Information processing device and information processing method

Abstract

To provide a technique of issuing a notification according to the response level expected from the driver of a vehicle.SOLUTION: An information processor of the present disclosure is equipped in a first vehicle as a connected vehicle which performs a communication by V2X. In the information processor, a control unit receives first information including positional information of a first target. The control unit operates a first distance length as a relative distance between the first target and a first vehicle in a first direction vertical to the direction of travelling of the first vehicle on the basis of the positional information in the first information. The control unit determines whether second information for attracting attentions to the first target is to be output on the basis of the first distance length.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present disclosure relates to an information processing device and an information processing method. [Background technology]

[0002] BACKGROUND ART There is known a technique for notifying other vehicles of information about an obstacle when the vehicle detects an obstacle ahead of the vehicle (see, for example, Patent Document 1).

[0003] Furthermore, in a blind spot support information notification device that notifies the driver of blind spot support information to assist in the driver's visibility of the blind spot of the vehicle, a technique is known that restricts the notification of the blind spot support information in cases where the movement of the vehicle is already restricted by the presence of a vehicle ahead (see, for example, Patent Document 2). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 10-079100 [Patent Document 2] Japanese Patent Application Laid-Open No. 2007-233864 Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present disclosure is to provide a technology that can provide a notification according to the level of response required of a vehicle driver. [Means for solving the problem]

[0006] This disclosure is about a connected vehicle that communicates via V2X (Vehicle-to-Everything). The information processing device can be regarded as an information processing device mounted on a certain first vehicle. In this case, the information processing device may be, for example, receiving first information including location information of a first object; Calculating a first distance length, which is a relative distance between the first object and the first vehicle in a first direction perpendicular to a traveling direction of the first vehicle in a horizontal direction, based on position information included in the first information; determining whether or not second information for encouraging vigilance against the first target needs to be output based on the first distance; The control unit may be configured to execute the above.

[0007] The present disclosure can also be regarded as an information processing method executed by a computer mounted on a first vehicle, which is a connected vehicle that performs V2X communication. In this case, the computer, for example, receiving first information including location information of a first object; Calculating a first distance length, which is a relative distance between the first object and the first vehicle in a first direction perpendicular to a traveling direction of the first vehicle in a horizontal direction, based on position information included in the first information; determining whether or not second information for encouraging vigilance against the first target needs to be output based on the first distance; The following may be executed.

[0008] The present disclosure can also be understood as an information processing program for causing a computer to execute the above-described information processing method, or a non-transitory storage medium for storing the information processing program. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to provide a technology that can provide a notification according to the level of response required of the vehicle driver. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram illustrating an overview of a system according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of a hardware configuration of an in-vehicle device according to an embodiment. [Figure 3]1 is a block diagram showing an example of a functional configuration of an in-vehicle device according to an embodiment; [Figure 4] FIG. 10 is a diagram for explaining a first distance. [Figure 5] FIG. 2 is a diagram illustrating an example of a first coordinate system. [Figure 6] FIG. 10 is a diagram showing another example of the first coordinate system. [Figure 7] 3 is a flowchart showing a flow of processing executed by the in-vehicle device in the embodiment. [Figure 8] 10 is a flowchart showing a flow of processing executed by an in-vehicle device in a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0011] In recent years, development of vehicular communication technologies such as V2X (Vehicle-to-Everything) has been progressing. A vehicle (connected vehicle) that communicates via V2X can transmit information (first information) including the location of the accident (the location of the vehicle) to nearby connected vehicles when, for example, the airbag of the vehicle deploys (when an accident occurs). Furthermore, a connected vehicle or roadside device that detects an obstacle (for example, an accident vehicle, a work vehicle, a broken-down vehicle, a fallen object, etc.) can transmit information (first information) including the location information of the obstacle to nearby connected vehicles. Accordingly, a connected vehicle that receives the above-described first information can notify the driver of information about the obstacle, thereby urging the driver to be vigilant against the obstacle.

[0012] The first information described above can be received by connected vehicles located within a V2X communication range (e.g., a radius of several hundred meters to several kilometers centered on the connected vehicle that sent the information). However, the level of response required of the driver of a connected vehicle that receives the first information varies depending on the positional relationship between the connected vehicle and the obstacle. For example, if the obstacle is located in the lane in which the connected vehicle is traveling or in a lane adjacent to the lane, the driver is required to take a high level of response, such as driving maneuvers to avoid the obstacle. In contrast, if the lane in which the connected vehicle is traveling and the lane in which the obstacle is located are not adjacent, or if the obstacle is located on a road different from the road in which the connected vehicle is traveling, the level of response required of the driver will be lower.

[0013] Therefore, the connected vehicle that receives the first information is required to notify the driver of the information according to the level of response required. However, the device that performs V2X communication may not have map data. Therefore, a means is also required to identify the positional relationship between the connected vehicle and the obstacle without using map data.

[0014] Therefore, in the information processing device according to the present disclosure, when first information including position information of the first target is received, the control unit calculates the relative distance (first distance) between the first target and the first vehicle in a first direction that is perpendicular to the traveling direction of the first vehicle in the horizontal direction. The first target is a computer mounted on a vehicle (first vehicle). The first target may include, for example, obstacles (accident vehicles, broken-down vehicles, work vehicles, fallen objects, etc.), as well as slippage points of other vehicles, This also includes the location of the fire.

[0015] The control unit determines whether to output second information to prompt the driver to be alert to the first object based on the first distance. For example, if the first distance is equal to or less than a first threshold, the control unit may output the second information. Alternatively, if the first distance is greater than the first threshold, the control unit may not output the second information. The "first threshold" here refers to, for example, a distance at which a high level of driving maneuver, etc. to avoid the obstacle is expected to be required from the driver if the first distance is equal to or less than the first threshold. In other words, the "first threshold" refers to a distance at which, if the first distance is equal to or less than the first threshold, it can be predicted that the location of the first object is likely to be in the lane in which the first vehicle is traveling or in an adjacent lane. The "second information" here includes information about the first object (e.g., the location or type of the first object), as well as information prompting the driver to prepare for driving maneuver, etc. to avoid the first object. Furthermore, "outputting the second information" means, for example, displaying characters or figures indicating the second information on a display mounted on the first vehicle, or outputting audio indicating the second information from a speaker mounted on the first vehicle. This allows the second information to be notified to the driver only when a high level of response is required of the driver. As a result, the importance of the second information can be more reliably recognized by the driver.

[0016] In the information processing device according to the present disclosure, when the first distance is greater than a first threshold, the control unit may determine whether the position of the first object is on the right or left side of the path of the first vehicle. The control unit may output third information for informing the driver of the first vehicle that the first object is present on the right or left side of the path of the first vehicle. In this way, when the first distance is greater than the first threshold, the driver can be notified only of the direction in which the first object is located. In other words, when the response level required of the driver is low, the third information having a lower alert level than the second information can be output, thereby urging the driver's attention while reducing annoyance.

[0017] Furthermore, in the information processing device according to the present disclosure, when the first distance is equal to or less than a first threshold, the control unit may calculate a relative distance (second distance) between the first object and the first vehicle in the traveling direction of the first vehicle. When the second distance is equal to or less than the second threshold, the control unit may output second information. When the second distance is greater than the second threshold, the control unit may not output the second information, but may output fourth information for notifying the driver of the first vehicle that the first object is present in the traveling direction of the first vehicle. The "second threshold" here refers to, for example, a distance that is predicted to be highly likely to require immediate, high-level action from the driver of the first vehicle if the second distance is equal to or less than the second threshold.

[0018] Here, even if the first distance is equal to or less than the first threshold, if the second distance is relatively long, it will take a relatively long time for the first vehicle to reach the vicinity of the first object. Accordingly, it is unlikely that a high-level response will be required of the driver of the first vehicle immediately. Therefore, if the second information is output when the second distance is relatively long, the driver's attention may decrease or the driver may become distrustful of the second information. In contrast, even if the first distance is equal to or less than the first threshold, if the second distance is greater than the second threshold, the control unit outputs the fourth information instead of the second information, thereby notifying the driver only that the first object may be present in the lane in which the first vehicle is traveling or in an adjacent lane. As a result, it is possible to prevent the driver's attention from decreasing or the driver from becoming distrustful of the second information.

[0019] In the information processing device according to the present disclosure, after outputting the fourth information, the control unit In the above, the second information may be output when the second distance becomes equal to or less than the second threshold, thereby prompting the driver of the first vehicle to prepare for a driving operation or the like to avoid the first object at an appropriate timing.

[0020] In addition, in the information processing device according to the present disclosure, the control unit may output the second information, the third information, and the fourth information in different ways. For example, the control unit may output the second information, the third information, and the fourth information in different display colors, volumes, or tones. This allows the driver to intuitively distinguish the difference in importance between the second information, the third information, and the fourth information.

[0021] Furthermore, in the information processing device according to the present disclosure, when the first target is a location where another vehicle has slipped, the control unit may output fifth information that urges the driver to be cautious about slipping, regardless of the first distance. This is because, when the slippage of the other vehicle is caused by frozen roads, frozen roads may be occurring not only at the location where the other vehicle slipped, but also in the vicinity of that location. Note that the "fifth information" here includes information indicating the area including the location where the slippage occurred, as well as information urging the driver to prepare for driving operations to avoid slipping.

[0022] Another aspect of the present disclosure can be specified as an information processing method in which a computer executes the processing of the information processing device. Such an information processing method can achieve the same functions and effects as the information processing device. Another aspect of the present disclosure can also be specified as a program for causing a computer to execute the processing of the information processing device, or a non-transitory storage medium for storing the program.

[0023] Specific embodiments of the present disclosure will be described below with reference to the accompanying drawings. Unless otherwise specified, the hardware configurations, module configurations, functional configurations, and the like described in the following embodiments are not intended to limit the technical scope of the disclosure to those configurations alone.

[0024] <Embodiment> In this embodiment, an example will be described in which an information processing device according to the present disclosure is applied to a system that provides driving assistance for connected vehicles using V2X.

[0025] (System Overview) 1 is a diagram showing an overview of a system according to this embodiment. The system according to this embodiment includes a first vehicle 10 and an in-vehicle device 100. The first vehicle 10 is a connected vehicle driven by a user who is the target of driving assistance. The in-vehicle device 100 is a computer mounted on the first vehicle 10, and is an example of an "information processing device" according to the present disclosure.

[0026] The in-vehicle device 100 receives first information using V2X. In this embodiment, the first information is information about an obstacle on the road. The "obstacle" in this embodiment is an object that would not normally be present on the road, such as an accident vehicle (a vehicle with an airbag deployed), a broken-down vehicle, a work vehicle, or a fallen object (including parts that have fallen or been scattered from an accident vehicle). Such an obstacle is an example of a "first target" according to the present disclosure.

[0027] The "first information" in this embodiment is information that includes at least the position information of an obstacle. Such first information is broadcast from an on-board device of a vehicle other than the first vehicle 10, a roadside device, or the like. Vehicles other than the first vehicle 10 include, for example, an accident vehicle, a vehicle that has detected an accident vehicle, a broken-down vehicle, a vehicle that has detected a broken-down vehicle, a work vehicle, and a vehicle that has detected a work vehicle.

[0028] When receiving the first information, the in-vehicle device 100 notifies the user of information about the obstacle in a manner and with content that corresponds to the level of response required of the user of the first vehicle 10. That is, for obstacles that require a high level of response from the user of the first vehicle 10, the in-vehicle device 100 notifies the user of information that requires a high level of alert. On the other hand, for obstacles that require a low level of response from the user of the first vehicle 10, the in-vehicle device 100 notifies the user of information that requires a low level of alert.

[0029] Here, an example of the response level required of the user of the first vehicle 10 will be described with reference to FIG. 1. As shown in FIG. 1, when the first vehicle 10 is traveling in a first lane of a first road with two lanes in each direction, if an obstacle is located in the first lane or in a second lane adjacent to the first lane in the traveling direction of the first vehicle 10, a high response level is required of the user of the first vehicle 10. That is, it is highly likely that the user of the first vehicle 10 will be required to perform a driving operation or the like to avoid the obstacle. On the other hand, if an obstacle is located in a first opposite lane or a second opposite lane on the first road, a low response level is required of the user of the first vehicle 10. That is, it is unlikely that the user of the first vehicle 10 will be required to perform a driving operation or the like to avoid the obstacle. Furthermore, if an obstacle is located off the road of the first road, a low response level is also required of the user of the first vehicle 10. Here, "off-road" refers to, for example, a road located within the communication range of V2X and different from the first road (for example, a side road of the first road, etc.).

[0030] Therefore, the in-vehicle device 100 in this embodiment is configured to notify (alert) information with a high alert level only for obstacles that require a high level of response from the user of the first vehicle 10. Furthermore, the in-vehicle device 100 in this embodiment is configured to notify (provide information) information to notify the user of the first vehicle 10 of the presence of an obstacle for obstacles that require a low level of response from the user of the first vehicle 10. This allows the user of the first vehicle 10 to identify the required level of response.

[0031] (Hardware configuration of the in-vehicle device) Fig. 2 is a diagram showing an example of the hardware configuration of the in-vehicle device 100 in this embodiment. As shown in Fig. 2, the in-vehicle device 100 in this embodiment is configured to include a processor 101, a main memory device 102, an auxiliary memory device 103, an output device 104, a position acquisition unit 105, a camera 106, and a communication unit 107. Note that although the example shown in Fig. 2 extracts and illustrates only the hardware configuration related to driving assistance using V2X, the in-vehicle device 100 may include other hardware configurations.

[0032] The processor 101 is an arithmetic processing device such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor). The stored program is loaded into the main memory device 102 and executed, and the in-vehicle device 100 is controlled through this execution.

[0033] The main storage device 102 includes, for example, a RAM (Random Access Memory) and a ROM (Read Only Memory). The main memory 102 provides a storage area and a working area for loading programs stored in the auxiliary memory 103. The main memory 102 is also used as a buffer for the arithmetic processing by the processor 101.

[0034] The auxiliary storage device 103 is, for example, an EPROM (Erasable Programmable ROM) or The auxiliary storage device 103 is a removable medium, i.e., a hard disk drive (HDD). Removable media include, for example, USB (Universal Serial Bus) The auxiliary storage device 103 is a disk recording medium such as a USB Serial Bus (USB 2.0) memory, a CD (Compact Disc), or a DVD (Digital Versatile Disc), etc. The auxiliary storage device 103 stores various programs and data used by the processor 101 when executing each program.

[0035] The programs stored in the auxiliary storage device 103 include an OS (Operating System) as well as dedicated programs for causing the processor 101 to execute processes related to driving assistance using V2X.

[0036] The output device 104 is a device that presents information to the user of the first vehicle 10. In this embodiment, the output device 104 includes a display, a speaker, and the like. The display may be a multi-information display (MID) or a display of a navigation system that is already installed in the first vehicle 10.

[0037] The position acquisition unit 105 is a device that acquires the current position of the first vehicle 10. In this embodiment, the position acquisition unit 105 acquires the current position of the first vehicle 10. The position acquisition unit 105 is, for example, a GPS (Global Positioning System) receiver. The location information acquired by the location acquisition unit 105 is, for example, geographic coordinates such as latitude and longitude.

[0038] The camera 106 captures images of the outside of the first vehicle 10. The camera 106 may be a dedicated camera, or may be a camera for a drive recorder or an advanced safety system.

[0039] The communication unit 107 is a device that performs V2X communication. The communication unit 107 in this embodiment performs V2X communication using short-range communication (e.g., communication within a range of several hundred meters to several kilometers). The communication unit 107 performs V2X communication using wireless communication based on a communication standard such as the Bluetooth (registered trademark) Low Energy standard (hereinafter referred to as BLE), NFC (Near Field Communication), UWB (Ultra Wideband), DSRC (Dedicated Short Range Communications), or Wi-Fi (registered trademark).

[0040] (Functional configuration of the in-vehicle device) The functional configuration of the in-vehicle device 100 in this embodiment will be described with reference to Fig. 3. As shown in Fig. 3, the in-vehicle device 100 has a control unit F110 as its functional components. Note that the functional components of the in-vehicle device 100 are not limited to the example shown in Fig. 3, and components may be omitted, replaced, or added as appropriate.

[0041] The control unit F110 is realized by the processor 101 of the in-vehicle device 100 loading a dedicated program stored in the auxiliary storage device 103 into the main storage device 102 and executing the program. The control unit F110 is implemented by an ASIC (Application Specific Integrated Circuit) Or it is realized by hardware circuits such as FPGA (Field Programmable Gate Array). That's fine.

[0042] The control unit F110 receives, via the communication unit 107, first information transmitted from other vehicles or roadside devices located within a V2X communication range (for example, a range with a radius of several hundred meters to several kilometers centered on the first vehicle 10). The first information includes at least position information of an obstacle. The position information of an obstacle is, for example, geographic coordinates such as the latitude and longitude of the obstacle. The first information may also include information indicating the type of obstacle. The types of obstacle include, for example, an accident vehicle, a broken-down vehicle, a work vehicle, and a fallen object. The type of obstacle may be identified, for example, by performing image recognition processing in the other vehicle or roadside device that detected the obstacle.

[0043] The control unit F110 calculates a first distance based on the position information included in the first information and the current position of the first vehicle 10. The first distance in this embodiment is the distance between the first vehicle 10 and the obstacle in a first direction that is horizontally perpendicular to the traveling direction of the first vehicle 10, as shown in Fig. 4 .

[0044] Here, an example of a method for calculating the first distance will be described with reference to Fig. 5. Fig. 5 is a diagram showing an orthogonal coordinate system (hereinafter, sometimes referred to as "first coordinate system") with the current position of the first vehicle 10 as the origin. The Y axis in Fig. 5 represents the distance in the traveling direction of the first vehicle 10. The X axis in Fig. 5 represents the distance in the first direction for the first vehicle 10.

[0045] When the communication unit 107 of the in-vehicle device 100 receives the first information, the control unit F110 acquires the current position (geographic coordinates) of the first vehicle 10 through the position acquisition unit 105. The control unit F110 converts a geographic coordinate system including the position information included in the first information and the current position of the first vehicle 10 into a first coordinate system shown in Fig. 5. The control unit F110 calculates the absolute value (|X1|) of the X coordinate ("X1" in Fig. 5) of the obstacle Ob1 in the first coordinate system as a first distance.

[0046] The control unit F110 determines a first threshold value Thre1 based on whether the X coordinate (X1) of the obstacle Ob1 in the first coordinate system is positive or negative. If the X coordinate (X1) of the obstacle Ob1 is "0" or a positive value, it is estimated that the obstacle Ob1 is located on the path of the first vehicle 10 or on the right side of the path. In this case, the control unit F110 determines whether there is an adjacent lane to the right of the driving lane of the first vehicle 10. This determination is made, for example, by executing image recognition processing on an image of the road captured by the camera 106. For example, in the example shown in FIG. 1 above, since there is an adjacent lane (second lane) to the right of the driving lane (first lane) of the first vehicle 10, it is determined that there is an adjacent lane to the right of the driving lane. In this case, the control unit F110 executes image recognition processing to calculate the distance from the first vehicle 10 to the right boundary of the adjacent lane (for example, in the example shown in FIG. 1, the boundary Bl2 between the second lane and the second opposite lane). The control unit F110 determines the calculated distance as the first threshold value Thre1.

[0047] Furthermore, if the X coordinate (X1) of the obstacle Ob1 is "0" or a negative value, it is estimated that the obstacle Ob1 is located on the path of the first vehicle 10 or on the left side of the path. In this case, the control unit F110 determines whether there is an adjacent lane to the left of the driving lane of the first vehicle 10. For example, in the example shown in FIG. 1, there is no adjacent lane to the left of the driving lane (first lane) of the first vehicle 10, so it is determined that there is no adjacent lane to the left of the driving lane. In this case, the control unit F110 calculates the distance from the first vehicle 10 to the left boundary of the road (for example, the left boundary Bl1 of the first road in the example shown in FIG. 1) through execution of image recognition processing. The control unit F110 determines the calculated distance as a first threshold value Thre1.

[0048] The control unit F110 determines whether the first distance is equal to or less than a first threshold Thre1. If the first distance is equal to or less than the first threshold Thre1, it is estimated that an obstacle Ob1 is located in the driving lane of the first vehicle 10 or an adjacent lane. In this case, a high level of response, such as driving operation, is required from the user of the first vehicle 10 to avoid the obstacle Ob1. Therefore, if the first distance is equal to or less than the first threshold Thre1, a notification of a high level of alert must be sent to the user of the first vehicle 10.

[0049] However, even if an obstacle Ob1 is located in the driving lane of the first vehicle 10 or an adjacent lane, if the distance (second distance) between the first vehicle 10 and the obstacle Ob1 in the traveling direction of the first vehicle 10 is relatively long, the first vehicle 10 may not reach the vicinity of the obstacle Ob1. Therefore, it is unlikely that a high level of response will be required immediately from the user of the first vehicle 10. On the other hand, if the second distance is relatively short, it is unlikely that a high level of response will be required immediately from the user of the first vehicle 10.

[0050] Therefore, in the present embodiment, when it is determined that the first distance is equal to or less than the first threshold value Thre1, the control unit F110 determines whether the second distance is equal to or less than the second threshold value Thre2. The second threshold value Thre2 in the present embodiment is a distance (e.g., about 100 meters) that is predicted to be highly likely to require immediate, high-level action from the first vehicle 10 if the second distance is equal to or less than the second threshold value Thre2. Note that the second threshold value Thre2 may be a variable value that is changed according to the traveling speed of the first vehicle 10. In this case, the second threshold value Thre2 may be set to a longer distance, for example, as the traveling speed of the first vehicle 10 increases.

[0051] The second distance corresponds to the absolute value (|Y1|) of the Y coordinate (Y1) of the obstacle Ob1 in the first coordinate system illustrated in Fig. 5. Therefore, in this embodiment, the control unit F110 calculates the absolute value (|Y1|) of the Y coordinate (Y1) of the obstacle Ob1 in the first coordinate system as the second distance.

[0052] If it is determined that the second distance (|Y1|) is equal to or less than the second threshold Thre2, the control unit F110 generates second information. The second information is information for urging the user to be vigilant against the obstacle Ob1, and corresponds to the "alert" illustrated in FIG. 1. The second information includes, for example, information indicating that the obstacle Ob1 may be located in the driving lane of the first vehicle 10 or an adjacent lane, information indicating the distance to the obstacle Ob1 (the second distance (|Y1|)), and information for urging the user to prepare for a driving operation to avoid the obstacle Ob1. The control unit F110 outputs the generated second information through the output device 104. At this time, the control unit F110 may display text indicating the second information on the display of the output device 104, or may output audio indicating the second information from the speaker of the output device 104. When characters indicating the second information are displayed on the display of the output device 104, a notification sound may be output from the speaker of the output device 104 to call the user's attention.

[0053] If it is determined that the second distance (|Y1|) is greater than the second threshold value Thre2, the control unit F110 generates fourth information. The fourth information is information for notifying the user of the presence of the obstacle Ob1, and is information with a lower alert level than the second information. The fourth information includes, for example, only information indicating that the obstacle Ob1 may be located in the driving lane of the first vehicle 10 or an adjacent lane, and information indicating the distance to the obstacle Ob1 (second distance (|Y1|)).

[0054] Furthermore, if it is determined that the first distance is greater than the first threshold value Thre1, the control unit F110 generates third information. The third information is information for informing the user whether the obstacle Ob1 is on the right or left side of the path of the first vehicle 10, and is information with a lower alert level than the second and fourth information. The third information corresponds to the "information provision" exemplified in FIG. 1 described above. In generating the third information, the control unit F110 determines whether the obstacle Ob1 is on the right or left side of the path of the first vehicle 10. Here, if the obstacle Ob1 is located on the right side of the path of the first vehicle 10, the X coordinate (X1) of the obstacle Ob1 in the first coordinate system will be a positive value. On the other hand, if the obstacle Ob1 is located on the left side of the path of the first vehicle 10, the X coordinate (X1) of the obstacle Ob1 in the first coordinate system will be a negative value. Therefore, the control unit F110 determines whether the obstacle Ob1 is on the right side or the left side of the path of the first vehicle 10 based on the positive or negative of the X coordinate (X1) of the obstacle Ob1 in the first coordinate system. Determine whether

[0055] The second information, third information, and fourth information generated by the control unit F110 are output through the output device 104. At that time, the control unit F110 may display characters indicating each piece of information on the display of the output device 104, or may output audio indicating each piece of information from the speaker of the output device 104. When displaying characters indicating each piece of information on the display of the output device 104, the control unit F110 may output a notification sound from the speaker of the output device 104 to call the user's attention.

[0056] The control unit F110 may also use different output methods for the second information, the third information, and the fourth information. When displaying characters indicating each piece of information on the display of the output device 104, the display colors of the characters may be different for the second information, the third information, and the fourth information. In this case, the second information, which has the highest alert level, may be set to a display color with the highest alert effect. Accordingly, the third information, which has the lowest alert level, may be set to a display color with a lower alert effect than the fourth information. This allows the user to visually distinguish the differences in alert levels among the second information, the third information, and the fourth information. The second information, which has the highest alert level, may be displayed in the display color with the highest alert effect, and may be flashed to more reliably prompt the user to be on guard against the obstacle Ob1.

[0057] Furthermore, when audio indicating each piece of information is output from the speaker of the output device 104, the second information, the third information, and the fourth information may be output in different tones and / or volumes. In this case, the second information, which has the highest alert level, may be set to a tone and / or a volume that provides the most effective alert. Accordingly, the third information, which has the lowest alert level, may be set to a tone and / or a volume that provides a less effective alert than the fourth information. This allows the user to auditorily distinguish the differences in alert levels between the second information, the third information, and the fourth information.

[0058] Note that the obstacle Ob1 is not necessarily located in the traveling direction of the first vehicle 10. That is, the communication unit 107 of the first vehicle 10 may receive the first information about the obstacle Ob1 located on the opposite side of the traveling direction of the first vehicle 10 (rear side of the first vehicle 10). In this case, the level of response required of the user of the first vehicle 10 is extremely low. Therefore, in this embodiment, the obstacle Ob1 located on the rear side of the first vehicle 10 is excluded from the notification target. Here, as illustrated in FIG. 6, the Y coordinate (Y1) of the obstacle Ob1 located on the rear side of the first vehicle 10 is a negative value in the first coordinate system. Therefore, in this embodiment, when the Y coordinate (Y1) of the obstacle Ob1 in the first coordinate system is a negative value, the control unit F110 does not calculate the first distance, determine the first threshold value Thre1, or notify the user.

[0059] (Processing flow) Next, the flow of processing executed by the in-vehicle device 100 in this embodiment will be described with reference to Fig. 7. Fig. 7 is a flowchart showing a processing routine executed by the in-vehicle device 100 when the communication unit 107 of the in-vehicle device 100 receives the first information as a trigger. The processing routine of Fig. 7 is executed by the processor 101 of the in-vehicle device 100, but here the processing routine will be described assuming that the functional component (control unit F110) of the in-vehicle device 100 is the executing unit.

[0060] In the processing routine of FIG. 7, when the communication unit 107 of the in-vehicle device 100 receives the first information, the first information is passed from the communication unit 107 to the control unit F110. As a result, the control unit F110 receives the first information through the communication unit 107 (step S101). After completing the processing of step S101, the control unit F110 performs the processing of step S102. Implement the theory.

[0061] In step S102, the control unit F110 calculates the X coordinate (X1) and Y coordinate (Y1) of the obstacle Ob1 in the first coordinate system. In detail, the control unit F110 acquires the current position of the first vehicle 10 through the position acquisition unit 105. The control unit F110 converts the geographic coordinate system including the position information included in the first information and the current position of the first vehicle 10 into the first coordinate system exemplified in FIG. 5 above. The control unit F110 calculates the X coordinate (X1) and Y coordinate (Y1) of the obstacle Ob1 in the first coordinate system. After completing the processing of step S102, the control unit F110 executes the processing of step S103.

[0062] In step S103, the control unit F110 determines whether the Y coordinate (Y1) calculated in step S102 is equal to or greater than 0. If the Y coordinate (Y1) of the obstacle Ob1 in the first coordinate system is a negative value (negative determination in step S103), the obstacle Ob1 is located on the opposite side of the traveling direction of the first vehicle 10 (rear side of the first vehicle 10). In this case, the level of response required of the user of the first vehicle 10 is extremely low, so the control unit F110 terminates the execution of this processing routine. As a result, information about the obstacle Ob1 is not notified to the user. On the other hand, if the Y coordinate (Y1) of the obstacle Ob1 in the first coordinate system is a positive value (positive determination in step S103), the obstacle Ob1 is located on the traveling direction side of the first vehicle 10. In this case, the control unit F110 executes the processing from step S104 onwards.

[0063] In step S104, the control unit F110 determines a first threshold value Thre1. More specifically, if the X coordinate (X1) calculated in step S102 is "0" or a positive value, the control unit F110 executes image recognition processing on the image captured by the camera 106 to determine whether there is an adjacent lane to the right of the driving lane of the first vehicle 10. If it is determined that there is an adjacent lane to the right of the driving lane, the control unit F110 calculates the distance from the first vehicle 10 to the right boundary of the adjacent lane. The control unit F110 determines the calculated distance as the first threshold value Thre1. If it is determined that there is no adjacent lane to the right of the driving lane, the control unit F110 calculates the distance to the right boundary of the road on which the first vehicle 10 is traveling. The control unit F110 determines the calculated distance as the first threshold value Thre1.

[0064] Furthermore, if the X coordinate (X1) calculated in step S102 is "0" or a negative value, the control unit F110 executes image recognition processing on the image captured by the camera 106 to determine whether there is an adjacent lane to the left of the driving lane of the first vehicle 10. If it is determined that there is an adjacent lane to the left of the driving lane, the control unit F110 calculates the distance from the first vehicle 10 to the left boundary of the adjacent lane. The control unit F110 determines the calculated distance as the first threshold value Thre1. If it is determined that there is no adjacent lane to the left of the driving lane, the control unit F110 calculates the distance to the left boundary of the road on which the first vehicle 10 is traveling. The control unit F110 determines the calculated distance as the first threshold value Thre1.

[0065] After completing the process of step S104, the control unit F110 executes the process of step S105. In step S105, the control unit F110 determines whether the first distance is equal to or less than the first threshold value Thre1 determined in step S104. In this case, the control unit F110 uses the absolute value (|X1|) of the X coordinate (X1) calculated in step S102 as the first distance. If the first distance (|X1|) is equal to or less than the first threshold value Thre1 (positive determination in step S105), it is estimated that the obstacle Ob1 is located in the driving lane of the first vehicle 10 or on the neighbor lane in the traveling direction of the first vehicle 10. Therefore, if the determination in step S105 is positive, the control unit F110 executes the process of step S106.

[0066] In step S106, the control unit F110 determines whether the second distance is equal to or less than the second threshold Thre2. In this case, the control unit F110 uses the absolute value (|Y1|) of the Y coordinate (Y1) calculated in step S102 as the second distance. The second threshold Thre2 is a distance predicted to be highly likely to require the user to immediately take a high-level action regarding the obstacle Ob1 estimated to be located on the traveling lane of the first vehicle 10 or an adjacent lane when the second distance (|Y1|) is equal to or less than the second threshold Thre2. As described above, such a second threshold Thre2 may be set to a longer distance as the traveling speed of the first vehicle 10 is higher. If the second distance (|Y1|) is equal to or less than the second threshold Thre2 (positive determination in step S106), the control unit F110 executes the process of step S107.

[0067] In step S107, the control unit F110 generates second information. The second information is information for urging the user to be vigilant against the obstacle Ob1. As described above, the second information includes information indicating that the obstacle Ob1 may be located on the driving lane of the first vehicle 10 or on an adjacent lane, information indicating the distance to the obstacle Ob1 (second distance (|Y1|)), and information for urging the user to prepare for a driving operation to avoid the obstacle Ob1. After completing the processing of step S107, the control unit F110 executes the processing of step S108.

[0068] In step S108, the control unit F110 outputs the second information generated in step S107 through the output device 104. This makes it possible to make the user of the first vehicle 10 aware that an obstacle Ob1 may be located on the driving lane of the first vehicle 10 or on an adjacent lane, and of the distance to the obstacle Ob1, and to prompt the user to prepare for a driving operation to avoid the obstacle Ob1. After completing the processing of step S108, the control unit F110 ends the execution of this processing routine.

[0069] Furthermore, if a negative judgment is made in step S106 (if the second distance length (|Y1|) is greater than the second threshold value Thre2), the control unit F110 executes the processing of step S109. In step S109, the control unit F110 generates fourth information. The fourth information is information with a lower alert level than the second information. As described above, the fourth information includes only information indicating that there is a possibility that an obstacle Ob1 is located in the driving lane of the first vehicle 10 or an adjacent lane, and information indicating the distance length to the obstacle Ob1 (the second distance length (|Y1|)). After completing the processing of step S109, the control unit F110 executes the processing of step S110.

[0070] In step S110, the control unit F110 outputs the fourth information generated in step S109 through the output device 104. At this time, the control unit F110 may output the fourth information using a display color, tone, or volume that is less effective at attracting attention than the second information. This makes it possible to notify the user that an obstacle Ob1 may be located in the lane of travel of the first vehicle 10 or an adjacent lane, and only the distance to the obstacle Ob1. After completing the process of step S110, the control unit F110 executes the processes of step S106 and onward. At this time, if the second distance (|Y1|) is equal to or less than the second threshold value Thre2 (positive determination in step S106), the second information is output.

[0071] Furthermore, if a negative determination is made in step S105 (if the first distance length (|X1|) is greater than the first threshold value Thre1), it is estimated that the obstacle Ob1 is not located on the driving lane of the first vehicle 10 or on the adjacent lane. In this case, the level of response required of the user of the first vehicle 10 is lower than when the obstacle Ob1 is located on the driving lane of the first vehicle 10 or on the adjacent lane. Therefore, the control unit F110 performs the processing of step S111. Implement the theory.

[0072] In step S111, the control unit F110 generates third information having a lower alert level than the second information and the fourth information. The third information includes information indicating whether the obstacle Ob1 is on the right or left side of the path of the first vehicle 10. Whether the obstacle Ob1 is on the right or left side of the path of the first vehicle 10 is determined based on the positive or negative sign of the X coordinate (X1) calculated in step S102. After completing the processing of step S111, the control unit F110 executes the processing of step S112.

[0073] In step S112, the control unit F110 outputs the third information generated in step S111 through the output device 104. At that time, the control unit F110 may output the third information using a display color, tone, or volume that is less effective at attracting attention than the second information and the fourth information. This makes it possible to notify the user only whether the obstacle Ob1 that is not located on the driving lane of the first vehicle 10 or on an adjacent lane is on the right or left side of the path of the first vehicle 10. After completing the processing of step S112, the control unit F110 ends the execution of this processing routine.

[0074] (Actions and Effects of the Embodiments) In the above-described embodiment, when the on-vehicle device 100 receives the first information, it notifies the user of information about the obstacle in a manner and with content that corresponds to the level of response required of the user of the first vehicle 10. That is, for an obstacle Ob1 that may be located in the driving lane of the first vehicle 10 or an adjacent lane, if the user is immediately required to take a high-level response, such as a driving operation to avoid the obstacle Ob1 (if the second distance is equal to or less than the second threshold), the control unit F110 notifies the user of the second information, which has the highest alert level. Also, for an obstacle Ob1 that may be located in the driving lane of the first vehicle 10 or an adjacent lane, if the user is not immediately required to take a high-level response, such as a driving operation to avoid the obstacle Ob1 (if the second distance is greater than the second threshold), the control unit F110 notifies the user of the fourth information, which has a lower alert level than the second information. Furthermore, for obstacle Ob1 that is not located on the driving lane of the first vehicle 10 or on an adjacent lane, the user is not required to take high-level measures such as driving operations to avoid the obstacle Ob1, so the control unit F110 notifies the user of the third information, which has the lowest alert level.

[0075] Therefore, according to this embodiment, the user of the first vehicle 10 can identify the response level according to the notified information. As a result, the driver can be made to more reliably recognize the importance of the second information, which requires the user to take the highest response level. Furthermore, for obstacles that require the user to take a low response level, only information regarding the location of the obstacle is provided, so that the user's attention can be drawn to the obstacle while reducing the inconvenience to the user.

[0076] <Modification> In the first embodiment described above, an example in which the "first object" according to the present disclosure is an obstacle has been described. In contrast, in this modified example, an example in which the "first object" includes a slippage occurrence point of another vehicle in addition to an obstacle will be described.

[0077] If the subject of the first information is a location where another vehicle has slipped, the control unit F110 may output fifth information that calls for caution against slipping, regardless of the first distance. This is because if the slippage of another vehicle is caused by frozen roads, frozen roads may occur not only at the location where the other vehicle slipped, but also in the vicinity of that location. The fifth information in this embodiment is information of the same level of caution as the second information described above, and may include, for example, information indicating the area including the location where the slippage occurred, as well as information indicating the location of the slippage. This includes information that encourages drivers to prepare for driving maneuvers to avoid accidents.

[0078] Here, the flow of processing executed by the in-vehicle device 100 in this modified example will be described with reference to Fig. 8. Fig. 8 is a flowchart showing only the flow of processing that is different from the processing routine of the above-described embodiment (the processing routine of Fig. 7 ) among the processing routines executed by the in-vehicle device 100 when the communication unit 107 of the in-vehicle device 100 receives the first information as a trigger. In detail, the processing flow shown in Fig. 8 shows the flow of processing that is executed by the in-vehicle device 100 in this modified example after step S101 of the processing routine of Fig. 7 is executed.

[0079] In FIG. 8, the control unit F110 executes step S101 in FIG. 7, and then executes the process of step S201. In step S201, the control unit F110 determines whether the object of the first information is a slippage point of another vehicle. Note that the first information in this modified example includes information for identifying whether the object of the first information is an obstacle or a slippage point. If the object of the first information is an obstacle (negative determination in step S201), the control unit F110 executes the same processes as steps S102 to S112 in FIG. 7. On the other hand, if the object of the first information is a slippage point (positive determination in step S201), the control unit F110 executes the process of step S202.

[0080] In step S202, the control unit F110 generates fifth information. The fifth information includes information indicating the area including the slip occurrence point, as well as information urging the driver to prepare for a driving operation to avoid the slip. The area including the slip occurrence point may be information indicating the district (for example, a city, ward, town, village, etc.) including the slip occurrence point. After completing the processing of step S202, the control unit F110 executes the processing of step S203.

[0081] In step S203, the control unit F110 outputs the fifth information generated in step S202 through the output device 104. At that time, the control unit F110 may output the fifth information in the same display color, tone, or volume as the second information. After completing the processing of step S203, the control unit F110 ends the processing without performing the same processing as steps S102 to S112 in FIG. 7.

[0082] According to this modification, when the first information is about a location where another vehicle has slipped, it is possible to notify the user of the first vehicle 10 of information with a high alert level. This allows the user of the first vehicle 10 to attach as much importance to the fifth information as to the second information.

[0083] <Other> The above-described embodiment and modifications are merely examples, and the present disclosure may be modified as appropriate within the scope of the gist thereof. For example, the above-described embodiment and modifications may be freely combined as long as no technical contradiction arises.

[0084] Furthermore, a process described as being performed by one device may be shared and executed by multiple devices. Alternatively, a process described as being performed by different devices may be executed by a single device. In a computer system, the hardware configuration for realizing each function can be flexibly changed.

[0085] The present disclosure can also be realized by supplying a computer program (information processing program) that implements the functions described in the above embodiments to a computer, and having one or more processors of the computer read and execute the program. Such a computer program may be provided to the computer by a non-transitory computer-readable storage medium connectable to the system bus of the computer, or may be provided to the computer via a network. The non-transitory computer-readable storage medium may be provided to a computer via a storage medium. A non-transitory computer-readable storage medium is a storage medium that stores information such as data and programs by electrical, magnetic, optical, mechanical, or chemical action and can be read by a computer or the like. Examples of such storage media include any type of disk, such as a magnetic disk (such as a floppy disk or HDD) or an optical disk (such as a CD-ROM, DVD disk, or Blu-ray disk). The storage medium may also be a medium such as a ROM, RAM, EPROM, EEPROM, magnetic card, flash memory, optical card, or SSD (Solid State Drive). [Explanation of symbols]

[0086] 10 First car 100 Onboard equipment 101 processors 102 Main storage 103 Auxiliary storage device 104 Output Device 105 Position acquisition part 106 Camera 107 Communications Department F110 control unit

Claims

1. An information processing device mounted on a first vehicle that is a connected vehicle that communicates by V2X (Vehicle-to-Everything), receiving first information including location information of a first object; calculating a first distance length, which is a relative distance between the first object and the first vehicle in a first direction perpendicular to a traveling direction of the first vehicle in a horizontal direction, based on position information included in the first information; determining whether the first distance is equal to or less than a first threshold; outputting second information for encouraging vigilance against the first target when the first distance is equal to or less than the first threshold; not outputting the second information when the first distance is greater than the first threshold; a control unit that executes the The first threshold value is if it is determined that the position of the first target is on the right side of the path of the first vehicle, and if it is determined that a first adjacent lane does not exist on the right side of the driving lane of the first vehicle, the calculated value is a distance length from the first vehicle to the boundary on the right side of the driving lane, if it is determined that the position of the first target is on the right side of the path of the first vehicle, and if it is determined that the first adjacent lane is on the right side of the driving lane, the calculated value is a distance length from the first vehicle to the right boundary of the first adjacent lane, if it is determined that the position of the first target is on the left side of the path of the first vehicle, and if it is determined that a second adjacent lane does not exist on the left side of the driving lane, the calculated value is a distance length from the first vehicle to the left boundary of the driving lane, If it is determined that the position of the first target is on the left side of the path of the first vehicle, and if it is determined that the second adjacent lane is on the left side of the driving lane, the calculated value is the distance from the first vehicle to the left boundary of the second adjacent lane. Information processing device.

2. When the first distance is greater than the first threshold, the control unit: determining whether the first object is located to the right or left of a path of the first vehicle; outputting third information for informing a driver of the first vehicle that the first object is present on the right or left side of a path of the first vehicle; To execute The information processing device according to claim 1 .

3. When the first distance is equal to or less than the first threshold, the control unit: calculating a second distance that is a relative distance between the first object and the first vehicle in a traveling direction of the first vehicle; outputting the second information when the second distance is equal to or less than a second threshold; When the second distance is greater than the second threshold, not outputting the second information, but outputting fourth information for informing the driver of the first vehicle that the first object is present in the traveling direction of the first vehicle; To execute The information processing device according to claim 2 .

4. the control unit outputs the second information at a timing when the second distance becomes equal to or less than the second threshold value after outputting the fourth information. The information processing device according to claim 3 .

5. the control unit outputs the second information, the third information, and the fourth information in different methods. The information processing device according to claim 4 .

6. the control unit outputs the second information, the third information, and the fourth information in different display colors. The information processing device according to claim 5 .

7. the control unit outputs the second information, the third information, and the fourth information at different volumes. The information processing device according to claim 5 .

8. the control unit outputs the second information, the third information, and the fourth information in different tones. The information processing device according to claim 5 .

9. The first information further includes information for identifying whether the subject of the first information is an obstacle or a slippage point of another vehicle; The control unit determining whether the object of the received first information is the obstacle or the slip occurrence point; outputting fifth information that prompts the driver to be careful about slippage regardless of the first distance when the first target is the slippage occurrence point; When the object of the first information is the obstacle, calculating the first distance based on position information included in the first information; determining whether the first distance is equal to or less than the first threshold; outputting the second information when the first distance is equal to or less than the first threshold; When the first distance is greater than the first threshold, the second information is not output. The information processing device according to claim 1 .

10. A computer mounted on a first vehicle, which is a connected vehicle that communicates by V2X (Vehicle-to-Everything), receiving first information including location information of a first object; calculating a first distance length, which is a relative distance between the first object and the first vehicle in a first direction perpendicular to a traveling direction of the first vehicle in a horizontal direction, based on position information included in the first information; determining whether the first distance is equal to or less than a first threshold; outputting second information for encouraging vigilance against the first target when the first distance is equal to or less than the first threshold; not outputting the second information when the first distance is greater than the first threshold; Run The first threshold value is if it is determined that the position of the first target is on the right side of the path of the first vehicle, and if it is determined that a first adjacent lane does not exist on the right side of the driving lane of the first vehicle, the calculated value is a distance length from the first vehicle to the boundary on the right side of the driving lane, if it is determined that the position of the first target is on the right side of the path of the first vehicle, and if it is determined that the first adjacent lane is on the right side of the driving lane, the calculated value is a distance length from the first vehicle to the right boundary of the first adjacent lane, if it is determined that the position of the first target is on the left side of the path of the first vehicle, and if it is determined that a second adjacent lane does not exist on the left side of the driving lane, the calculated value is a distance length from the first vehicle to the left boundary of the driving lane, If it is determined that the position of the first target is on the left side of the path of the first vehicle, and if it is determined that the second adjacent lane is on the left side of the driving lane, the calculated value is the distance from the first vehicle to the left boundary of the second adjacent lane. Information processing methods.

11. If the first distance is greater than the first threshold, the computer: determining whether the first object is located to the right or left of a path of the first vehicle; outputting third information for informing a driver of the first vehicle that the first object is present on the right or left side of a path of the first vehicle; To execute The information processing method according to claim 10.

12. When the first distance is equal to or less than the first threshold, the computer: calculating a second distance that is a relative distance between the first object and the first vehicle in a traveling direction of the first vehicle; outputting the second information when the second distance is equal to or less than a second threshold; When the second distance is greater than the second threshold, not outputting the second information, but outputting fourth information for informing the driver of the first vehicle that the first object is present in the traveling direction of the first vehicle; To execute The information processing method according to claim 11.

13. After outputting the fourth information, the computer outputs the second information at a timing when the second distance becomes equal to or less than the second threshold. The information processing method according to claim 12.

14. The computer makes the second information, the third information, and the fourth information different from one another. output in a different way, The information processing method according to claim 13.

15. the computer outputs the second information, the third information, and the fourth information in different display colors; The information processing method according to claim 14.

16. the computer outputs the second information, the third information, and the fourth information at different volumes. The information processing method according to claim 14.

17. the computer outputs the second information, the third information, and the fourth information in different tones. The information processing method according to claim 14.

18. The first information further includes information for identifying whether the subject of the first information is an obstacle or a slippage point of another vehicle; The computer determining whether the object of the received first information is the obstacle or the slip occurrence point; outputting fifth information that prompts the driver to be careful about slippage regardless of the first distance when the first target is the slippage occurrence point; When the object of the first information is the obstacle, calculating the first distance based on position information included in the first information; determining whether the first distance is equal to or less than the first threshold; outputting the second information when the first distance is equal to or less than the first threshold; When the first distance is greater than the first threshold, the second information is not output. The information processing method according to claim 10.

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