 1 to the detection time when the risk area was detected.

[0073] If it is not confirmed by another vehicle that no risk area exists between the detection time and the time obtained by subtracting the time obtained by multiplying the first time by a predetermined value smaller than 1 from the detection time, the deletion time determination unit 340 may determine the deletion time to be the time obtained by adding the time obtained by multiplying the first time by a predetermined value smaller than 1 to the detection time; if it is confirmed that no risk area exists, the deletion time determination unit 340 may determine the deletion time to be the time obtained by subtracting the time obtained by subtracting the time when it was confirmed that no risk area exists from the detection time from the first time, and adding this time to the detection time.

[0074] The deletion time determination unit 340 may determine the deletion time using the time (sometimes referred to as the second time) for which the sum of values ​​obtained by multiplying each difference from the multiple parking / stopping times included in the history information by the probability that the vehicle will detect the risk area when the risk area exists is the smallest. For example, the deletion time determination unit 340 determines the deletion time to be the time obtained by adding the second time to the detection time when the risk area was detected. For example, the deletion time determination unit 340 determines the deletion time to be the time obtained by multiplying the second time by a predetermined positive value smaller than 1 to the detection time when the risk area was detected.

[0075] If it is not confirmed by another vehicle that no risk area exists between the detection time and the time obtained by subtracting the time obtained by multiplying the second time by a predetermined value smaller than 1 from the detection time, the deletion time determination unit 340 may determine the deletion time to be the time obtained by adding the time obtained by multiplying the second time by a predetermined value smaller than 1 to the detection time; if it is confirmed that no risk area exists, the deletion time determination unit 340 may determine the deletion time to be the time obtained by subtracting the time obtained by subtracting the time when it was confirmed that no risk area exists from the detection time from the second time and adding this time to the detection time.

[0076] When the receiving unit 392 receives location information of a risk area from the vehicle 20 and the memory unit 380 stores the risk area information, the acquiring unit 330 acquires map information of the area corresponding to the location of the risk area, and the deletion time determination unit 340 inputs the map information acquired by the acquiring unit 330 to the learning model 382 and determines the deletion time based on the parking / stopping time output from the learning model 382 and the detection time at which the risk area was detected. Note that the deletion time determination unit 340 may input time information in addition to the map information acquired by the acquiring unit 330 to the learning model 382 and determine the deletion time based on the parking / stopping time output from the learning model 382 and the detection time at which the risk area was detected. For example, the deletion time determination unit 340 determines the deletion time by adding the detection time at which the risk area was detected to the parking / stopping time. For example, the deletion time determination unit 340 determines the deletion time by adding the detection time at which the risk area was detected to the time obtained by multiplying the parking / stopping time by a predetermined positive value less than 1. For example, if it is not confirmed by another vehicle that no risk area exists between the detection time and the time obtained by subtracting the time obtained by multiplying the parking time by a predetermined value smaller than 1 from the detection time, the deletion time determination unit 340 determines the deletion time to be the time obtained by adding the time obtained by multiplying the parking time by a predetermined value smaller than 1 to the detection time; if it is confirmed that no risk area exists, the deletion time determination unit 340 determines the deletion time to be the time obtained by subtracting the time when it was confirmed that no risk area exists from the detection time from the parking time, and adding this time to the detection time.

[0077] The non-detection information acquisition unit 350 acquires the non-detection information received by the receiving unit 392 from the vehicle 20. The non-detection information acquisition unit 350 manages the number of times that the corresponding non-detection information has been received for each of the plurality of pieces of risk area information stored in the storage unit 380.

[0078] The deletion unit 360 deletes risk area information that satisfies a condition from the storage unit 380, among the multiple pieces of risk area information stored in the storage unit 380. The deletion unit 360 may delete risk area information in accordance with the deletion time determined by the deletion time determination unit 340. The deletion unit 360 may delete risk area information for which the number of times non-detection information managed by the non-detection information acquisition unit 350 has received reaches a predetermined threshold.

[0079] Fig. 10 shows a schematic diagram of a risk area identified by the risk area identifying unit 220. Fig. 10 shows an example in which a rectangular area is identified as a risk area.

[0080] In the example shown in FIG. 10 , the risk area identification unit 220 sets an area 110 surrounding the location of the vehicle 90 based on coordinate information indicating the presence range of the vehicle 90 recognized by the coordinate information acquisition unit 210 from information detected by the sensor 29, and identifies the area 110 as a first risk area. The area 110 is a rectangular area defined by connecting vertices 111, 112, 114, and 113. Each vertex is set so that the line segment connecting the vertex 111 and the vertex 112 and the line segment connecting the vertex 113 and the vertex 114 are perpendicular to the traveling direction of the vehicle 20, and the line segment connecting the vertex 111 and the vertex 113 and the line segment connecting the vertex 112 and the vertex 114 are parallel to the traveling direction of the vehicle 20. The vertex 113 is determined to be a position distance L1 away from the vertex 111 in the traveling direction of the vehicle 20, and the vertex 114 is determined to be a position distance L1 away from the vertex 112 in the traveling direction of the vehicle 20. L1 may be determined in accordance with the speed of the vehicle 20. L1 may be determined to be longer as the speed of the vehicle 20 increases.

[0081] Similarly, the risk area identification unit 220 sets an area 620 surrounding the location of the vehicle 92 based on coordinate information indicating the presence range of the vehicle 92 recognized by the coordinate information acquisition unit 210 from information detected by the sensor 29, and identifies the area 620 as a second risk area. The area 620 is a rectangular area defined by connecting vertices 621, 622, 624, and 623. Each vertex is set so that the line segment connecting the vertex 621 and the vertex 622 and the line segment connecting the vertex 623 and the vertex 624 are perpendicular to the traveling direction of the vehicle 20, and the line segment connecting the vertex 621 and the vertex 623 and the line segment connecting the vertex 622 and the vertex 624 are parallel to the traveling direction of the vehicle 20. The vertex 623 is determined to be a position distance L1 away from the vertex 621 in the traveling direction of the vehicle 20, and the vertex 624 is determined to be a position distance L1 away from the vertex 621 in the traveling direction of the vehicle 20.

[0082] Similarly, the risk area identification unit 220 sets an area 630 surrounding the location of the vehicle 93 based on coordinate information indicating the presence range of the vehicle 93 recognized by the coordinate information acquisition unit 210 from information detected by the sensor 29, and identifies the area 630 as a third risk area. The area 630 is a rectangular area defined by connecting vertices 631, 632, 634, and 633. Each vertex is set so that the line segment connecting the vertex 631 and the vertex 632 and the line segment connecting the vertex 633 and the vertex 634 are perpendicular to the traveling direction of the vehicle 20, and the line segment connecting the vertex 631 and the vertex 633 and the line segment connecting the vertex 632 and the vertex 634 are parallel to the traveling direction of the vehicle 20. The vertex 633 is determined to be a position distance L1 away from the vertex 631 in the traveling direction of the vehicle 20, and the vertex 634 is determined to be a position distance L1 away from the vertex 632 in the traveling direction of the vehicle 20.

[0083] 11 shows the data structure of risk area information stored in the storage unit 380 of the server 52. The data stored as risk area information in the storage unit 380 includes the following data items: risk area ID, detection time, storage time, risk factor, risk area coordinates, non-detection information, and deletion time. The storage unit 380 stores one piece of data having these data items for each risk area.

[0084] The risk area ID is identification information for a plurality of risk areas stored as risk area information in the storage unit 380. The risk area ID is identification information that is assigned by the server 52 when the server 52 registers data for one of the risk areas.

[0085] The detection time is the time when the risk area is detected in the vehicle 20. The detection time is included in the information transmitted from the information processing device 24.

[0086] The storage time is the time when the record of the risk area is stored in the storage unit 380 of the server 52.

[0087] The risk factor is information that identifies the risk factor and is included in the information transmitted from the information processing device 24.

[0088] The risk area coordinates indicate the geographical coordinates of two points for identifying a risk area. The risk area coordinates are the coordinates of two vertices included in the information transmitted from the information processing device 24.

[0089] The non-detection information is the number of times that non-detection information is received for the corresponding risk area information.

[0090] The deletion time is the deletion time determined by the deletion time determination unit 340.

[0091] 12 shows an example of a processing flow by the server 52. Here, a processing flow will be described in which, for one piece of risk area information, a deletion time Td is determined based on the past parking and stopping time in the area corresponding to the risk area, and the risk area information is deleted.

[0092] In step (step may be abbreviated as S) 102, the receiving unit 392 receives, from the vehicle 20, location information of the risk area detected by the vehicle 20. In S104, the memory unit 380 stores risk area information including the location information of the risk area received by the receiving unit 392 in S102.

[0093] In S106, the acquisition unit 330 acquires N past parking and stopping times in the area corresponding to the position of the risk area.

[0094] In S108, the deletion time determination unit 340 determines a deletion time Td from the N parking / stopping times acquired by the acquisition unit 330 in S106. For example, the deletion time determination unit 340 first calculates the time T that has the smallest total of differences from each of the N parking / stopping times. Then, the deletion time determination unit 340 determines the time obtained by adding the calculated time T to the detection time when the risk area was detected as the deletion time Td. The deletion time determination unit 340 may also determine the time obtained by multiplying the calculated time T by a predetermined positive value smaller than 1 and adding the result to the detection time when the risk area was detected as the deletion time Td.

[0095] In S110, the deletion unit 360 determines whether the deletion time Td has passed. If not, the process proceeds to S112, and if yes, the process proceeds to S114. In S112, the deletion unit 360 determines whether the number of non-detection information items for the risk area information is equal to or greater than a predetermined threshold. If it is determined that the number is equal to or greater than the threshold, the process proceeds to S114, and if it is determined that the number is less than the threshold, the process returns to S110. In S114, the deletion unit 360 deletes the risk area information. Then, the process ends.

[0096] In S108, instead of calculating the time T at which the sum of the differences from each of the N parking times is smallest, the deletion time determination unit 340 may calculate the time T at which the sum of the values ​​obtained by multiplying each of the differences from the N parking times by the probability that the vehicle 20 will detect the risk area when the risk area exists is smallest.

[0097] In S108, different deletion times Td may be calculated depending on whether it was confirmed by another vehicle that the target risk area did not exist between the detection time and the time obtained by subtracting the calculated time T multiplied by a predetermined value smaller than 1 from the detection time of the risk area. For example, if it was not confirmed that the target risk area did not exist, the deletion time determination unit 340 determines the deletion time Td as the time obtained by adding the calculated time T multiplied by a predetermined value smaller than 1 to the detection time, and if it was confirmed that the target risk area did not exist, the deletion time determination unit 340 determines the deletion time Td as the time obtained by subtracting the time when it was confirmed that the risk area did not exist from the detection time from the calculated time T, and adding this time to the detection time.

[0098] In S106, the acquisition unit 330 acquires map information of the area corresponding to the location of the risk area, and in S108, the deletion time determination unit 340 inputs the map information into the learning model 382 and calculates the deletion time Td using the parking time output from the learning model 382.

[0099] Communications between the information processing device 24 and the information processing device 64 and the server 52 may be performed using a communication method conforming to Cellular-V2X. Cellular-V2X includes communication methods such as LTE-V2X PC5 and 5G-V2X PC5. In other embodiments, communications between the information processing device 24 and the information processing device 64 and the server 52 may employ a method using Wi-Fi (registered trademark) or DSRC (Dedicated Short Range Communications). Communications between the information processing device 24 and the information processing device 64 and the server 52 may employ any communication method such as Bluetooth (registered trademark) in addition to Cellular-V2X and DSRC (registered trademark). The information processing device 24 and the information processing device 64 may communicate with the server 52 using a communication infrastructure provided by ITS (Intelligent Transport Systems).

[0100] Vehicles 20 and 60 may be examples of transportation equipment. Transportation equipment may include automobiles such as passenger cars and buses, saddle-type vehicles, bicycles, etc. In the above-described embodiment, system 10 functions as a system for issuing a warning when terminal 82 is present within a risk area, but it may also function as a system for issuing a warning when any communication device, other than terminal 82, whose location information can be managed by server 52, is present. Such a communication device may be provided in any vehicle, such as an automobile, saddle-type vehicle, or bicycle.

[0101] 13 schematically illustrates an example of a hardware configuration of a computer 2000 in which multiple embodiments of the present invention may be embodied in whole or in part. A program installed on the computer 2000 may cause the computer 2000 to function as an apparatus, such as the information processing device 24 according to an embodiment, or each part of the apparatus, or as a server, such as the server 52 according to an embodiment, or each part of the server, to perform operations associated with the apparatus, each part of the apparatus, the server, or each part of the server, and / or to perform a process or steps of the process according to an embodiment. Such a program may be executed by the CPU 2012 to cause the computer 2000 to perform specific operations associated with some or all of the processing procedures and blocks of the block diagrams described herein.

[0102] The computer 2000 according to this embodiment includes a CPU 2012 and a RAM 2014, which are interconnected by a host controller 2010. The computer 2000 also includes a ROM 2026, a flash memory 2024, a communication interface 2022, and an input / output chip 2040. The ROM 2026, the flash memory 2024, the communication interface 2022, and the input / output chip 2040 are connected to the host controller 2010 via the input / output controller 2020.

[0103] The CPU 2012 operates according to programs stored in the ROM 2026 and RAM 2014, thereby controlling each unit.

[0104] The communication interface 2022 communicates with other electronic devices via a network. The flash memory 2024 stores programs and data used by the CPU 2012 in the computer 2000. The ROM 2026 stores a boot program and the like executed by the computer 2000 upon activation, and / or programs that depend on the hardware of the computer 2000. The input / output chip 2040 may also connect various input / output units, such as a keyboard, mouse, and monitor, to the input / output controller 2020 via input / output ports, such as a serial port, a parallel port, a keyboard port, a mouse port, a monitor port, a USB port, an HDMI (registered trademark) port, etc.

[0105] The programs are provided via a computer-readable storage medium such as a CD-ROM, DVD-ROM, or memory card, or via a network. The RAM 2014, the ROM 2026, or the flash memory 2024 are examples of computer-readable storage media. The programs are installed in the flash memory 2024, the RAM 2014, or the ROM 2026 and executed by the CPU 2012. Information processing described in these programs is read by the computer 2000, and causes cooperation between the programs and the various types of hardware resources described above. An apparatus or a method may be configured by implementing operations or processing of information in accordance with the use of the computer 2000.

[0106] For example, when communication is performed between the computer 2000 and an external device, the CPU 2012 may execute a communication program loaded into the RAM 2014 and instruct the communication interface 2022 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 2012, the communication interface 2022 reads transmission data stored in a transmission buffer processing area provided in a recording medium such as the RAM 2014 or flash memory 2024, transmits the read transmission data to a network, and writes received data received from the network to a reception buffer processing area or the like provided on the recording medium.

[0107] The CPU 2012 may also cause all or a necessary portion of a file or database stored on a recording medium such as the flash memory 2024 to be read into the RAM 2014, and perform various types of processing on the data on the RAM 2014. The CPU 2012 then writes the processed data back to the recording medium.

[0108] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 2012 may perform various types of processing on data read from the RAM 2014, including various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information search / replacement, etc., as described herein and specified by the instruction sequences of the programs, and write the results back to the RAM 2014. The CPU 2012 may also search for information in a file, database, etc. on the recording medium. For example, if multiple entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored on the recording medium, the CPU 2012 may search for an entry that matches a condition specified by the attribute value of the first attribute from among the multiple entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0109] The above-described programs or software modules may be stored in a computer-readable storage medium on or near the computer 2000. A recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as the computer-readable storage medium. The programs stored in the computer-readable storage medium may be provided to the computer 2000 via a network.

[0110] A program installed in the computer 2000 and causing the computer 2000 to function as the server 52 may act on the CPU 2012 or the like to cause the computer 2000 to function as each unit of the server 52. When the information processing described in these programs is read into the computer 2000, the computer 2000 functions as each unit of the server 52, which is a specific means formed by the software and the various hardware resources described above working together. These specific means then perform calculations or processing of information according to the intended use of the computer 2000 in this embodiment, thereby constructing a specific server 52 according to the intended use.

[0111] A program installed in the computer 2000 and causing the computer 2000 to function as the information processing device 24 may act on the CPU 2012 or the like to cause the computer 2000 to function as each unit of the information processing device 24. When the information processing described in these programs is loaded into the computer 2000, the computer 2000 functions as each unit of the information processing device 24, which is a specific means formed by the software and the various hardware resources described above working together. These specific means then perform calculations or processing of information according to the intended use of the computer 2000 in this embodiment, thereby constructing a specific information processing device 24 according to the intended use.

[0112] Various embodiments have been described with reference to block diagrams and the like. In the block diagrams, each block may represent (1) a stage of a process in which an operation is performed or (2) a portion of an apparatus responsible for performing the operation. Particular stages and portions may be implemented by dedicated circuitry, programmable circuitry provided with computer-readable instructions stored on a computer-readable storage medium, and / or a processor provided with computer-readable instructions stored on a computer-readable storage medium. Dedicated circuitry may include digital and / or analog hardware circuitry, and may include integrated circuits (ICs) and / or discrete circuits. Programmable circuitry may include reconfigurable hardware circuitry including logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logic operations, flip-flops, registers, memory elements such as field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like.

[0113] A computer-readable storage medium may include any tangible device capable of storing instructions that are executed by an appropriate device, such that the computer-readable storage medium with instructions stored thereon constitutes at least a portion of an article of manufacture containing instructions that can be executed to provide means for performing the operations specified in a process or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray (RTM) disc, memory stick, integrated circuit card, etc.

[0114] The computer readable instructions may include either assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or source or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, JAVA®, C++, etc., and conventional procedural programming languages ​​such as the “C” programming language or similar programming languages.

[0115] The computer-readable instructions may be provided to a processor or programmable circuitry of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, either locally or over a wide-area network (WAN) such as a local area network (LAN), the Internet, etc., and executed to provide means for performing the operations specified in the process steps or block diagrams described. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0116] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the claims that such modifications and improvements can also be included within the technical scope of the present invention.

[0117] It should be noted that the execution order of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before," "prior to," etc., and that the processes can be performed in any order unless the output of a previous process is used in a subsequent process. Even if the operational flow in the claims, specifications, and drawings is described using "first," "next," etc. for convenience, this does not mean that the processes must be performed in this order. [Explanation of symbols]

[0118] 10 Systems 20 vehicles 21 Radar 22 Camera 24 Information processing equipment 25 GNSS receiver 26 Vehicle speed sensor 29 Sensors 40 Information output device 48 Communication Equipment 50 base stations 52 servers 60 vehicles 64 Information processing equipment 70 road 80 people 82 terminals 90 vehicles 92 vehicles 93 vehicles 110 Area 111 Vertex 112 Vertices 113 Vertex 114 Vertex 200 control section 208 HMI function section 210 Coordinate information acquisition unit 220 Risk Area Identification Department 230 Risk Area Information Acquisition Department 280 Storage section 300 control section 310 Selection Section 320 Existence judgment part 330 Acquisition Department 340 Deletion time determination unit 350 Non-detection information acquisition unit 360 Deleted section 380 Storage section 382 Learning Model 390 Communication Equipment 392 Receiving Unit 394 Transmitter 620 Area 621 Vertex 622 Vertex 623 Vertex 624 Vertex 630 Area 631 Vertex 632 Vertex 633 Vertex 634 Vertex 2000 Computer 2010 Host Controller 2012 CPU 2014 RAM 2020 Input / Output Controller 2022 Communication Interface 2024 flash memory 2026 ROM 2040 Input / Output Chip

Claims

1. a receiving unit that receives location information of a risk area detected by a vehicle and that may pose a risk to the vehicle's travel; a storage unit for storing risk area information including location information of the risk area; an acquisition unit that acquires area-related information related to an area corresponding to the location of the risk area; a deletion time determination unit that determines a deletion time at which the risk area information is to be deleted from the storage unit based on the area-related information; a deletion unit that deletes the risk area information from the storage unit in accordance with the deletion time determined by the deletion time determination unit; Equipped with The risk area is an area that is blocked by another vehicle and is out of sight when viewed from the position of the vehicle, The area-related information includes history information of parking and stopping times of vehicles in the past in areas corresponding to the locations of the risk areas, the deletion time determination unit determines the deletion time based on the history information. Risk area information management device.

2. The history information includes a plurality of parking and stopping times, The risk area information management device according to claim 1, wherein the deletion time determination unit determines the deletion time using a first time that has the smallest sum of differences from the multiple parking and stopping times included in the history information.

3. A receiving unit that receives location information of a risk area detected by a vehicle that may pose a risk to the vehicle's travel; a storage unit for storing risk area information including location information of the risk area; an acquisition unit that acquires area-related information related to an area corresponding to the location of the risk area; a deletion time determination unit that determines a deletion time at which the risk area information is to be deleted from the storage unit based on the area-related information; a deletion unit that deletes the risk area information from the storage unit in accordance with the deletion time determined by the deletion time determination unit; Equipped with The area-related information includes history information of parking and stopping times of vehicles in the past in areas corresponding to the locations of the risk areas, The history information includes a plurality of parking and stopping times, the deletion time determination unit determines the deletion time using a first time that has the smallest sum of values ​​obtained by multiplying each difference from the plurality of parking / stopping times included in the history information by a probability that the vehicle will detect the risk area when the risk area exists; Risk area information management device.

4. The risk area information management device according to claim 3 , wherein the deletion time determination unit determines, as the deletion time, a time obtained by adding the first time to a detection time at which the risk area is detected.

5. A receiving unit that receives location information of a risk area detected by a vehicle that may pose a risk to the vehicle's travel; a storage unit for storing risk area information including location information of the risk area; an acquisition unit that acquires area-related information related to an area corresponding to the location of the risk area; a deletion time determination unit that determines a deletion time at which the risk area information is to be deleted from the storage unit based on the area-related information; a deletion unit that deletes the risk area information from the storage unit in accordance with the deletion time determined by the deletion time determination unit; Equipped with the area-related information includes history information including a plurality of parking and stopping times in the past when a vehicle has been parked and stopped in an area corresponding to the location of the risk area; the deletion time determination unit determines, as the deletion time, a time obtained by adding a detection time at which the risk area is detected to a first time having the smallest sum of differences from the plurality of parking and stop times included in the history information, by multiplying the first time by a predetermined positive value smaller than 1; Risk area information management device.

6. The risk area information management device of claim 5, wherein the deletion time determination unit determines, if the absence of the risk area is not confirmed by another vehicle between the detection time and the time obtained by subtracting the time obtained by multiplying the first time by a predetermined value smaller than 1 from the detection time, as the deletion time, and if the absence of the risk area is confirmed between the detection time and the time obtained by subtracting the time obtained by multiplying the first time by a predetermined value smaller than 1 from the detection time, determines, if the absence of the risk area is confirmed, as the deletion time, as the time obtained by subtracting the time obtained by subtracting the time when it was confirmed that the risk area does not exist from the detection time from the first time and adding this time to the detection time.

7. A receiving unit that receives location information of a risk area detected by a vehicle that may pose a risk to the vehicle's travel; a storage unit for storing risk area information including location information of the risk area; an acquisition unit that acquires area-related information related to an area corresponding to the location of the risk area; a deletion time determination unit that determines a deletion time at which the risk area information is to be deleted from the storage unit based on the area-related information; a deletion unit that deletes the risk area information from the storage unit in accordance with the deletion time determined by the deletion time determination unit; Equipped with the acquisition unit acquires map information of an area corresponding to the location of the risk area; the deletion time determination unit inputs the map information acquired by the acquisition unit into a learning model that receives map information as an input and outputs parking time, the learning model being generated by machine learning using map information of an area corresponding to a location where the vehicle is parked and parking time of the vehicle, and determines the deletion time based on the parking time output from the learning model and the detection time when the risk area is detected; Risk area information management device.

8. The risk area information management device is a MEC (Mobile Edge Computing) server. The risk area information management device according to any one of claims 1 to 7.

9. A program for causing a computer to function as the risk area information management device according to any one of claims 1 to 7.

10. 1. A computer-implemented method for managing risk area information, comprising: a receiving step of receiving location information of risk areas detected by a vehicle that may pose a risk to the vehicle's travel; a storage step of storing risk area information including location information of the risk area in a storage unit; acquiring area-related information related to an area corresponding to the location of the risk area; a deletion time determination step of determining a deletion time for deleting the risk area information from the storage unit based on the area-related information; a deletion step of deleting the risk area information from the storage unit in accordance with the deletion time determined in the deletion time determination step; Equipped with The risk area is an area that is blocked by another vehicle and is out of sight when viewed from the position of the vehicle, The area-related information includes history information of parking and stopping times of vehicles in the past in areas corresponding to the locations of the risk areas, the deletion time determination step determines the deletion time based on the history information; Risk area information management methods.

11. A risk area information management method executed by a computer, comprising: a receiving step of receiving location information of risk areas detected by a vehicle that may pose a risk to the vehicle's travel; a storage step of storing risk area information including location information of the risk area in a storage unit; acquiring area-related information related to an area corresponding to the location of the risk area; a deletion time determination step of determining a deletion time for deleting the risk area information from the storage unit based on the area-related information; a deletion step of deleting the risk area information from the storage unit in accordance with the deletion time determined in the deletion time determination step; Equipped with The area-related information includes history information of parking and stopping times of vehicles in the past in areas corresponding to the locations of the risk areas, The history information includes a plurality of parking and stopping times, the deletion time determination step determines the deletion time using a first time that has the smallest sum of values ​​obtained by multiplying each difference from the plurality of parking / stopping times included in the history information by a probability that the vehicle will detect the risk area when the risk area exists; Risk area information management methods.

12. A risk area information management method executed by a computer, comprising: a receiving step of receiving location information of risk areas detected by a vehicle that may pose a risk to the vehicle's travel; a storage step of storing risk area information including location information of the risk area in a storage unit; acquiring area-related information related to an area corresponding to the location of the risk area; a deletion time determination step of determining a deletion time for deleting the risk area information from the storage unit based on the area-related information; a deletion step of deleting the risk area information from the storage unit in accordance with the deletion time determined in the deletion time determination step; Equipped with the area-related information includes history information including a plurality of parking and stopping times in the past when a vehicle has been parked and stopped in an area corresponding to the location of the risk area; The deletion time determination step determines, as the deletion time, a time obtained by adding a first time, which is included in the history information and has the smallest sum of differences from the detection time of the risk area, to the detection time of the risk area, by multiplying the first time by a predetermined positive value smaller than 1. Risk area information management methods.

13. A risk area information management method executed by a computer, comprising: a receiving step of receiving location information of risk areas detected by a vehicle that may pose a risk to the vehicle's travel; a storage step of storing risk area information including location information of the risk area in a storage unit; acquiring area-related information related to an area corresponding to the location of the risk area; a deletion time determination step of determining a deletion time for deleting the risk area information from the storage unit based on the area-related information; a deletion step of deleting the risk area information from the storage unit in accordance with the deletion time determined in the deletion time determination step; Equipped with The acquiring step acquires map information of an area corresponding to the location of the risk area; The deletion time determination step inputs the map information acquired in the acquisition step into a learning model that receives map information as an input and outputs parking time, the learning model being generated by machine learning using map information of an area corresponding to the location where the vehicle is parked and parking time of the vehicle, and determines the deletion time based on the parking time output from the learning model and the detection time when the risk area is detected. Risk area information management methods.

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