Information processing system and automated driving assistance method

Abstract

To realize low delay of driving assist in a state of reduced processing loads of a processing device loaded on a vehicle.SOLUTION: There is disclosed an information processing system comprising: an information processing device provided on a roadside; and a communication antenna provided on the roadside. The information processing device comprises: a vehicle information acquisition unit which acquires vehicle information regarding one or more assist object vehicles located in a communication area covered by the communication antenna; a transmission data generation unit which generates transmission data on the basis of the vehicle information acquired by the vehicle information acquisition unit; and a data transmission processing unit which transmits the transmission data generated by the transmission data generation unit to the support object vehicles via the communication antenna. The transmission data includes at least one of vehicle position information representing positions of the assist object vehicles and travel control information.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to an information processing system and an autonomous driving assistance method. [Background technology]

[0002] BACKGROUND ART There is known a vehicle equipped with multiple communication devices, each of which includes a receiver that receives radar waves, an amplifier that amplifies the radar waves received by the receiver, and a transmitter that transmits the radar waves amplified by the amplifier. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-082487 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-described conventional technology, the control information required for automatic driving is calculated by a processing device mounted on the mobile body, and therefore the calculation processing load on the processing device mounted on the mobile body tends to be relatively high.

[0005] Therefore, an object of the present disclosure is to achieve low latency driving assistance while reducing the processing load on a processing device mounted on a vehicle. [Means for solving the problem]

[0006] According to one aspect of the present disclosure, there is provided an information processing system for assisting a driving of an assistance target vehicle having an autonomous driving function, comprising: an information processing device installed on the roadside; a communication antenna provided on the roadside; The information processing device includes: a vehicle information acquisition unit that acquires vehicle information regarding one or more support target vehicles located within a communication area covered by the communication antenna; a transmission data generation unit that generates transmission data based on the vehicle information acquired by the vehicle information acquisition unit; a data transmission processing unit that transmits the transmission data generated by the transmission data generation unit to the assistance target vehicle via the communication antenna, An information processing system is provided in which the transmission data includes at least one of vehicle position information indicating the position of the assistance target vehicle and driving control information. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to achieve low latency driving assistance while reducing the processing load on the processing device mounted on the vehicle. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is an explanatory diagram of an overview of an information processing system according to a basic embodiment. [Figure 2] FIG. 2 is a diagram illustrating a part of the communication area of ​​FIG. 1. [Figure 3] 1 is a schematic diagram showing the configuration of an information processing system according to a first embodiment. [Figure 4] 1 is a schematic diagram illustrating functions of an information processing system according to a first embodiment. [Figure 5] FIG. 10 is a schematic diagram showing the configuration of an information processing system according to a second embodiment. [Figure 6] FIG. 10 is a schematic diagram illustrating functions of an information processing system according to a second embodiment. [Figure 7] 1 is a cross-sectional view schematically illustrating an example of the arrangement of an information processing system in a building. [Figure 8] FIG. 10 is a schematic diagram showing the configuration of an information processing system according to a third embodiment. [Figure 9] FIG. 10 is a schematic diagram illustrating functions of an information processing system according to a third embodiment. [Figure 10] FIG. 10 is a schematic diagram showing the configuration of an information processing system according to a fourth embodiment. [Figure 11]FIG. 10 is a schematic diagram showing functions of an information processing system according to a fourth embodiment. [Figure 12] FIG. 10 is a schematic diagram showing the configuration of an information processing system according to a fifth embodiment. [Figure 13] FIG. 10 is a schematic diagram showing the functions of an information processing system according to a fifth embodiment. [Figure 14] FIG. [Figure 15] FIG. 13 is a schematic diagram showing the configuration of an information processing system according to a sixth embodiment. [Figure 16] FIG. 13 is a schematic diagram showing functions of an information processing system according to a sixth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Each embodiment will be described in detail below with reference to the accompanying drawings.

[0010] In the following, first, an information processing system 1 according to a basic embodiment will be described, and then an automatic driving assistance method according to each embodiment that further embodies the basic embodiment will be described.

[0011] Fig. 1 is an explanatory diagram of an overview of an information processing system 1 according to a basic embodiment, showing a driving environment in which buildings 80 are located around a road 90. Fig. 2 is a diagram showing a schematic representation of a portion of a communication area A1 in Fig. 1. In Fig. 1, radio waves related to communication are schematically shown by hatched areas R1 and R2.

[0012] The information processing system 1 is an information processing system for assisting the driving of an assisted vehicle 70 equipped with an automatic driving function. The automatic driving function may be, for example, an automatic driving function of level 3 or higher.

[0013] The information processing system 1 includes a processing device 10 (an example of an information processing device) and a communication antenna 12 on the roadside.

[0014] The processing device 10 is formed by a computer and may have a processing capability higher than that of an on-board computer (e.g., an ECU (Electronic Control Unit)) that may be installed in the support target vehicle 70. The processing device 10 may be realized by multiple computers or CPUs (Central Processing Units). The multiple computers may also include a server computer.

[0015] The communication antenna 12 is electrically connected to the processing device 10. The communication antenna 12 is arranged to have a communication area that covers the road section through which the supported vehicle 70 passes. If the road section to be covered is relatively long, a communication antenna 12 may be provided for each shorter road section. In the example shown in FIG. 1, two communication areas A1 and A2 are shown schematically.

[0016] A plurality of communication antennas 12 may be provided for each road section. The communication antenna 12 may also be implemented as a distributed MIMO system. In a fifth-generation mobile communication system (hereinafter simply referred to as "5G"), the communication antenna 12 may be implemented in the form of an array antenna. In this case, by changing the phase of the array antenna, it becomes possible to control the beam in any direction. In other words, the beamforming function of 5G can achieve stable communication with each assisted vehicle 70 with little radio wave interference.

[0017] The communication antenna 12 is preferably provided indoors in the building 80. This makes it easy to electrically connect the communication antenna 12 and the processing device 10 via wiring when the processing device 10 is placed indoors, such as on the ceiling of the building 80.

[0018] The communication antenna 12 is preferably provided on a windowpane 60 of the building 80. This allows the communication antenna 12 to be installed on the roadside using existing infrastructure, without the need for special dedicated facilities. Furthermore, using the windowpane 60 of the building 80 makes it easier to install the communication antenna 12 at an appropriate height. For example, the communication antenna 12 may be provided at a height from the ground within a range of 3 m to 15 m. This allows for efficient communication with the support target vehicle 70 located on the ground. Furthermore, by using the windowpane 60 of the building 80, when multiple communication antennas 12 are provided, the difference in height from the ground between the multiple communication antennas 12 can be adjusted to within, for example, 1 meter. This allows for more efficient communication with the support target vehicle 70 located on the ground.

[0019] Furthermore, the communication antenna 12 is preferably provided on the indoor side of the window glass 60 of the building 80, but may also be provided on the outdoor side of the window glass 60 of the building 80. This makes it less susceptible to communication being affected by the window glass 60, and enables more efficient communication with the support target vehicle 70 located on the ground.

[0020] The communication antenna 12 may also be provided on a sash to which the window glass 60 of the building 80 is attached.

[0021] The building 80 refers to an artificial structure that has a height above ground level, and may include a living space such as an office, a residence, or a hotel, or may be a steel tower, a utility pole, a traffic light, etc. The building in which the communication antenna 12 is installed is not a facility dedicated to communication, so that the information processing system 1 can be realized by utilizing existing infrastructure.

[0022] The window glass 60 is generally transparent, but may be translucent or opaque. The material of the window glass 60 is arbitrary, and may be inorganic glass such as soda lime glass, borosilicate glass, aluminosilicate glass, lithium silicate glass, alkali-free glass, or quartz glass, or organic glass such as polycarbonate or acrylic.

[0023] The information processing system 1 supports the driving of the assisted vehicle 70 by establishing a two-way communication state (see arrow R4 in FIG. 2 ) with the assisted vehicle 70 via the communication antenna 12. Specifically, the information processing system 1 transmits vehicle position information indicating the position of the assisted vehicle 70 and driving control information. As a result, the assisted vehicle 70 that has received the vehicle position information and driving control information can perform automatic driving using an automatic driving function based on the vehicle position information and driving control information.

[0024] In the basic embodiment, vehicle position information and driving control information are generated by the processing device 10 of the information processing system 1. This eliminates the need for a processing device mounted on the assisted vehicle 70 to calculate the vehicle position, thereby reducing the processing load on the processing device mounted on the assisted vehicle 70. In other words, a computer (including a server computer) implementing the processing device 10 performs processing related to driving control separately from the computer mounted on the assisted vehicle 70, thereby contributing to reducing the load on the processing device mounted on the vehicle by utilizing edge computing technology. In particular, with 5G, edge computing can achieve low latency of 1 ms, which is 1 / 10 of that of 4G (fourth generation mobile communication system). Low latency also enables real-time control of the assisted vehicle 70, making it possible to realize support systems ranging from autonomous driving to distributed autonomous driving of some functions.

[0025] In this way, according to the information processing system 1 of the basic embodiment, it is possible to achieve low latency driving assistance with a reduced processing load on the processing device mounted on the vehicle.

[0026] As described above, the information processing system 1 according to the basic embodiment can provide low latency driving assistance with a reduced processing load on the processing device mounted on the vehicle, so it is preferable to set the communication area covered by the communication antenna 12 in a location with relatively heavy traffic. That is, the communication antenna 12 is installed so that its communication area covers an intersection or a road section with traffic volume higher than a predetermined standard. This allows the information processing system 1 to provide low latency driving assistance in locations where there are many monitoring targets and the processing load is likely to increase, or where the traffic environment is likely to change dynamically.

[0027] Furthermore, the information processing system 1 according to the basic embodiment can expand the area in which low latency driving assistance can be achieved by installing multiple communication antennas 12 and thereby expanding the communication area covered by the communication antennas 12. In this case, the communication area covered by the communication antennas 12 may be expanded to cover both communication areas based on 3G (third generation mobile communication system) or 4G and communication areas based on 5G. Ultimately, it is possible to eliminate the satellite radio wave reception function of the Global Navigation Satellite System (GNSS), the vehicle position calculation function based thereon, and various surrounding monitoring sensors (e.g., on-board cameras, radar sensors, etc.) in the processing device mounted on the assisted vehicle 70, thereby reducing the vehicle weight. However, the information processing system 1 according to the basic embodiment may be used in a complementary relationship with the vehicle position calculation function of the processing device mounted on the assisted vehicle 70, or may be used as a redundant system for the vehicle position calculation function of the processing device mounted on the assisted vehicle 70.

[0028] Next, further details of the information processing system 1 will be described for multiple embodiments with reference to Fig. 3 and subsequent figures. Note that, in the following, components that may be the same will be given the same reference numerals and descriptions thereof may be omitted.

[0029] [Embodiment 1] Fig. 3 is a schematic diagram showing the configuration of an information processing system 1A according to embodiment 1. Fig. 4 is a schematic diagram showing the functions of the information processing system 1A.

[0030] The information processing system 1A includes a processing device 10A as an example of the processing device 10 described above and a communication antenna 12A as an example of the communication antenna 12 described above. A plurality of communication antennas 12A are provided in the form of an array antenna. Array antennas are advantageous for generating vehicle position information (calculating the position of the support target vehicle 70) described below because they can utilize spatial information. The communication antennas 12A may be arranged across multiple window panes 60, or an array antenna may be realized on a single window pane 60. The conductor constituting the communication antenna 12A may be, for example, a conductor made of an oxide such as tin oxide-doped indium oxide (ITO) or tin oxide, or a multilayer conductor such as Low-E. Low-E stands for Low Emissivity, and is known to be formed by sandwiching a conductive transparent oxide film or a silver film with a thickness of approximately 10 nm between dielectric layers and coating it with a silver multilayer film that has low reflectivity in the visible range and high reflectivity in the infrared range. The conductor constituting the communication antenna 12A may be a metal such as Au (gold), Ag (silver), Cu (copper), Al (aluminum), Cr (chromium), Pd (lead), Zn (zinc), Ni (nickel), or Pt (platinum). When a metal is used for the conductor constituting the communication antenna 12A, the conductor may be formed in a mesh shape to be optically transparent. Here, "mesh" refers to a state in which a conductor has a network of holes on its plane. The conductor constituting the communication antenna 12A may also be provided on a glass plate. The glass plate provided with the conductor may be attached to the window glass 60 via a resin or metal spacer.

[0031] As shown in FIG. 4, the processing device 10A includes a communication control unit 150, a vehicle information acquisition unit 151, a transmission data generation unit 152, and a data transmission processing unit 154.

[0032] The communication control unit 150 establishes communication with multiple supported vehicles 70 located within the communication area covered by the communication antenna 12A, and continues communication with multiple supported vehicles 70 located within the communication area at predetermined intervals.

[0033] The vehicle information acquisition unit 151 acquires vehicle information regarding multiple support target vehicles located within the communication area covered by the communication antenna 12A via communication established by the communication control unit 150 (communication with each support target vehicle 70).

[0034] In the first embodiment, the vehicle information is information based on radio waves transmitted from an on-board antenna 212 (see FIG. 2) mounted on the supported vehicle 70. The information based on radio waves from the supported vehicle 70 is information for calculating the vehicle position of the supported vehicle 70, and is different from information indicating the vehicle position of the supported vehicle 70. The information based on radio waves transmitted from the on-board antenna 212 (see FIG. 2) may include an identifier for identifying the supported vehicle 70, time information, etc.

[0035] The transmission data generation unit 152 generates transmission data for each assistance target vehicle 70 based on the vehicle information acquired by the vehicle information acquisition unit 151 .

[0036] In the first embodiment, the transmission data generation unit 152 includes a vehicle position calculation unit 1521, and the transmission data generated by the transmission data generation unit 152 includes vehicle position information of each support target vehicle 70.

[0037] The vehicle position calculation unit 1521 calculates the vehicle position of each assisted vehicle 70 based on the vehicle information acquired by the vehicle information acquisition unit 151 and known position information related to the communication antenna 12A. The method for calculating the position of the assisted vehicle 70 based on radio waves transmitted from the assisted vehicle 70, whose position is to be calculated, is arbitrary, and may be based on the angle of arrival (AoA), received signal strength (RSS), time of arrival (TOA), time difference of arrival (TDOA), fingerprint-based localization algorithm, or any combination thereof. These position calculation methods can accurately calculate the position of the assisted vehicle 70 based on radio waves transmitted from the on-board antenna 212 mounted on the assisted vehicle 70 without using satellite radio waves from the global navigation satellite system (GNSS). For example, the vehicle position calculation unit 1521 calculates the position of the assisted vehicle 70 with an accuracy of 2 meters or less, preferably 50 cm or less, and more preferably 5 cm or less.

[0038] The data transmission processing unit 154 transmits the transmission data generated by the transmission data generation unit 152 to the support target vehicle 70 for each support target vehicle 70 via communication established by the communication control unit 150 (communication with each support target vehicle 70).

[0039] In this way, in embodiment 1, the information processing system 1A calculates the position (e.g., position in the global coordinate system) of each supported vehicle 70 based on vehicle information (information based on radio waves) transmitted from each supported vehicle 70 at predetermined intervals, generates transmission data including vehicle position information of each supported vehicle 70, and transmits the generated transmission data to each supported vehicle 70.

[0040] In this case, each assisted vehicle 70 located within the communication area covered by the communication antenna 12A can obtain vehicle position information (position information of its own vehicle) transmitted from the information processing system 1A at predetermined intervals. Each assisted vehicle 70 can maintain its autonomous driving function based on the vehicle position information transmitted from the information processing system 1A.

[0041] [Embodiment 2] Fig. 5 is a schematic diagram showing the configuration of an information processing system 1B according to embodiment 2. Fig. 6 is a schematic diagram showing the functions of the information processing system 1B. Fig. 7 is a cross-sectional view showing a schematic example of an arrangement of the information processing system 1B in a building 80.

[0042] The information processing system 1B includes a processing device 10B as an example of the processing device 10 described above, a communication antenna 12B as an example of the communication antenna 12 described above, and an image sensor 14.

[0043] The communication antenna 12B may be in the form of an array antenna, similar to the communication antenna 12A described above.

[0044] The image sensor 14, like the communication antenna 12B, is preferably installed in the building 80. The image sensor 14 is installed so that its imaging area includes the communication area covered by the communication antenna 12B. The image sensor 14 may be implemented using multiple image sensors 14, such as a stereo camera. The image sensor 14 is preferably installed in the building 80 in which the communication antenna 12B is installed, at a height from the ground ranging from 3 m to 15 m. In this case, the image sensor 14 may be preferably attached to the communication antenna 12B and installed on the window glass 60, as shown in FIG. 7. For example, the lens and / or imaging element of the image sensor 14 may be attached to the communication antenna 12B. In the example shown in FIG. 7, the processing device 10B is installed in the ceiling space 81 and is electrically connected to the image sensor 14 and the communication antenna 12B via wiring 16. Note that although FIG. 7 shows the wiring 16 as a single wire, separate wirings 16 are installed for the image sensor 14 and the communication antenna 12B. Furthermore, the image sensor 14 may be provided in a location different from the communication antenna 12B. The image sensor 14 may be provided in a location different from the location of the communication antenna 12B on the window glass 60, or may be provided on the sash to which the window glass 60 is attached. When the image sensor 14 is provided in a location different from the communication antenna 12B, the sensor information may be transmitted via wireless communication. The image sensor 14 and the communication antenna 12B may be provided in the same building or in different buildings. When the conductor constituting the communication antenna 12B is provided on a glass plate, the communication antenna 12B and image sensor 14 can be provided within a range of 3 to 15 meters above ground level even in a building that is over 15 meters above ground level, allowing the communication area and detection area to be set more precisely than when provided at a position above 15 meters, and distributing traffic reduces the burden on the processing device 10B.

[0045] The image sensor 14 generates image data of the communication area covered by the communication antenna 12B at a predetermined frame rate and supplies the image data to the processing device 10B.

[0046] As shown in FIG. 6, the processing device 10B includes a communication control unit 150, a vehicle information acquisition unit 151B, a transmission data generation unit 152B, and a data transmission processing unit 154.

[0047] The vehicle information acquisition unit 151B acquires vehicle information relating to a plurality of support target vehicles located within the communication area covered by the communication antenna 12B.

[0048] In the second embodiment, the vehicle information is sensor information (image data) generated by the image sensor 14.

[0049] The transmission data generation unit 152B generates transmission data for each support target vehicle based on the vehicle information acquired by the vehicle information acquisition unit 151B.

[0050] In the second embodiment, the transmission data generation unit 152B includes a vehicle position calculation unit 1521B, and the transmission data generated by the transmission data generation unit 152B includes vehicle position information of each support target vehicle 70.

[0051] The vehicle position calculation unit 1521B calculates the vehicle position of each of the assisted vehicles 70 based on the vehicle information (sensor information generated by the image sensor 14) acquired by the vehicle information acquisition unit 151B. The method for calculating the position of the assisted vehicle 70 based on image data of the assisted vehicle 70, the position of which is to be calculated, is arbitrary, and for example, a distance measurement method using parallax with a stereo camera may be used. In this case, the distances from each image sensor 14 to the assisted vehicle 70 may be calculated, and the position of the assisted vehicle 70 (for example, the position in a global coordinate system) may be calculated based on the calculation results of each distance and the position information of each image sensor 14 using the principle of triangulation or the like. For example, the vehicle position calculation unit 1521B calculates the position of the assisted vehicle 70 with an accuracy of 2 m or less, preferably 50 cm or less, and more preferably 5 cm or less.

[0052] In this way, in embodiment 2, the information processing system 1B calculates the position of each assisted vehicle 70 based on vehicle information (image data capturing the assisted vehicle 70) acquired from the image sensor 14 at predetermined intervals corresponding to the frame rate of the image sensor 14, generates transmission data including vehicle position information of each assisted vehicle 70, and transmits the generated transmission data to each assisted vehicle 70.

[0053] In this case, each assisted vehicle 70 located within the communication area covered by the communication antenna 12B can obtain vehicle position information (position information of its own vehicle) transmitted from the information processing system 1B at predetermined intervals. Each assisted vehicle 70 can then maintain its autonomous driving function based on the vehicle position information transmitted from the information processing system 1B.

[0054] Note that the vehicle position calculation unit 1521 described in the above-mentioned embodiment 1 may also be provided in the embodiment 2. In this case, the final vehicle position information may be derived based on the calculation result by the vehicle position calculation unit 1521 described in the above-mentioned embodiment 1 and the calculation result by the vehicle position calculation unit 1521B. Alternatively, either the calculation result by the vehicle position calculation unit 1521 described in the above-mentioned embodiment 1 or the calculation result by the vehicle position calculation unit 1521B may be used as a redundant system.

[0055] In the second embodiment, the sensor information from the image sensor 14 is used to generate vehicle position information for each assisted vehicle 70. However, the sensor information from the image sensor 14 can also be used for other purposes. For example, the sensor information from the image sensor 14 can be used to update map data. This is because, when a road is newly constructed, abolished, or modified (including widening), such road changes can be detected based on the sensor information from the image sensor 14. In this case, transmission data including road information reflecting the road changes may be generated by the transmission data generation unit 152B and transmitted to each assisted vehicle 70 by the data transmission processing unit 154. In this case, the map information displayed in the processing device mounted on the assisted vehicle 70 can be updated to the latest version, and an autonomous driving function can be realized based on the latest map information. Furthermore, the sensor information from the image sensor 14 can be used as information required for digital twin computing. Digital twin computing is a technology that converts real-world equipment and facilities into digital data, analyzes and predicts a digital twin generated in a virtual space, and then provides feedback to the real world. For example, the data processing unit 10 can perform a vehicle simulation using map information and vehicle position information in a virtual space. Using sensor information from the image sensor 14, the map information in the virtual space can be constantly updated. In addition to map information, weather and road conditions can also be digitized to generate a digital twin in the virtual space, enabling more accurate simulations. Vehicle control transmission data can be generated based on the simulation information generated by digital twin computing and transmitted to the assisted vehicle 70, allowing the vehicle in the real space to be controlled in conjunction with the simulation in the virtual space. Here, it is preferable that the sensor information be transmitted to the data processing unit 10 with low latency. Means for improving low latency include wired and wireless connections with the data processing unit 10. For wireless connections, low latency can be achieved by using 5G. In addition to the image sensor 14, sensor information may also be obtained from, for example, a temperature sensor, a raindrop sensor, a pressure sensor, a millimeter-wave radar, a radar sensor, and an illuminance sensor. The temperature sensor detects the temperature of the road surface. The raindrop sensor detects the amount of rain and the wetness of the road surface. The pressure sensor detects wind speed and direction. The radar sensor detects obstacles. The illuminance sensor detects the illuminance outside the building. By generating a digital twin using this sensor information, the control information necessary for autonomous driving can be obtained.

[0056] [Embodiment 3] Fig. 8 is a schematic diagram showing the configuration of an information processing system 1C according to embodiment 3. Fig. 9 is a schematic diagram showing the functions of the information processing system 1C.

[0057] The information processing system 1C includes a processing device 10C as an example of the processing device 10 described above, and a communication antenna 12C as an example of the communication antenna 12 described above.

[0058] The communication antenna 12C may comprise a separate antenna for receiving image data (described later) from the supported vehicle 70 and an antenna for transmitting transmission data to the supported vehicle 70, or may be an integrated antenna for these. Furthermore, the communication antenna 12C may be in the form of an array antenna, similar to the communication antenna 12A described above.

[0059] As shown in FIG. 9, the processing device 10C includes a communication control unit 150, a vehicle information acquisition unit 151C, a transmission data generation unit 152C, and a data transmission processing unit 154.

[0060] The vehicle information acquisition unit 151C acquires vehicle information regarding multiple support target vehicles located within the communication area covered by the communication antenna 12C via communication established by the communication control unit 150 (communication with each support target vehicle 70).

[0061] In the third embodiment, the vehicle information is sensor information (image data) generated by an image sensor 214 (see FIG. 2) mounted on the assisted vehicle 70. The image sensor 214 is, for example, in the form of a camera that captures images of the surrounding environment of the assisted vehicle 70. The image sensor 214 may be capable of capturing images of the surrounding environment in multiple directions, such as not only in front of the assisted vehicle 70 but also to the sides and rear (for example, multiple image sensors 214 may be used).

[0062] In this way, the vehicle information acquisition unit 151C can acquire surrounding environment information (image data) captured by the image sensor 214 mounted on each assisted vehicle 70. Such surrounding environment information can include information on the relative positions of each assisted vehicle 70, obstacles, pedestrians, and the like, as the surrounding environment. As a result, even in a situation where a relatively large number of assisted vehicles 70, etc. are present in the communication area covered by the communication antenna 12C, detailed information can be obtained over the entire communication area covered by the communication antenna 12C. In other words, the more assisted vehicles 70 are present in the communication area covered by the communication antenna 12C, the more accurate surrounding environment information can be obtained over the entire communication area covered by the communication antenna 12C. As a result, the reliability of the driving control information of each assisted vehicle 70, which will be described later, can be effectively improved.

[0063] The transmission data generation unit 152C generates transmission data for each support target vehicle based on the surrounding environment information acquired by the vehicle information acquisition unit 151C.

[0064] In the third embodiment, the transmission data generation unit 152C includes a target vehicle position calculation unit 1521C and a driving control information generation unit 1522C, and the transmission data generated by the transmission data generation unit 152C includes driving control information of each assistance target vehicle 70.

[0065] The target vehicle position calculation unit 1521C calculates a target vehicle position of the support target vehicle 70 for each support target vehicle 70 based on the surrounding environment information acquired by the vehicle information acquisition unit 151C (surrounding environment information generated by the image sensor 214). The target vehicle position of each support target vehicle 70 is calculated in a manner that prevents the support target vehicles 70 from coming into close proximity with each other or with other obstacles or pedestrians. For example, a target vehicle position is calculated for each support target vehicle 70 that enables the support target vehicle 70 to pass through the communication area covered by the communication antenna 12C in the shortest time while maintaining an appropriate inter-vehicle distance. In this way, the target vehicle position calculation unit 1521C calculates the target vehicle position of each support target vehicle 70 to be realized in the next processing cycle, for example, at predetermined cycles corresponding to the update cycle of image data acquired from the image sensor 214.

[0066] The driving control information generator 1522C generates driving control information for each assisted vehicle 70 such that the assisted vehicle 70 reaches the target vehicle position calculated by the target vehicle position calculator 1521C. The driving control information may include a target value for at least one driving parameter of the assisted vehicle's speed, acceleration, deceleration, and steering angle (travel direction). For example, the driving control information may include instruction values ​​indicating a target acceleration and a target travel direction of the assisted vehicle 70.

[0067] In this way, in embodiment 3, the information processing system 1C generates driving control information for each assisted vehicle 70 based on vehicle information (image data capturing the surrounding environment of the assisted vehicle 70) acquired from the image sensor 214 at predetermined intervals corresponding to the frame rate of the image sensor 214 mounted on the assisted vehicle 70, generates transmission data including the driving control information for each assisted vehicle 70, and transmits the generated transmission data to each assisted vehicle 70.

[0068] In this case, each assisted vehicle 70 located within the communication area covered by the communication antenna 12C can obtain the driving control information transmitted from the information processing system 1C at predetermined intervals. Each assisted vehicle 70 can maintain its autonomous driving function based on the driving control information transmitted from the information processing system 1C.

[0069] In the third embodiment, the vehicle information acquisition unit 151C acquires, as vehicle information, surrounding environment information (image data) captured by the image sensor 214 from the image sensor 214 mounted on each assistance target vehicle 70. However, the acquired information is not limited to surrounding environment information (image data) captured by the image sensor 214. For example, the vehicle information acquisition unit 151C may acquire, as vehicle information, surrounding environment information (image data) from another surrounding environment monitoring sensor that may be mounted on each assistance target vehicle 70. The other surrounding environment monitoring sensor may include a radar sensor such as an ultrasonic sensor, a millimeter-wave radar sensor, or a LiDAR (Light Detection And Ranging).

[0070] In the third embodiment, similarly to the first or second embodiment, the transmission data generation unit 152C may further include a vehicle position calculation unit 1521 or 1521B. In this case, the target vehicle position calculation unit 1521C may calculate a target vehicle position of the assistance target vehicle 70 for each assistance target vehicle 70 based on the vehicle position information calculated by the vehicle position calculation unit 1521 or 1521B and the surrounding environment information acquired by the vehicle information acquisition unit 151B (surrounding environment information generated by the image sensor 14).

[0071] Furthermore, in the third embodiment, the driving control information may include at least one of information about the road environment around the assisted vehicle 70 (for example, ahead, to the sides, or behind) and information about pedestrians around the assisted vehicle (for example, ahead, to the sides, or behind). In this case, the information about the road environment may include position information about obstacles such as parked vehicles, fallen objects, construction work, etc. on the road 90 located within the communication area. In this case, each assisted vehicle 70 can maintain an autonomous driving function in a mode that avoids approaching obstacles and pedestrians based on the driving control information transmitted from the information processing system 1C.

[0072] [Embodiment 4] Fig. 10 is a schematic diagram showing the configuration of an information processing system 1D according to embodiment 4. Fig. 11 is a schematic diagram showing the functions of the information processing system 1D.

[0073] The information processing system 1D includes a processing device 10D as an example of the processing device 10 described above, a communication antenna 12D as an example of the communication antenna 12 described above, and an image sensor 14.

[0074] The communication antenna 12D may be in the form of an array antenna, similar to the communication antenna 12A described above.

[0075] As shown in FIG. 11, the processing device 10D includes a communication control unit 150, a vehicle information acquisition unit 151D, a transmission data generation unit 152D, and a data transmission processing unit 154.

[0076] The vehicle information acquisition unit 151D acquires vehicle information relating to a plurality of support target vehicles located within the communication area covered by the communication antenna 12D.

[0077] In the fourth embodiment, the vehicle information is sensor information (image data) generated by the above-described image sensor 14. The image sensor 14 is provided, for example, to capture images of the surrounding environment of the assistance target vehicle 70. Note that, as described above, a plurality of image sensors 14 may be provided for one communication area.

[0078] The transmission data generation unit 152D generates transmission data for each assistance target vehicle based on the vehicle information acquired by the vehicle information acquisition unit 151D.

[0079] In the fourth embodiment, the transmission data generation unit 152D includes a target vehicle position calculation unit 1521D and a driving control information generation unit 1522D, and the transmission data generated by the transmission data generation unit 152D includes driving control information of each assistance target vehicle 70.

[0080] The target vehicle position calculation unit 1521D calculates the target vehicle position of each support target vehicle 70 based on the sensor information (image data generated by the image sensor 14) acquired by the vehicle information acquisition unit 151D. The method of calculating the target vehicle position of each support target vehicle 70 may be the same as that of the third embodiment described above. In the fourth embodiment, the image sensor 14 acquires image data overlooking the communication area, so that the target vehicle position of each support target vehicle 70 can be calculated more appropriately.

[0081] The driving control information generation unit 1522D generates driving control information for each assisted vehicle 70 such that the assisted vehicle 70 reaches the target vehicle position calculated by the target vehicle position calculation unit 1521D. The driving control information may include a target value for at least one driving parameter of the assisted vehicle, namely, the speed, acceleration, deceleration, and steering angle (direction of travel). In this way, in the fourth embodiment, the information processing system 1D generates driving control information for each assisted vehicle 70 based on vehicle information (image data capturing the surrounding environment of the assisted vehicle 70) acquired from the roadside image sensor 14 at predetermined intervals corresponding to the frame rate of the roadside image sensor 14, generates transmission data including the driving control information for each assisted vehicle 70, and transmits the generated transmission data to each assisted vehicle 70.

[0082] In this case, each assisted vehicle 70 located within the communication area covered by the communication antenna 12D can obtain driving control information transmitted from the information processing system 1D at predetermined intervals. Each assisted vehicle 70 can maintain its autonomous driving function based on the driving control information transmitted from the information processing system 1D.

[0083] In the fourth embodiment, similarly to the first or second embodiment, the transmission data generation unit 152D may further include a vehicle position calculation unit 1521 or 1521B. In this case, the target vehicle position calculation unit 1521D may calculate the target vehicle position of the assistance target vehicle 70 for each assistance target vehicle 70 based on the vehicle position information calculated by the vehicle position calculation unit 1521 or 1521B and the sensor information (image data generated by the image sensor 14) acquired by the vehicle information acquisition unit 151B.

[0084] In the fourth embodiment, sensor information from the roadside image sensor 14 is used. However, in addition to this, surrounding environment information (image data) captured by the image sensor 214 may also be used as in the third embodiment. That is, in the fourth embodiment, the processing device 10D may further include the vehicle information acquisition unit 151C and the transmission data generation unit 152C according to the third embodiment. In this case, the final target vehicle position may be determined based on the target vehicle position of the assistance target vehicle 70 calculated by the target vehicle position calculation unit 1521D and the target vehicle position of the assistance target vehicle 70 calculated by the target vehicle position calculation unit 1521C of the transmission data generation unit 152C. Alternatively, either the target vehicle position of the assistance target vehicle 70 calculated by the target vehicle position calculation unit 1521D or the target vehicle position of the assistance target vehicle 70 calculated by the target vehicle position calculation unit 1521C of the transmission data generation unit 152C may be used as a redundant system.

[0085] In the fourth embodiment, the driving control information may include at least one of information about the road environment around the assisted vehicle 70 (for example, ahead, to the sides, or behind) and information about pedestrians around the assisted vehicle (for example, ahead, to the sides, or behind). In this case, the information about the road environment may include position information about obstacles such as parked vehicles, fallen objects, construction work, etc. on the road 90 located within the communication area. In this case, each assisted vehicle 70 can maintain an autonomous driving function that avoids approaching obstacles and pedestrians based on the driving control information transmitted from the information processing system 1D.

[0086] [Embodiment 5] Fig. 12 is a schematic diagram showing the configuration of an information processing system 1E according to embodiment 5. Fig. 13 is a schematic diagram showing the functions of the information processing system 1E. Fig. 14 is an explanatory diagram of a predetermined position.

[0087] The information processing system 1E includes a processing device 10E as an example of the processing device 10 described above, a communication antenna 12E as an example of the communication antenna 12 described above, and an image sensor 14.

[0088] The communication antenna 12E may be in the form of an array antenna, similar to the communication antenna 12A described above.

[0089] As shown in FIG. 13, the processing device 10E includes a communication control unit 150, a vehicle information acquisition unit 151E, a transmission data generation unit 152E, and a data transmission processing unit 154.

[0090] The vehicle information acquisition unit 151E acquires vehicle information relating to a plurality of support target vehicles located within the communication area covered by the communication antenna 12E.

[0091] In the fifth embodiment, the vehicle information is sensor information (image data) generated by the image sensor 14 described above.

[0092] The transmission data generation unit 152E generates transmission data for each support target vehicle based on the vehicle information acquired by the vehicle information acquisition unit 151E.

[0093] In the fifth embodiment, the transmission data generation unit 152E includes a vehicle position calculation unit 1521E, and the transmission data generated by the transmission data generation unit 152E includes vehicle position information of each support target vehicle 70.

[0094] The vehicle position calculation unit 1521E calculates the position of each assisted vehicle 70 based on the sensor information generated by the image sensor 14 and known position information regarding a predetermined position on the road 90. The predetermined position may be set on the road 90 within the communication area covered by the communication antenna 12E. The predetermined position is preferably a position through which each assisted vehicle 70 can pass, and multiple predetermined positions may be set. FIG. 14 exemplarily shows two predetermined positions P1. The predetermined position P1 may be a specific position on the road 90 that can be image-recognized. For example, the predetermined position P1 may be a corner position or a center position of a traffic sign board on the road 90. Alternatively, the predetermined position P1 may be a position corresponding to a predetermined pixel region (e.g., a center position) of the image captured by the image sensor 14. In this case, the predetermined position P1 may be any position on the road 90.

[0095] The vehicle position calculation unit 1521E calculates the position of each support target vehicle 70 based on the positional relationship between the support target vehicle 70 and a predetermined position on the image captured by the image sensor 14. Specifically, the vehicle position calculation unit 1521E calculates the relative position of the support target vehicle 70 with respect to the predetermined position based on the positional relationship between the support target vehicle 70 and the predetermined position on the image captured by the image sensor 14. Then, the vehicle position calculation unit 1521E calculates the position of the support target vehicle 70 (for example, a position in a global coordinate system) based on the relative position of the support target vehicle 70 with respect to the predetermined position and known position information related to the predetermined position. For example, the vehicle position calculation unit 1521E calculates the position of the support target vehicle with an accuracy of 2 m or less, preferably 50 cm or less, and more preferably 5 cm or less.

[0096] In this way, in embodiment 5, the information processing system 1E calculates the position of each assisted vehicle 70 based on vehicle information (image data capturing the assisted vehicle 70) acquired from the image sensor 14 at predetermined intervals corresponding to the frame rate of the image sensor 14, generates transmission data including vehicle position information of each assisted vehicle 70, and transmits the generated transmission data to each assisted vehicle 70.

[0097] In this case, each assisted vehicle 70 located within the communication area covered by the communication antenna 12E can obtain vehicle position information (position information of its own vehicle) transmitted from the information processing system 1E at predetermined intervals. Each assisted vehicle 70 can then maintain its autonomous driving function based on the vehicle position information transmitted from the information processing system 1E.

[0098] In the fifth embodiment, sensor information from the roadside image sensor 14 is used, but instead of or in addition to this, surrounding environment information (image data) captured by the image sensor 214 may be used in the same manner as in the third embodiment described above.

[0099] Note that the vehicle position calculation unit 1521 described in the above-mentioned embodiment 1 may also be provided in embodiment 5. In this case, the final vehicle position information may be derived based on the calculation result by the vehicle position calculation unit 1521 described in the above-mentioned embodiment 1 and the calculation result by the vehicle position calculation unit 1521E.

[0100] [Embodiment 6] Fig. 15 is a schematic diagram showing the configuration of an information processing system 1F according to embodiment 6. Fig. 16 is a schematic diagram showing the functions of the information processing system 1F.

[0101] The information processing system 1F includes a processing device 10F as an example of the processing device 10 described above, a communication antenna 12F as an example of the communication antenna 12 described above, and an image sensor 14.

[0102] The communication antenna 12F may be in the form of an array antenna, similar to the communication antenna 12A described above.

[0103] As shown in FIG. 16, the processing device 10F includes a communication control unit 150, a vehicle information acquisition unit 151F, a transmission data generation unit 152F, and a data transmission processing unit 154F.

[0104] The vehicle information acquisition unit 151F acquires vehicle information relating to a plurality of support target vehicles located within the communication area covered by the communication antenna 12F.

[0105] In the sixth embodiment, the vehicle information is sensor information (image data) generated by the image sensor 14 described above.

[0106] The transmission data generation unit 152F generates transmission data for each support target vehicle based on the vehicle information acquired by the vehicle information acquisition unit 151F.

[0107] In the sixth embodiment, the transmission data generation unit 152F includes a transmission timing setting unit 1526F, and the transmission data generated by the transmission data generation unit 152F includes vehicle position information of each assisted vehicle 70. In the sixth embodiment, the vehicle position information of each assisted vehicle 70 is known position information (for example, position information in a global coordinate system) relating to a predetermined position on the road 90. The predetermined position may be the same as the predetermined position described in the fifth embodiment above (see predetermined position P1 in FIG. 14).

[0108] The transmission timing setting unit 1526F sets, for each assisted vehicle 70, the timing at which the assisted vehicle is located at a predetermined position as the transmission timing of the transmission data. For example, the transmission timing setting unit 1526F calculates the relative distance of the assisted vehicle 70 from the predetermined position based on the positional relationship between the assisted vehicle 70 and the predetermined position on the image captured by the image sensor 14. Then, the transmission timing setting unit 1526F may predict the timing at which the relative distance will become 0 based on the rate of change of the relative distance per processing cycle, and set this timing as the transmission timing of the transmission data. Alternatively, the transmission timing setting unit 1526F may predict the timing a predetermined time ΔT before the time at which the relative distance will become 0 based on the rate of change of the relative distance per processing cycle, and set this timing as the transmission timing of the transmission data. In this case, the predetermined time ΔT may correspond to a very short time that takes into account the time from when the transmission data is generated until it is transmitted to the assisted vehicle 70, received by the assisted vehicle 70, and processed.

[0109] The data transmission processing unit 154F transmits the transmission data generated by the transmission data generation unit 152 to the support target vehicle 70 at the transmission timing set by the transmission timing setting unit 1526F for each support target vehicle 70 via communication established by the communication control unit 150 (communication with each support target vehicle 70).

[0110] In this way, in embodiment 6, the information processing system 1F calculates the timing at which each supported vehicle 70 will be located at a specified position based on sensor information (image data) generated by the image sensor 14, and transmits transmission data including known position information regarding the specified position to each supported vehicle 70 at a transmission timing that matches this timing.

[0111] In this case, each assisted vehicle 70 located within the communication area covered by the communication antenna 12A can obtain vehicle position information (position information of its own vehicle) transmitted from the information processing system 1F each time it passes a predetermined position. Each assisted vehicle 70 can then maintain its autonomous driving function based on the vehicle position information transmitted from the information processing system 1F. In this case, by appropriately setting the number (interval) of predetermined positions, vehicle position information can be continuously supplied to each assisted vehicle 70, and the autonomous driving function can be stably maintained.

[0112] Note that the vehicle position calculation unit 1521 described in the above-mentioned embodiment 1 may also be provided in embodiment 6. In this case, while the support target vehicle 70 is not positioned at a predetermined position, vehicle position information based on the calculation result by the vehicle position calculation unit 1521 may be transmitted to each support target vehicle 70.

[0113] Furthermore, in the sixth embodiment, sensor information from the roadside image sensor 14 is used, but instead of or in addition to this, surrounding environment information (image data) captured by the image sensor 214 may be used in the same manner as in the third embodiment described above. That is, the transmission timing setting unit 1526F may calculate the timing at which the assistance target vehicle will be located at a predetermined position based on the sensor information from the roadside image sensor 14 and / or the surrounding environment information captured by the image sensor 214. The transmission timing is set appropriately based on various types of sensor information obtained by a pressure sensor, a temperature sensor, etc.

[0114] Although each embodiment has been described in detail above, it is not limited to a specific embodiment, and various modifications and changes are possible within the scope of the claims. It is also possible to combine all or a plurality of components of the above-described embodiments. The entire contents of the specification, claims, drawings and abstract of Japanese Patent Application No. 2021-012890, filed on January 29, 2021, are hereby incorporated by reference as part of the disclosure of the specification of the present invention. [Explanation of symbols]

[0115] 1(1A~1F) Information Processing Systems 10 (10A to 10F) Processing equipment 12(12A~12F) Communication antenna 14 Image Sensor 16 Wiring 60 Window Glass 70 Supported vehicles 80 Buildings 90 road 150 Communication control unit 151, 151B, 151C, 151D, 151E, 151F Vehicle information acquisition unit 152, 152B, 152C, 152D, 152E, 152F Transmission data generation unit 1521, 1521B, 1521E Vehicle position calculation unit 1521C, 1521D Target vehicle position calculation unit 1522C, 1522D Driving control information generation unit 1526F Transmission timing setting unit 154, 154F Data transmission processing unit 212 Vehicle Antenna 214 Image Sensor

Claims

1. An information processing system for assisting driving of an assistance target vehicle equipped with an automatic driving function, an information processing device installed on the roadside; a communication antenna provided on the roadside; The information processing device includes: a vehicle information acquisition unit that acquires vehicle information regarding one or more support target vehicles located within a communication area covered by the communication antenna; a transmission data generation unit that generates transmission data based on the vehicle information acquired by the vehicle information acquisition unit; a data transmission processing unit that transmits the transmission data generated by the transmission data generation unit to the assistance target vehicle via the communication antenna, the transmission data includes at least one of vehicle position information indicating the position of the assistance target vehicle and driving control information, An image sensor is provided on a roadside and captures an image of the assistance target vehicle. the vehicle information includes sensor information generated by the image sensor; the vehicle information acquisition unit acquires the sensor information from the image sensor; the transmission data generation unit generates the transmission data based on the sensor information; the image sensor is installed in the same building as the information processing device and the communication antenna; The information processing device and the communication antenna are installed indoors in a building. Information processing system.

2. The information processing system according to claim 1 , wherein the image sensor is installed inside a building.

3. An information processing system for assisting driving of an assistance target vehicle equipped with an automatic driving function, an information processing device installed on the roadside; a communication antenna provided on the roadside; The information processing device includes: a vehicle information acquisition unit that acquires vehicle information regarding one or more support target vehicles located within a communication area covered by the communication antenna; a transmission data generation unit that generates transmission data based on the vehicle information acquired by the vehicle information acquisition unit; a data transmission processing unit that transmits the transmission data generated by the transmission data generation unit to the assistance target vehicle via the communication antenna, the transmission data includes at least one of vehicle position information indicating the position of the assistance target vehicle and driving control information, An image sensor is provided on a roadside and captures an image of the assistance target vehicle. the vehicle information includes sensor information generated by the image sensor; the vehicle information acquisition unit acquires the sensor information from the image sensor; the transmission data generation unit generates the transmission data based on the sensor information; the image sensor is installed in the same building as the information processing device and the communication antenna; The communication antenna is provided on a window glass of a building. Information processing system.

4. An information processing system for assisting driving of an assistance target vehicle equipped with an automatic driving function, an information processing device installed on the roadside; a communication antenna provided on the roadside; The information processing device includes: a vehicle information acquisition unit that acquires vehicle information regarding one or more support target vehicles located within a communication area covered by the communication antenna; a transmission data generation unit that generates transmission data based on the vehicle information acquired by the vehicle information acquisition unit; a data transmission processing unit that transmits the transmission data generated by the transmission data generation unit to the assistance target vehicle via the communication antenna, the transmission data includes at least one of vehicle position information indicating the position of the assistance target vehicle and driving control information, An image sensor is provided on a roadside and captures an image of the assistance target vehicle. the vehicle information includes sensor information generated by the image sensor; the vehicle information acquisition unit acquires the sensor information from the image sensor; the transmission data generation unit generates the transmission data based on the sensor information; the image sensor is installed in the same building as the information processing device and the communication antenna; The image sensor is mounted on a window glass of a building. Information processing system.

5. An information processing system for assisting driving of an assistance target vehicle equipped with an automatic driving function, an information processing device installed on the roadside; a communication antenna provided on the roadside; The information processing device includes: a vehicle information acquisition unit that acquires vehicle information regarding one or more support target vehicles located within a communication area covered by the communication antenna; a transmission data generation unit that generates transmission data based on the vehicle information acquired by the vehicle information acquisition unit; a data transmission processing unit that transmits the transmission data generated by the transmission data generation unit to the assistance target vehicle via the communication antenna, the transmission data includes at least one of vehicle position information indicating the position of the assistance target vehicle and driving control information, An image sensor is provided on a roadside and captures an image of the assistance target vehicle. the vehicle information includes sensor information generated by the image sensor; the vehicle information acquisition unit acquires the sensor information from the image sensor; the transmission data generation unit generates the transmission data based on the sensor information; the image sensor is installed in the same building as the information processing device and the communication antenna; the communication antenna is provided on a window glass of a building; The image sensor is provided on the same window glass as the communication antenna or on a sash to which the same window glass is attached. Information processing system.

6. An information processing system for assisting driving of an assistance target vehicle equipped with an automatic driving function, an information processing device installed on the roadside; a communication antenna provided on the roadside; The information processing device includes: a vehicle information acquisition unit that acquires vehicle information regarding one or more support target vehicles located within a communication area covered by the communication antenna; a transmission data generation unit that generates transmission data based on the vehicle information acquired by the vehicle information acquisition unit; a data transmission processing unit that transmits the transmission data generated by the transmission data generation unit to the assistance target vehicle via the communication antenna, the transmission data includes at least one of vehicle position information indicating the position of the assistance target vehicle and driving control information, An image sensor is provided on a roadside and captures an image of the assistance target vehicle. the vehicle information includes sensor information generated by the image sensor; the vehicle information acquisition unit acquires the sensor information from the image sensor; the transmission data generation unit generates the transmission data based on the sensor information; the image sensor is installed in the same building as the information processing device and the communication antenna; a plurality of communication antennas are provided, the vehicle information includes information based on radio waves transmitted from an on-board antenna mounted on the support target vehicle, the vehicle information acquisition unit acquires information based on the radio waves from the support target vehicle via the plurality of communication antennas; the transmission data generation unit calculates a position of the assistance target vehicle based on information based on the radio waves acquired from the assistance target vehicle via the plurality of communication antennas and known position information related to the plurality of communication antennas. Information processing system.

7. The information processing system according to claim 6 , wherein the transmission data generating unit calculates the position of the assistance target vehicle with an accuracy of 2 m or less.

8. The information processing system according to claim 1 , wherein the image sensor, together with the information processing device and the communication antenna, is provided at a height from the ground within a range of 3 m to 15 m.

9. the transmission data generation unit generates the driving control information based on the sensor information; The information processing system according to claim 1 , wherein the driving control information includes a target value for at least one of a speed, an acceleration, a deceleration, and a steering angle of the assistance target vehicle.

10. 10. The information processing system according to claim 1, wherein the driving control information includes at least one of information about a road environment around the support target vehicle and information about pedestrians around the support target vehicle.

11. An information processing system for assisting driving of an assistance target vehicle equipped with an automatic driving function, an information processing device installed on the roadside; a communication antenna provided on the roadside; The information processing device includes: a vehicle information acquisition unit that acquires vehicle information regarding one or more support target vehicles located within a communication area covered by the communication antenna; a transmission data generation unit that generates transmission data based on the vehicle information acquired by the vehicle information acquisition unit; a data transmission processing unit that transmits the transmission data generated by the transmission data generation unit to the assistance target vehicle via the communication antenna, the transmission data includes at least one of vehicle position information indicating the position of the assistance target vehicle and driving control information, An image sensor is provided on a roadside and captures an image of the assistance target vehicle. the vehicle information includes sensor information generated by the image sensor; the vehicle information acquisition unit acquires the sensor information from the image sensor; the transmission data generation unit generates the transmission data based on the sensor information; the image sensor is installed in the same building as the information processing device and the communication antenna; the image sensor is attached to the communication antenna; Information processing system.

12. An information processing system for assisting driving of an assistance target vehicle equipped with an automatic driving function, an information processing device installed on the roadside; a communication antenna provided on the roadside; The information processing device includes: a vehicle information acquisition unit that acquires vehicle information regarding one or more support target vehicles located within a communication area covered by the communication antenna; a transmission data generation unit that generates transmission data based on the vehicle information acquired by the vehicle information acquisition unit; a data transmission processing unit that transmits the transmission data generated by the transmission data generation unit to the assistance target vehicle via the communication antenna, the transmission data includes at least one of vehicle position information indicating the position of the assistance target vehicle and driving control information, An image sensor is provided on a roadside and captures an image of the assistance target vehicle. the vehicle information includes sensor information generated by the image sensor; the vehicle information acquisition unit acquires the sensor information from the image sensor; the transmission data generation unit generates the transmission data based on the sensor information; the image sensor is installed in the same building as the information processing device and the communication antenna; the transmission data generation unit calculates the position of the assistance target vehicle based on the sensor information and known position information related to a predetermined position on a road; Information processing system.

13. the transmission data includes known position information regarding the predetermined position as the vehicle position information; The information processing system according to claim 12 , wherein the data transmission processing unit transmits the transmission data in accordance with a timing when it is estimated that the assistance target vehicle will be located at the predetermined position.

14. the vehicle information includes surrounding environment information of the assistance target vehicle based on detection results of an on-board sensor mounted on the assistance target vehicle, the vehicle information acquisition unit receives the surrounding environment information from the assistance target vehicle via the communication antenna; The information processing system according to claim 1 , wherein the transmission data generating unit generates the transmission data based on the surrounding environment information.

15. The information processing system according to claim 14 , wherein the on-board sensor includes at least one of an image sensor and a radar sensor.

16. The information processing system according to claim 1 , wherein the data transmission processing unit realizes communication with the assistance target vehicle based on a fifth generation mobile communication system.

17. An image sensor for capturing an image of the vehicle to be assisted, an information processing device, and a communication antenna are installed on the roadside; the information processing device acquires vehicle information including sensor information generated by the image sensor regarding one or more of the assistance target vehicles located within a communication area covered by the communication antenna; the information processing device generates transmission data including vehicle position information or driving control information indicating a position of the assistance target vehicle based on the acquired vehicle information; the information processing device transmits the transmission data to the assistance target vehicle via the communication antenna; the image sensor is installed in the same building as the information processing device and the communication antenna; The information processing device and the communication antenna are installed indoors in a building. Autonomous driving assistance methods.

18. The autonomous driving assistance method according to claim 17 , wherein the communication antenna is installed on a building so that the communication area covers an intersection or a road with a traffic volume higher than a predetermined standard.

19. 19. The autonomous driving assistance method according to claim 17 or 18, wherein the communication antenna is installed in a building so as to cover both a communication area based on a third-generation or fourth-generation mobile communication system and a communication area based on a fifth-generation mobile communication system.

20. The autonomous driving assistance method according to claim 17 , wherein the driving control information is generated based on sensor information from the image sensor.

21. The autonomous driving assistance method according to any one of claims 17 to 20, further comprising updating map information using the vehicle information, and displaying the map information and position information of the assistance target vehicle on the assistance target vehicle.

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