Information processing device

Abstract

To support an automatic travel along a teacher route.SOLUTION: An information processor includes a specification unit, an induction screen generation unit, and an output control unit. The specification unit specifies an automatic travel start possible point AP in a teacher route from a predetermined position to a target position in an actual space. The induction screen generation unit generates an induction screen 40 for inducing a mobile body to the automatic travel start possible point AP. The output control unit outputs an induction screen 40 before an automatic travel starts.SELECTED DRAWING: Figure 6A

Description

[Technical Field]

[0001] The present disclosure relates to an information processing device Place Regarding. [Background technology]

[0002] A technology is disclosed in which a travel path of a moving object is stored as a teacher path, and the moving object is automatically driven based on the teacher path. Also, a technology is disclosed in which the self-position of the moving object is estimated by comparing feature points extracted from an image of the moving object's surroundings with feature points included in map data, and the moving object is automatically driven along the teacher path. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-136584 [Patent Document 2] Patent Publication No. 2021-124301 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with conventional technology, when autonomous driving begins in a location where the characteristics of the environment surrounding the moving object are insufficient, it is sometimes impossible to estimate the vehicle's own position, making it difficult to drive autonomously along the teacher route.

[0005] The problem to be solved by the present disclosure is to provide an information processing device that can support automatic driving along a teaching route. Place The purpose is to provide. [Means for solving the problem]

[0006] The information processing device of the present disclosure includes an identification unit, a guidance screen generation unit, and an output control unit. The identification unit identifies a point where autonomous driving can start on a teacher route from a predetermined position to a target position in real space. The guidance screen generation unit generates a guidance screen for guiding a moving object to the point where autonomous driving can start. The output control unit outputs the guidance screen before autonomous driving starts. When the moving body reaches the point where automatic driving can start, the output control unit superimposes on the guidance screen a route image representing the teacher route or a recommended route for merging the moving body with the teacher route based on the current position and posture. [Effects of the Invention]

[0007] The information processing device, information processing method, and moving body according to the present disclosure can assist autonomous traveling along a teacher route. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of a moving object according to an embodiment. [Figure 2] FIG. 2 is a schematic diagram showing an example of the installation position of the imaging device. [Figure 3] FIG. 3 is a diagram illustrating a hardware configuration of an example of an information processing device. [Figure 4] FIG. 4 is a block diagram showing an example of the functional configuration of a moving object. [Figure 5] FIG. 5 is an explanatory diagram of an example of specifying an automatic driving start possible point. [Figure 6A] FIG. 6A is a schematic diagram of an example of a guidance screen. [Figure 6B] FIG. 6B is a schematic diagram of an example of the guidance screen. [Figure 7A] FIG. 7A is a schematic diagram illustrating an example of the positional relationship between the teacher route and the moving object. [Figure 7B] FIG. 7B is a schematic diagram of an example of a guidance screen. [Figure 8A] FIG. 8A is a schematic diagram illustrating an example of the positional relationship between the teacher route and the moving object. [Figure 8B] FIG. 8B is an explanatory diagram of an example of the guidance screen. [Figure 9] FIG. 9 is a flowchart showing an example of the flow of information processing executed in the teacher running mode. [Figure 10] FIG. 10 is a flowchart showing an example of the flow of information processing executed after the teacher running processing. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of an information processing device, an information processing method, and a mobile object according to the present disclosure will be described with reference to the accompanying drawings.

[0010] FIG. 1 is a diagram showing an example of a moving object 10 according to the present embodiment.

[0011] The moving object 10 includes an information processing device 20, an output unit 10A, an input unit 10B, an internal sensor 10C, an image capturing device 10D, a drive control unit 10F, and a drive unit 10G.

[0012] The information processing device 20 is, for example, a dedicated or general-purpose computer. In this embodiment, a form in which the information processing device 20 is mounted on a moving object 10 will be described as an example.

[0013] The moving body 10 is a movable object. In this embodiment, the moving body 10 is an object that a user can ride on. The moving body 10 is, for example, a vehicle. The vehicle may be a two-wheeled vehicle, a three-wheeled vehicle, a four-wheeled vehicle, or the like. The moving body 10 is, for example, a moving body that moves through human driving operation, or a moving body that can travel automatically (autonomous travel) without human driving operation. In this embodiment, a case where the moving body 10 is an autonomously travelling vehicle will be described as an example.

[0014] The output unit 10A outputs information. In this embodiment, the output unit 10A outputs information generated by the information processing device 20. The details of the information to be output will be described later.

[0015] The output unit 10A has a display function for displaying information. The output unit 10A may further have a communication function for transmitting information to an external device, a sound output function for outputting sound, a function for turning on or blinking light, and the like. For example, the output unit 10A includes a display unit 10K and at least one of a communication unit 10H, a speaker 10I, and an illumination unit 10J. In this embodiment, a case where the output unit 10A includes the communication unit 10H, the speaker 10I, the illumination unit 10J, and the display unit 10K will be described as an example.

[0016] The communication unit 10H transmits information to other devices. For example, the communication unit 10H transmits information to other devices via a known communication line. The speaker 10I outputs sound. The illumination unit 10J is a light that lights up or blinks. The display unit 10K displays information. The display unit 10K is, for example, a known organic EL (Electro Luminescence) display, a liquid crystal display, or a projection device.

[0017] The output unit 10A may be installed at any position where a user riding on the moving body 10 can check the information output from the output unit 10A. For example, the orientation of the display surface of the display unit 10K is adjusted in advance so that the user riding on the moving body 10 can view the display surface.

[0018] The input unit 10B accepts input of instructions or information from the user. The input unit 10B is, for example, at least one of an instruction input device that accepts input by user operation input and a microphone that accepts voice input. The instruction input device is, for example, a button, a pointing device such as a mouse or a trackball, or a keyboard. The instruction input device may be an input function of a touch panel that is provided integrally with the display unit 10K.

[0019] The internal sensor 10C is a sensor that observes information about the moving body 10 itself. The internal sensor 10C detects the position of the moving body 10, the speed of the moving body 10, the acceleration of the moving body 10, or the like.

[0020] The internal sensor 10C is, for example, an inertial measurement unit (IMU), a speed sensor, or a global positioning system (GPS).

[0021] The image capturing device 10D is a sensor that observes the surroundings of the moving body 10. The image capturing device 10D may be mounted on the moving body 10 or may be mounted outside the moving body 10. The outside of the moving body 10 refers to, for example, another moving body or an external device.

[0022] The surroundings of the moving object 10 is an area within a predetermined range from the moving object 10. This range is the observable range of the image capturing device 10D. This range may be set in advance.

[0023] The image capturing device 10D observes the surroundings of the moving body 10 and acquires surrounding information. The surrounding information includes at least one of an image of the surroundings of the moving body 10 and information indicating the distance and direction between the moving body 10 and objects in the surroundings of the moving body 10.

[0024] The photographing device 10D obtains photographed image data (hereinafter referred to as a photographed image) by photographing. This photographing device is a digital camera, a stereo camera, etc. The photographed image is digital image data in which a pixel value is defined for each pixel.

[0025] In the present embodiment, a case will be described as an example in which the surrounding information acquired by image capturing device 10D is a captured image of the surroundings of moving body 10. Hereinafter, the captured image of the surroundings of moving body 10 will be referred to as a surrounding image.

[0026] The installation position and angle of view of the image capturing device 10D are adjusted in advance so that the image capturing device 10D can capture images of the surroundings of the moving object 10. In this embodiment, the moving object 10 is equipped with a plurality of image capturing devices 10D with different image capturing directions.

[0027] 2 is a schematic diagram showing an example of the installation positions of the image capturing devices 10D. For example, the moving body 10 is equipped with four image capturing devices 10D. Note that the number of image capturing devices 10D provided on the moving body 10 is not limited to four. For example, the installation positions and number of image capturing devices 10D may be adjusted so that captured images can be acquired in directions of substantially the entire area (e.g., 360°) centered on the moving body 10 on a horizontal plane.

[0028] Continuing the explanation, returning to Fig. 1, the driving unit 10G is a driving device mounted on the moving body 10. The driving unit 10G is, for example, an engine, a motor, wheels, or the like.

[0029] The drive control unit 10F controls the drive unit 10G. The drive unit 10G is driven under the control of the drive control unit 10F. For example, the drive control unit 10F controls the drive unit 10G based on information obtained from the internal sensor 10C or the image capture device 10D, or information received from the information processing device 20, in order to automatically drive the moving object 10. The control of the drive unit 10G controls the acceleration amount, braking amount, steering angle, etc. of the moving object 10. For example, the drive control unit 10F controls the moving object 10 to enter a space indicated by the information received from the information processing device 20 and stop or drive.

[0030] Next, the hardware configuration of the information processing device 20 will be described.

[0031] FIG. 3 is an example of a hardware configuration diagram of the information processing device 20. As shown in FIG.

[0032] The information processing device 20 has a hardware configuration that utilizes a normal computer, with a CPU (Central Processing Unit) 11A, a ROM (Read Only Memory) 11B, a RAM (Random Access Memory) 11C, an I / F 11D, etc. interconnected by a bus 11E.

[0033] The CPU 11A is a computing device that controls the information processing device 20 of this embodiment. The ROM 11B stores programs and the like that realize processing by the CPU 11A. The RAM 11C stores data necessary for processing by the CPU 11A. The I / F 11D is an interface for transmitting and receiving data.

[0034] A program for executing information processing executed by information processing device 20 of this embodiment is provided by being pre-installed in ROM 11B etc. Note that the program executed by information processing device 20 of this embodiment may be provided by being stored in a computer-readable storage medium (for example, a flash memory) in a format that can be installed in information processing device 20 or in a format that can be executed.

[0035] Next, the functional configuration of the moving body 10 will be described.

[0036] FIG. 4 is a block diagram showing an example of the functional configuration of the moving object 10. As shown in FIG.

[0037] The moving object 10 includes an information processing device 20, an output unit 10A, an input unit 10B, an internal sensor 10C, an image capturing device 10D, a drive control unit 10F, and a drive unit 10G.

[0038] The information processing device 20, the output unit 10A, the input unit 10B, the internal sensor 10C, the image capturing device 10D, and the drive control unit 10F are connected to each other via a bus 10L etc. so as to be able to exchange data or signals. The drive control unit 10F is connected to the drive unit 10G so as to be able to exchange data or signals.

[0039] The information processing device 20 has a storage unit 32 and a processing unit 30. The processing unit 30 and the storage unit 32 are connected to each other via a bus 10L or the like so as to be able to exchange data or signals. In addition, the output unit 10A, the input unit 10B, the internal sensor 10C, the image capture device 10D, and the drive control unit 10F are connected to the processing unit 30 via the bus 10L or the like so as to be able to exchange data or signals.

[0040] At least one of the storage unit 32, the output unit 10A (communication unit 10H, speaker 10I, illumination unit 10J, display unit 10K), the input unit 10B, the internal sensor 10C, the image capturing device 10D, and the drive control unit 10F may be connected to the processing unit 30 by wire or wirelessly. Also, at least one of the storage unit 32, the output unit 10A (communication unit 10H, speaker 10I, illumination unit 10J, display unit 10K), the input unit 10B, the internal sensor 10C, the image capturing device 10D, and the drive control unit 10F may be connected to the processing unit 30 via a network.

[0041] The storage unit 32 stores data. The storage unit 32 is, for example, a semiconductor memory element such as a random access memory (RAM), a flash memory, a hard disk, an optical disk, or the like. The storage unit 32 may be a storage device provided outside the information processing device 20. The storage unit 32 may also store or temporarily store programs or information downloaded via a local area network (LAN) or the Internet. The storage unit 32 may also be composed of multiple storage media.

[0042] In this embodiment, the storage unit 32 stores map data 32A, a guidance screen DB (database) 32B, etc. Details of the map data 32A and the guidance screen DB 32B will be described later.

[0043] The processing unit 30 executes information processing in the information processing device 20. The processing unit 30 includes a teacher driving processing unit 30A, an autonomous driving pre-processing unit 30B, and an autonomous driving processing unit 30C. The teacher driving processing unit 30A includes an acquisition unit 30D, an extraction unit 30E, an update unit 30F, an identification unit 30G, and a guidance screen generation unit 30H. The autonomous driving pre-processing unit 30B includes an output control unit 30I.

[0044] The instructor driving processing unit 30A, the autonomous driving pre-processing unit 30B, the autonomous driving processing unit 30C, the acquisition unit 30D, the extraction unit 30E, the update unit 30F, the identification unit 30G, the guidance screen generation unit 30H, and the output control unit 30I are realized, for example, by one or more processors. For example, each of the above units may be realized by having a processor such as a CPU execute a program, i.e., by software. Each of the above units may be realized by a processor such as a dedicated IC (Integrated Circuit), i.e., by hardware. Each of the above units may be realized by a combination of software and hardware. When multiple processors are used, each of the multiple processors may realize one of the multiple units, or may realize two or more of the multiple units.

[0045] The processor realizes each of the above-mentioned multiple units by reading and executing a program stored in the storage unit 32. Note that instead of storing a program in the storage unit 32, the program may be directly embedded in the circuitry of the processor. In this case, the processor realizes each of the above-mentioned multiple units by reading and executing the program embedded in the circuitry.

[0046] The instructor running processing unit 30A executes processing in the instructor running mode.

[0047] The mobile object 10 of this embodiment has multiple driving modes. The multiple driving modes include a teacher driving mode and an automatic driving mode. The teacher driving mode is a mode in which map data 32A of the surroundings of the mobile object 10 is created and a teacher route is generated by driving the mobile object 10. The automatic driving mode is a mode in which the mobile object 10 automatically drives along the teacher route.

[0048] The teacher running processing unit 30A executes processing in the teacher running mode when a teacher running start instruction signal for instructing the start of teacher running is input by a user's operation instruction on the input unit 10B or the like.

[0049] The instructor running processing unit 30A has an acquisition unit 30D, an extraction unit 30E, an update unit 30F, a specification unit 30G, and a guidance screen generation unit 30H.

[0050] The acquisition unit 30D acquires surrounding information from the image capturing device 10D. As described above, in the present embodiment, the image capturing device 10D acquires, as surrounding information, surrounding images that are captured images of the surroundings of the moving object 10. For this reason, the acquisition unit 30D acquires the surrounding images of the moving object 10 from the image capturing device 10D.

[0051] The image capturing device 10D acquires peripheral images at predetermined timings in a time series. Then, each time the image capturing device 10D acquires a peripheral image, it outputs the acquired peripheral image to the processing unit 30. Therefore, the acquisition unit 30D of the instructor running processing unit 30A acquires peripheral images sequentially from the image capturing device 10D.

[0052] The extraction unit 30E extracts feature points around the route traveled by the moving object 10 by analyzing the surrounding image acquired by the acquisition unit 30D from the image capturing device 10D.

[0053] A feature point is a point that is characteristic in real space. More specifically, a feature point is a portion from which a characteristic image pattern can be obtained from image information of an object (e.g., a building, a sign, a billboard, etc.) that can serve as a landmark in real space. Specifically, feature points include, but are not limited to, edges, ends, corners, and portions of an object where the color difference is equal to or greater than a threshold.

[0054] The extraction unit 30E analyzes the peripheral image using a known analysis method such as edge detection to extract feature amounts at each position included in the peripheral image, thereby extracting feature points.

[0055] The feature amount of a feature point is data that represents the characteristics of the feature point. Examples of feature amount of a feature point include brightness and density of image information, SIFT (Scale Invariant Feature Transform) feature amount, SURF (Speeded Up Robust Features) feature amount, etc.

[0056] The update unit 30F updates the map data 32A based on the extraction result by the extraction unit 30E. In detail, the update unit 30F registers, in the map data 32A, the feature amount of each feature point extracted by the extraction unit 30E in association with position information that is the three-dimensional position of the feature point in real space.

[0057] The map data 32A is data in which three-dimensional position information of characteristic points of objects existing in real space is registered.

[0058] The update unit 30F may derive position information of the feature points in real space using the position information of the moving object 10 acquired from the internal sensor 10C, etc. The position information may use three-dimensional positions in real space.

[0059] The position information of the three-dimensional position in real space of the feature points registered in the map data 32A is expressed in a three-dimensional Cartesian coordinate system (X, Y, Z) based on, for example, latitude, longitude, and altitude. The three-dimensional position in real space of the feature points may be determined, for example, by measurement based on the principle of triangulation from camera images taken at multiple positions, or by measurement using LIDAR (Light Detection and Ranging) or a stereo camera.

[0060] Furthermore, the update unit 30F may assign an identification number to each of the feature points that allows the feature points to be uniquely identified, and register the feature points in the map data 32A.

[0061] The method for creating the map data 32A by the update unit 30F may be a known method, and the method is not limited to this. For example, the update unit 30F creates position information indicating the positions of the feature points extracted by the extraction unit 30E, thereby creating the map data 32A having the position information of the feature points.

[0062] Furthermore, the update unit 30F registers the travel route of the moving object 10 in the teacher travel mode in the map data 32A as a teacher route. For example, the update unit 30F sequentially registers the position information of the moving object 10 traveling in the teacher travel mode in the map data 32A as the moving object position.

[0063] Specifically, for example, when the driving mode of the moving object 10 is switched to the supervised driving mode by a user's operation instruction on the input unit 10B, the update unit 30F sequentially registers the position information of the moving object 10 as the moving object position in the map data 32A while the moving object 10 is driving from a predetermined position in real space where the moving object 10 started driving by the user's driving operation to a target position where the moving object 10 will arrive when the supervised driving ends. Through this registration process, the update unit 30F registers in the map data 32A as the supervised route a driving route from the predetermined position in real space where the moving object 10 started driving by the supervised driving to the target position where the moving object 10 will arrive when the supervised driving ends. Note that the update unit 30F may store the supervised route in the storage unit 32 separately from the map data 32A.

[0064] Next, the identification unit 30G will be described. The identification unit 30G identifies an autonomous driving start possible point.

[0065] FIG. 5 is an explanatory diagram of an example of identification of an automatic driving start possible point AP by the identification unit 30G.

[0066] The automatic driving start possible point AP is a point at which the moving body 10 can start automatic driving. In detail, the automatic driving start possible point AP is a point at which the moving body 10 can start automatic driving on the teacher route T from a predetermined position P1 to a target position P2 in real space.

[0067] The point where automatic driving can be started is a point where automatic driving can be started. Specifically, the point where automatic driving can be started is a point where the number of feature points FP used for estimating the position of the moving body 10 is equal to or greater than a first threshold value. Furthermore, the point where automatic driving can be started may be a point on the teacher route T from which sufficient feature points FP have been extracted to enable the moving body 10 to estimate its own position with sufficient accuracy when starting automatic driving. The feature points FP are feature points registered in the map data 32A, and are registered in the map data 32A during teacher driving.

[0068] During autonomous driving, the processing unit 30 of the moving body 10 extracts feature points from the surrounding image captured by the imaging device 10D and compares the extracted feature points with feature points FP included in the map data 32A. If the number of feature points FP that match the map data 32A is equal to or greater than a first threshold, which is a predetermined number, the processing unit 30 is able to estimate the self-position of the moving body 10.

[0069] The identification unit 30G identifies a point on the teacher route T where self-position estimation is possible as an automatic driving start possible point AP. In detail, for example, the identification unit 30G uses the map data 32A to identify a point on the teacher route T where the number of feature points FP extracted is equal to or greater than the first threshold as an automatic driving start possible point AP.

[0070] For example, the identification unit 30G identifies, as an autonomous driving start point AP, a point where the number of feature points FP existing within a predetermined distance range from the teacher route T is equal to or greater than a first threshold value. In this case, the first threshold value may be set in advance to a value equal to or greater than the lower limit of the number of matching feature points FP that allows the moving object 10 to estimate its own position.

[0071] This distance range may be set in advance as long as it is within the observable range of the image capturing device 10D. For example, this distance range may be within the maximum observable range of the image capturing device 10D and within the maximum range required for accurate self-location estimation.

[0072] Assume that the map data 32A represents the distribution of feature points FP shown in Fig. 5. Also assume that the point on the teacher route T where the number of feature points FP is equal to or greater than the first threshold is point P3. In this case, the identification unit 30G identifies point P3 on the teacher route T as the autonomous driving start possible point AP.

[0073] Furthermore, the identification unit 30G may identify a point on a linear route on the teacher route T from which the number of extracted feature points FP is equal to or greater than the first threshold and which is equal to or greater than a predetermined distance as the automatic driving start point AP. The predetermined distance of the linear route may be determined in advance. For example, the predetermined distance of the linear route may be a distance at which the moving body 10 positioned at the point can start driving in a posture along the teacher route T. Specifically, for example, the predetermined distance of the linear route may be a length that is equal to or greater than M times the total length of the moving body 10. M may be a length that is equal to or greater than 1.

[0074] In addition, the identification unit 30G may identify the point AP at which automatic driving can start so that the section from the point AP at which automatic driving can start on the teacher route T to the target position P2 of the teacher route T does not include a section where the feature point FP is less than or equal to the second threshold value.

[0075] The second threshold may be set in advance to a value less than the first threshold, which is the lower limit of the number of feature points FP required for self-location estimation. Specifically, the second threshold may be set in advance to an upper limit at which the number of feature points FP required for self-location estimation is small and it becomes difficult for the processing unit 30 of the moving object 10 to estimate the position of the moving object 10 even if it uses dead reckoning (DR) technology.

[0076] In addition, the identification unit 30G may identify a point on the teacher route T from which a feature point FP sufficient to estimate the self-position with sufficient accuracy when the moving body 10 starts automatic driving as the automatic driving start point AP.

[0077] Then, the identification unit 30G registers the identified autonomous driving possible point AP in the map data 32A in association with position information of the autonomous driving possible point AP in real space.

[0078] Returning to Figure 4, the explanation continues.

[0079] The guidance screen generating unit 30H generates a guidance screen for guiding the moving object 10 to the automatic driving start possible point AP.

[0080] 6A and 6B are schematic diagrams of an example of the guidance screen 40. FIG.

[0081] 6A is a schematic diagram of an example of a guidance screen 40A. The guidance screen 40A is an example of the guidance screen 40.

[0082] The guidance screen generation unit 30H generates a guidance screen 40A as a superimposed image in which an image 44 representing the driving direction to the automatic driving start point AP identified by the identification unit 30G is superimposed on the automatic driving start point AP identified by the identification unit 30G in a surrounding image 42 including the automatic driving start point AP photographed during teacher driving.

[0083] The image 44 may be any image that indicates the driving direction to the autonomous driving possible point AP. For example, the image 44 may be an image that includes an arrow that indicates the driving direction to the autonomous driving possible point AP. Fig. 6A shows an example in which the image 44 includes an arrow image 44A that indicates the driving direction to the autonomous driving possible point AP.

[0084] The image 44 may also be an image that represents the driving direction to the automatic driving possible start point AP and the recommended posture of the mobile body 10 when the mobile body 10 is located at the automatic driving possible start point AP.

[0085] The recommended attitude of the moving body 10 is an attitude in which the moving body 10 can travel from the automatic driving start possible point AP along the teacher route T when the moving body 10 is located at the automatic driving start possible point AP. The recommended attitude of the moving body 10 is expressed by the inclination of the body of the moving body 10 with respect to each of the traveling direction of the moving body 10 and the vehicle width direction that is perpendicular to the traveling direction and the height direction (vertical direction).

[0086] The guidance screen generation unit 30H generates the guidance screen 40A by superimposing an image 44 including a posture image 44B representing the recommended posture onto the surrounding image 42 so that the moving body 10 will be in the recommended posture when it is located at the point AP where automatic driving can start.

[0087] 6A shows an example of a form in which the image 44 includes an arrow image 44A indicating the driving direction to the automatic driving possible point AP, and a posture image 44B indicating the posture of the moving body 10 when the moving body 10 is located at the automatic driving possible point AP. Fig. 6A shows an example in which the posture image 44B is a rectangular icon image that is a two-dimensional schematic representation of the moving body 10 when the moving body 10 is located at the automatic driving possible point AP in a posture that allows it to drive along the teacher route T.

[0088] It should be noted that the posture image 44B is not limited to a rectangular icon image along a two-dimensional plane. Fig. 6B is a schematic diagram of an example of the guidance screen 40B. The guidance screen 40B is an example of the guidance screen 40. As shown in Fig. 6B, for example, the posture image 44C may be an icon image that shows, in a three-dimensional form, the moving object 10 in a posture that allows it to travel along the teacher path T when it is positioned at the automatic traveling start possible point AP.

[0089] In addition, the guidance screen generation unit 30H may generate a superimposed image as the guidance screen 40 in which an image image 44 having a shape that converges along the teacher route T toward the point AP in the surrounding image 42 where automatic driving can start is superimposed on the point AP where automatic driving can start.

[0090] 6A and 6B, the guidance screen generation unit 30H may display the posture image 44B and the posture image 44C, which represent the posture of the moving body 10 when the moving body 10 is located at the point AP where automatic driving is possible to start, as rectangular icon images whose width narrows along the teacher route T toward the point AP where automatic driving is possible to start, thereby converging toward the point AP where automatic driving is possible to start. The guidance screen generation unit 30H may also display the arrow image 44A as a shape that narrows along the teacher route T toward the point AP where automatic driving is possible to start. By displaying the image 44 as a shape that converges along the teacher route T toward the point AP where automatic driving is possible to start, the user driving the moving body 10 can easily adjust the posture of the moving body 10 to match the recommended posture by adjusting the posture of the moving body 10 along the image 44.

[0091] There is no limitation on the size of the image 44 to be superimposed on the peripheral image 42. For example, the guidance screen generation unit 30H may generate, as the guidance screen 40, a superimposed image in which the image 44 is superimposed on an area including the automatic driving start possible point AP on the teacher route T and one or more points outside the teacher route T from which the number of feature points FP extracted around the automatic driving start possible point AP is equal to or greater than the first threshold.

[0092] Returning to Figure 4, the explanation continues.

[0093] The guidance screen generation unit 30H registers the generated guidance screen 40 in the guidance screen DB 32B in association with position information in real space of the autonomous driving possible point AP used to generate the guidance screen 40. The guidance screen DB 32B is a database that associates position information in real space with the guidance screen 40. The data format of the guidance screen DB 32B is not limited to a database. The guidance screen generation unit 30H may register the generated guidance screen 40 in the map data 32A in association with position information in real space of the autonomous driving possible point AP used to generate the guidance screen 40.

[0094] Next, the automatic driving pre-processing unit 30B will be described. The automatic driving pre-processing unit 30B executes processing when the driving mode of the moving object 10 is a driving mode other than the supervised driving mode and the automatic driving mode. In detail, the automatic driving pre-processing unit 30B executes processing after the map data 32A and the guidance screen 40 are generated in the supervised driving mode and before switching to the automatic driving mode.

[0095] The autonomous driving pre-processing unit 30B includes an output control unit 30I.

[0096] Before the start of automatic driving, the output control unit 30I outputs the guidance screen 40. The output control unit 30I outputs the guidance screen 40 to the display unit 10K.

[0097] For example, the output control unit 30I outputs the guidance screen 40 to the display unit 10K when the position of the traveling mobile object 10 is within a predetermined distance from an automatic driving possible point AP registered in the map data 32A. The output control unit 30I outputs the guidance screen 40 of the automatic driving possible point AP to the display unit 10K when the position of the traveling mobile object 10 acquired from the internal sensor 10C is within a predetermined distance from the position represented by the position information of the automatic driving possible point AP registered in the map data 32A. This predetermined distance may be set in advance. Furthermore, this predetermined distance may be changeable as appropriate by a user's operation instruction via the input unit 10B, for example.

[0098] Furthermore, the output control unit 30I may output the guidance screen 40 to the display unit 10K when an instruction signal indicating preparation for starting automatic driving is input by a user's operation instruction on the input unit 10B or the like.

[0099] By executing these processes, the output control unit 30I outputs the guidance screen 40 to the display unit 10K before the start of autonomous driving. Therefore, the output control unit 30I can provide the user of the mobile object 10 with information urging the mobile object 10 to drive toward the autonomous driving possible point AP. By checking the guidance screen 40 output to the display unit 10K, the user driving the mobile object 10 can drive the mobile object 10 toward the autonomous driving possible point AP.

[0100] In addition, when the mobile body 10 travels and approaches the automatic travel start point AP represented by the guidance screen 40, and the self-position of the mobile body 10 can be estimated using the characteristic point FP, the output control unit 30I superimposes an icon image indicating the current position of the mobile body 10 on the guidance screen 40.

[0101] 7A and 7B are explanatory diagrams of an example of a guidance screen 41 output by the output control unit 30I.

[0102] FIG. 7A is a schematic diagram illustrating an example of the positional relationship between the teacher route T and the moving object 10. For example, when the moving object 10 is located at a point P10 that is farther away from the autonomous driving possible point AP than a predetermined distance, the output control unit 30I outputs a guidance screen 40 of the autonomous driving possible point AP to the display unit 10K. For example, the output control unit 30I outputs the guidance screen 40 (42A, 42B) shown in FIG. 6A or 6B to the display unit 10K. Next, assume that the moving object 10 moves in the traveling direction X and arrives at a point P11 within a predetermined distance from the autonomous driving possible point AP. Next, assume that the processing unit 30 of the moving object 10 estimates its own position using the feature point FP. Then, the output control unit 30I outputs a guidance screen 41 to the display unit 10K.

[0103] 7B is a schematic diagram illustrating an example of a guidance screen 41A displayed on the display unit 10K by the output control unit 30I. The guidance screen 41A is an example of the guidance screen 41. The guidance screen 41 is a guidance screen displayed on the display unit 10K by the output control unit 30I using the guidance screen 40 generated by the guidance screen generation unit 30H.

[0104] When the moving object 10 travels and approaches an automatic travel start possible point AP displayed on the guidance screen 40, and its own position is estimated using the feature point FP registered in the map data 32A, the output control unit 30I outputs to the display unit 10K a guidance screen 41A in which an icon image 46 indicating the current position of the moving object 10 is superimposed on the guidance screen 40. The icon image 46 indicating the current position of the moving object 10 may be superimposed non-transparently or semi-transparently.

[0105] Therefore, when the moving body 10 approaches the automatic driving possible point AP and becomes capable of self-location estimation, the output control unit 30I can provide the user with information indicating that the moving body 10 has approached the automatic driving possible point AP and become capable of self-location estimation. By checking the guidance screen 41A output on the display unit 10K, the user driving the moving body 10 can easily confirm that the moving body 10 has approached the automatic driving possible point AP and become capable of self-location estimation.

[0106] Then, when the moving body 10 reaches the automatic driving start possible point AP, the output control unit 30I further superimposes on the guidance screen 40 a route image representing the teacher route T or a recommended route for causing the moving body 10 to merge with the teacher route T in accordance with the current position and posture of the moving body 10. That is, the output control unit 30I displays on the display unit 10K a guidance screen 41 in which a route image representing the teacher route T or the recommended route is further superimposed on the guidance screen 40.

[0107] 8A and 8B are explanatory diagrams of an example of a guidance screen 41B output by the output control unit 301. The guidance screen 41B is an example of the guidance screen 41.

[0108] 8A is a schematic diagram showing an example of the positional relationship between a teacher route T and a moving object 10. For example, assume that the moving object 10 has reached an automatic driving start possible point AP. When the moving object 10 reaches the automatic driving start possible point AP, the output control unit 30I displays a guidance screen 41B on the display unit 10K, in which the teacher route T is further superimposed on the guidance screen 40, as shown in FIG. 8B. Furthermore, the output control unit 30I may further superimpose a message 48 indicating that the moving object 10 has reached the automatic driving start possible point AP, as shown in FIG. 8B.

[0109] Therefore, when the moving body 10 reaches the automatic driving possible start point AP, the output control unit 30I can provide the user with information indicating that the moving body 10 has reached the automatic driving possible start point AP and is now in a state where it can start automatic driving along the teacher route T. By checking the guidance screen 41B output to the display unit 10K, the user driving the moving body 10 can easily confirm that the moving body 10 has reached the automatic driving possible start point AP and is now in a state where it can start automatic driving along the teacher route T.

[0110] Note that the posture of the moving object 10 when it reaches the autonomous driving possible point AP may be such that it is difficult for the moving object 10 to travel along the teacher route T from the autonomous driving possible point AP. Therefore, the output control unit 30I acquires the position and posture of the moving object 10 when it reaches the autonomous driving possible point AP from the internal sensor 10C. Then, using the acquired position and posture, the output control unit 30I generates a recommended path for traveling the moving object 10 in that position and posture to join the teacher route T. A known method may be used to generate the recommended path. Then, the output control unit 30I may output a guidance screen 41B on which the recommended path is further superimposed to the display unit 10K instead of or together with the teacher route T.

[0111] Returning to Figure 4, the explanation continues.

[0112] The automatic driving processing unit 30C estimates its own position using the map data 32A and performs automatic driving. Specifically, the automatic driving processing unit 30C extracts feature points from the surrounding image captured by the imaging device 10D and compares the extracted feature points with feature points FP included in the map data 32A. If the number of feature points FP that match the map data 32A is equal to or greater than a first threshold, the automatic driving processing unit 30C can estimate the own position of the moving object 10. While estimating its own position, the automatic driving processing unit 30C controls the drive control unit 10F to align the own position with the teacher route T. Through this control, the automatic driving processing unit 30C controls the drive control unit 10F so that the moving object 10 automatically drives along the teacher route T.

[0113] Next, an example of the flow of information processing executed by the information processing device 20 will be described.

[0114] 9 is a flowchart showing an example of the flow of information processing executed in the teacher driving mode by the information processing device 20. When switched to the teacher driving mode, the teacher driving processing unit 30A of the information processing device 20 executes the teacher driving processing shown in FIG.

[0115] The acquisition unit 30D acquires an image of the surroundings of the moving object 10 from the image capturing device 10D (step S100).

[0116] The extraction unit 30E analyzes the surrounding image acquired in step S100 to extract feature points FP around the route traveled by the moving object 10 (step S102).

[0117] The update unit 30F updates the map data 32A based on the feature points FP extracted in step S102 (step S104). For each feature point FP extracted in step S102, the update unit 30F associates the feature amount of the feature point FP with position information, which is the three-dimensional position of the feature point FP in real space, and registers the associated information in the map data 32A. The update unit 30F also registers the travel route of the moving object 10 in the teacher-guided travel mode in the map data 32A as a teacher route. For example, the update unit 30F sequentially registers the position information of the moving object 10 traveling in the teacher-guided travel mode as the moving object position in the map data 32A. The route represented by the transition of the moving object position in the teacher-guided travel mode is registered in the map data 32A as the teacher route T.

[0118] Furthermore, if the number of feature points FP extracted in step S102 is equal to or greater than the first threshold, the update unit 30F associates the peripheral image acquired in step S100 with the position information of the moving object 10 at the time the peripheral image was acquired, and stores the associated images in the storage unit 32 (step S106). Storing peripheral images having the number of feature points FP equal to or greater than the first threshold in the storage unit 32 can save storage capacity of the storage unit 32. Note that the processing unit 30 may store all peripheral images acquired in step S100 in the storage unit 32, associated with the position information of the moving object 10 at the time the peripheral image was acquired.

[0119] Next, the processing unit 30 determines whether the supervised travel has ended (step S108). For example, the processing unit 30 determines that the supervised travel has ended when a signal indicating an instruction to end the supervised travel is input by the user operating the input unit 10B or the like.

[0120] If the determination in step S108 is negative (step S108: No), the process returns to step S100. If the determination in step S108 is positive (step S108: Yes), the process proceeds to step S110.

[0121] In step S110, the identification unit 30G uses the map data 32A updated by the processes of steps S100 to S112 to identify an automatic driving start possible point AP on the teacher route T (step S110).

[0122] Then, the identification unit 30G registers the identified automatic driving possible start point AP in the map data 32A in association with position information of the automatic driving possible start point AP in real space (step S112).

[0123] The guidance screen generating unit 30H generates a guidance screen 40 for guiding the moving object 10 to the autonomous driving start possible point AP identified in step S110 (step S114).

[0124] The guidance screen generation unit 30H registers the generated guidance screen 40 in the guidance screen DB 32B in association with the position information in real space of the autonomous driving possible point AP used to generate the guidance screen 40 (step S116). The guidance screen generation unit 30H may also register the generated guidance screen 40 in the map data 32A in association with the position information in real space of the autonomous driving possible point AP used to generate the guidance screen 40. Then, this routine ends.

[0125] FIG. 10 is a flowchart showing an example of the flow of information processing that the information processing device 20 executes after the teacher running processing.

[0126] The output control unit 30I determines whether or not to display the guidance screen 40 (step S200). The output control unit 30I makes the determination in step S200 by determining whether or not the position of the traveling mobile object 10 is within a predetermined distance from an automatic traveling start possible point AP registered in the map data 32A. The output control unit 30I repeats a negative determination (step S200: No) until a positive determination is made in step S200 (step S200: Yes). If a positive determination is made in step S200 (step S200: Yes), the process proceeds to step S202.

[0127] In step S202, the output control unit 30I outputs the guidance screen 40 to the display unit 10K (step S202). Note that multiple automatic driving possible start points AP may be registered in the map data 32A. In this case, the output control unit 30I may output the guidance screen 40 including the automatic driving possible start point AP associated with the position information closest to the current position of the moving object 10 to the display unit 10K.

[0128] Next, the output control unit 30I determines whether the moving object 10 has approached the automatic driving start point AP included in the guidance screen 40 displayed in step S202 and has become able to estimate its own position (step S204). If the determination in step S204 is negative (step S204: No), the process returns to step S202. If the determination in step S204 is positive (step S204: Yes), the process proceeds to step S206.

[0129] In step S206, the output control unit 30I outputs to the display unit 10K a guidance screen 41A in which an icon image 46 indicating the current position of the moving object 10 is superimposed on the guidance screen 40 displayed in step S202 (step S206).

[0130] Next, the output control unit 30I determines whether the moving object 10 has reached the automatic driving start possible point AP included in the guidance screen 40 displayed in step S202 (step S208). If the determination in step S208 is negative (step S208: No), the process returns to step S206. If the determination in step S208 is positive (step S208: Yes), the process proceeds to step S210.

[0131] In step S210, the output control unit 30I outputs to the display unit 10K a guidance screen 41 in which the teacher route T is further superimposed on the guidance screen 40 displayed in step S202 or the guidance screen 41 displayed in step S206 (step S210). The output control unit 30I may further superimpose a message 48 indicating that the autonomous driving start point AP has been reached. The output control unit 30I may also generate a recommended route for merging with the teacher route T and further superimpose it.

[0132] Next, the autonomous driving pre-processing unit 30B determines whether autonomous driving has started (step S212). For example, the autonomous driving pre-processing unit 30B makes the determination in step S212 by determining whether an autonomous driving execution instruction signal for instructing the execution of autonomous driving has been input by a user's operation instruction via the input unit 10B or the like. If the determination in step S212 is negative (step S212: No), the process proceeds to step S210. If the determination in step S212 is positive (step S212: Yes), the process proceeds to step S214.

[0133] In step S214, the automatic driving processing unit 30C executes the automatic driving process (step S214). The automatic driving processing unit 30C estimates the vehicle's own position using the map data 32A, and performs automatic driving along the teacher route T. Then, this routine ends.

[0134] As described above, the information processing device 20 of this embodiment includes an identification unit 30G, a guidance screen generation unit 30H, and an output control unit 30I. The identification unit 30G identifies an autonomous driving start possible point AP on a teacher route T from a predetermined position P1 to a target position P2 in real space. The guidance screen generation unit 30H generates a guidance screen 40 for guiding the moving object 10 to the autonomous driving start possible point AP. The output control unit 30I outputs the guidance screen 40 (guidance screen 41) before autonomous driving starts.

[0135] Here, in the conventional technology, when autonomous driving is started in a location where the characteristics of the environment around the moving body are insufficient, it may be impossible to estimate the self-position, making it difficult to carry out autonomous driving along the teacher route T. In detail, when the driver inputs an autonomous driving execution command at an arbitrary position as the autonomous driving start position, if there are few feature points FP to be used for estimating the self-position at that position, it may be difficult to start autonomous driving along the teacher route T.

[0136] On the other hand, the information processing device 20 of this embodiment outputs a guidance screen 40 for guiding the moving body 10 to an automatic driving start possible point AP on the teacher route T before automatic driving starts.

[0137] Therefore, the information processing device 20 of this embodiment can provide the user of the moving body 10 before the start of automatic driving with information prompting the moving body 10 to drive toward an automatic driving start possible point AP, which is a point where automatic driving can be started. By checking the guidance screen 40 output on the display unit 10K, the user driving the moving body 10 can drive the moving body 10 toward the automatic driving start possible point AP. Then, by having the moving body 10 start automatic driving upon reaching the automatic driving start possible point AP, the moving body 10 can start automatic driving from a position where it can estimate its own position, and therefore the moving body 10 can perform automatic driving along the teacher route T.

[0138] Therefore, the information processing device 20 of this embodiment can support automatic driving along the teacher route T.

[0139] Furthermore, the identification unit 30G of the information processing device 20 of this embodiment may identify a point on the teacher route T from which the number of feature points FP used for self-position estimation that is equal to or greater than the first threshold is extracted as the automatic driving start possible point AP. Therefore, by the output control unit 30I outputting a guidance screen 40 to the automatic driving start possible point AP to the display unit 10K, it is possible to effectively guide the vehicle to a point where self-position estimation is possible, i.e., a point where automatic driving can be started.

[0140] Furthermore, the identification unit 30G of the information processing device 20 of this embodiment may identify a point on a route on the teacher route T that is linear for a predetermined distance or more and from which a first threshold or more of feature points FP are extracted as the autonomous driving start possible point AP.

[0141] If the automatic driving possible start point AP is a point on a curved route, starting automatic driving from that point may make automatic driving along the teacher route T difficult. On the other hand, in the processing unit 30 of this embodiment, the identification unit 30G identifies, as the automatic driving possible start point AP, a point on a route on the teacher route T that is straight for at least a predetermined distance from which feature points FP are extracted that are equal to or greater than the first threshold. Therefore, the information processing device 20 of this embodiment can support automatic driving along the teacher route T so that it becomes easier.

[0142] Furthermore, the identification unit 30G of the information processing device 20 of this embodiment may identify, as the autonomous driving start possible point AP, a point on the teacher route T that does not include a section where the feature point FP on the teacher route T is equal to or less than the second threshold value.

[0143] When the moving body 10 travels automatically along the teacher route T, self-location estimation may be difficult in areas with few feature points FP. In this case, the self-location of the moving body 10 may be estimated by using dead reckoning technology to estimate the movement amount and movement direction from the feature points FP and wheel pulse measurement results of the moving body 10. However, the accuracy of dead reckoning technology tends to decrease as the distance increases. Therefore, in sections on the teacher route T where the feature points FP are equal to or less than a second threshold, self-location estimation using the feature points FP and dead reckoning technology may be difficult, making it difficult to travel along the teacher route T. Therefore, the identification unit 30G of the information processing device 20 of this embodiment identifies points on the teacher route T that do not include sections on the teacher route T where the feature points FP are equal to or less than the second threshold as automatic travel start possible points AP.

[0144] Therefore, the information processing device 20 of this embodiment can effectively guide the vehicle to a point where self-position estimation is possible, i.e., a point where automatic driving can be started, by having the output control unit 30I output a guidance screen 40 to the point AP where automatic driving can be started to the display unit 10K.

[0145] Here, even when the mobile body 10 reaches the automatic driving start possible point AP, which is a point where self-location estimation is possible, and the mobile body 10 is in a state where self-location estimation is possible, the attitude of the mobile body 10 with respect to the teacher route T may be significantly different. If the attitude of the mobile body 10 with respect to the teacher route T is significantly different, the mobile body 10 automatically travels at a position that deviates from the teacher route T during the process of automatic driving from the automatic driving start possible point AP to join the teacher route T, and therefore it may be difficult to continuously estimate its own position with high accuracy during automatic driving.

[0146] On the other hand, the guidance screen generation unit 30H of the information processing device 20 of this embodiment generates a guidance screen 40 as a superimposed image in which an image 44 representing the driving direction to the automatic driving start point AP and the recommended posture of the moving body 10 when the moving body 10 is located at the automatic driving start point AP in a surrounding image 42 including the automatic driving start point AP is superimposed on the automatic driving start point AP.

[0147] Therefore, by viewing the guidance screen 40, the user can drive toward the automatic driving possible start point AP while adjusting the posture of the moving body 10 so that it matches the recommended posture displayed by the image 44 when the moving body 10 is located at the automatic driving possible start point AP. Therefore, in addition to the above effects, the information processing device 20 of this embodiment can provide support so that the moving body 10 can continuously and accurately estimate its own position relative to the teacher route T during automatic driving.

[0148] Furthermore, the guidance screen generation unit 30H generates, as the guidance screen 40, a superimposed image on which is superimposed an image 44 of a shape converging along the teacher route T toward the autonomous driving possible point AP. Specifically, as described above, the guidance screen generation unit 30H generates, as the guidance screen 40, a superimposed image on which is superimposed an image 44 including a rectangular icon image whose width narrows along the teacher route T toward the autonomous driving possible point AP. This allows the user to drive the mobile object 10 toward the autonomous driving possible point AP while adjusting the position and attitude of the mobile object 10 according to the image 44 included in the guidance screen 40. Therefore, the information processing device 20 of this embodiment can assist the mobile object 10 so that the attitude of the mobile object 10 when it arrives at the autonomous driving possible point AP becomes an attitude that allows it to autonomously drive from the autonomous driving possible point AP along the teacher route T.

[0149] In the present embodiment, the information processing device 20 is described as being mounted on the mobile object 10 as an example. However, the information processing device 20 may be configured to be mounted on the outside of the mobile object 10. In this case, the information processing device 20 may be configured to be able to communicate with each of the electronic devices, such as the internal sensor 10C, mounted on the mobile object 10 via a network.

[0150] In the above-described embodiment, the program for executing the information processing has a modular configuration including the above-described functional units, and in actual hardware, for example, a CPU (processor circuit) reads the information processing program from a ROM or a HDD and executes it, thereby loading the above-described functional units into a RAM (main memory) and generating the above-described functional units in the RAM (main memory). Note that some or all of the above-described functional units can also be realized using dedicated hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array).

[0151] Although the embodiments have been described above, they are presented as examples and are not intended to limit the scope of the present disclosure. The novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. The above embodiments are included within the scope and spirit of the present disclosure, as well as within the scope of the inventions and their equivalents as set forth in the claims. [Explanation of symbols]

[0152] 10 Mobile 20 Information processing equipment 10K display 10D imaging device 30G specific part 30H Guidance screen generation part 30I Output control section

Claims

1. an identification unit that identifies an automatic driving start point on a teacher route from a predetermined position to a target position in real space; a guidance screen generation unit that generates a guidance screen for guiding the moving object to the automatic traveling start point; an output control unit that outputs the guidance screen before the start of automatic driving; Equipped with The output control unit When the moving object reaches the point where automatic traveling can be started, a route image showing the teacher route or a recommended route for merging the moving object with the teacher route according to the current position and attitude is superimposed on the guidance screen. Information processing device.

2. The identification unit identifying a point on the teacher route where self-position estimation is possible as the autonomous driving start point; The information processing device according to claim 1 .

3. The identification unit Identifying a point on the teacher route from which feature points sufficient for performing self-position estimation with sufficient accuracy to start autonomous driving are extracted as the autonomous driving start possible point. The information processing device according to claim 1 .

4. The identification unit identifying a point on the teacher route from which a first threshold or more of feature points used for self-position estimation have been extracted as the autonomous driving start point; The information processing device according to claim 1 .

5. The identification unit a point on the teacher route where the number of extracted feature points is equal to or greater than a first threshold and which is a straight line for a predetermined distance or more is identified as the autonomous driving start point; The information processing device according to claim 4 .

6. The identification unit The automatic driving start possible point is identified so that a section from the automatic driving start possible point on the teacher route to the target position of the teacher route does not include a section where the feature points are equal to or less than a second threshold value that is less than the first threshold value. The information processing device according to claim 4 .

7. The guidance screen generation unit a superimposed image, which is obtained by superimposing an image representing a driving direction to the automatic driving start possible point on the automatic driving start possible point in a surrounding image including the automatic driving start possible point photographed during instructor driving, is generated as the guidance screen; The information processing device according to claim 1 .

8. The guidance screen generation unit A superimposed image is generated as the guidance screen, in which an image representing the direction of travel to the automatic driving start possible point and the recommended posture of the mobile body when the mobile body is located at the automatic driving start possible point is superimposed on the automatic driving start possible point in a surrounding image including the automatic driving start possible point photographed during teacher travel. The information processing device according to claim 1 .

9. The guidance screen generation unit a superimposed image, as the guidance screen, in which an image of a shape converging along the instructor route toward the automatic driving start possible point is superimposed on the automatic driving start possible point in a surrounding image including the automatic driving start possible point captured during instructor driving; The information processing device according to claim 1 .

10. The guidance screen generation unit a superimposed image, as the guidance screen, in which an image representing a driving direction to the automatic driving start point is superimposed on an area including the automatic driving start point, which is a point on the teacher route from which the feature points extracted are equal to or greater than a first threshold, and one or more points outside the teacher route from which the feature points extracted are equal to or greater than the first threshold, in the vicinity of the automatic driving start point; The information processing device according to claim 4 .

11. The output control unit When the mobile body travels and approaches the automatic travel start possible point displayed on the guidance screen and its own position can be estimated using the characteristic points, an icon image indicating the current position of the mobile body is superimposed on the guidance screen. The information processing device according to claim 4 .

Images