Information processing device

Abstract

To provide a technique that allows for more appropriate notification regarding driving assistance using V2X.SOLUTION: An information processing device according to the present disclosure is mounted on a first vehicle that communicates by V2X. In the information processing device, when first information including position information on a first target is received, a control unit sets a range of a first area on a travel direction side of the first vehicle based on a traveling state of the first vehicle. The control unit determines whether the first target is located within the first area based on the position information included in the first information. Only when it is determined that the first target is located within the first area, the control unit outputs second information to alert a driver to the first target.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to an information processing device. [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). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-079100 Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present disclosure is to provide a technology that can more appropriately notify drivers of driving assistance using V2X. [Means for solving the problem]

[0005] 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; Obtaining a running state of the first vehicle; setting a range of a first area in a traveling direction of the first vehicle based on a traveling state of the first vehicle; determining whether the first object is located within the first area based on location information included in the first information; outputting second information for calling attention to the first target when it is determined that the first target is located within the first area; The control unit may be configured to execute the above.

[0006] The present disclosure can also be seen as an information processing method in which a computer performs the processing of the information processing device described above, or as an information processing program for causing a computer to execute the information processing method described above, or as a non-transitory storage medium for storing the information processing program. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to provide a technology that can more appropriately notify drivers of driving assistance using V2X. [Brief explanation of the drawings]

[0008] [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. 2 is a diagram illustrating an example of a first area. [Figure 5] FIG. 10 is a diagram showing an example of a first area that is set when it is determined that a first vehicle is traveling on a cornering road. [Figure 6] 3 is a flowchart showing a flow of processing executed by the in-vehicle device in the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] In the information processing device according to the present disclosure, a control unit receives first information. The information processing device according to the present disclosure is a computer mounted on a connected vehicle (first vehicle) that communicates via V2X. The control unit according to the present disclosure is, for example, a computer processor. The first information according to the present disclosure is information including position information of a first target. The first target is, for example, an accident vehicle, a work vehicle, a broken-down vehicle, or an obstacle such as a fallen object located on a road. The first information is, for example, broadcast from an on-board device of a vehicle that corresponds to the first target, an on-board device of a vehicle traveling around the first target, or a roadside device installed around the first target.

[0010] Here, the communication range of V2X is, for example, a range of several hundred meters to several kilometers in radius from the source connected vehicle. Therefore, the control unit of the information processing device may also receive first information about a first object located at a point away from the path of the first vehicle. For example, the control unit may receive first information about a first object located on the opposite side (rear side) of the traveling direction of the first vehicle, or a first object located on a road different from the road on which the first vehicle is scheduled to travel. Therefore, if information (second information) for calling attention to the first object is output for all of the first information received by the first vehicle, the driver of the first vehicle may feel annoyed.

[0011] In contrast, in the information processing device according to the present disclosure, the control unit, upon receiving the first information, outputs the second information on the condition that the first target is located within the first area. The first area according to the present disclosure is an area located in the traveling direction of the first vehicle, the range of which is appropriately set by the control unit. In detail, upon receiving the first information, the control unit acquires the traveling state of the first vehicle and sets the first area based on the acquired traveling state. For example, the control unit may determine whether the first vehicle is traveling on a curved road or a straight road based on the traveling state of the first vehicle. If it is determined that the first vehicle is traveling on a curved road, the control unit may set the range of the first area to be wider than if it is determined that the first vehicle is traveling on a straight road.

[0012] According to the information processing device of the present disclosure, second information is output only for the first information related to a first object located within the first area, among the first information received by the control unit. The output of the second information may be performed, for example, by displaying characters or figures indicating the second information on a display mounted on the first vehicle, or by outputting audio indicating the second information from a speaker mounted on the first vehicle. This results in the driver being alerted only to first objects located near the path of the first vehicle. As a result, it is possible to reduce annoyance felt by the driver of the first vehicle. Therefore, it is possible to appropriately alert the driver of the first vehicle.

[0013] The present disclosure can also 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. 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.

[0014] 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.

[0015] <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.

[0016] (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.

[0017] 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.

[0018] 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.

[0019] When receiving the first information, the in-vehicle device 100 determines whether the obstacle is located within the first area based on the location information included in the first information. The first area is an area that is set depending on the traveling state of the first vehicle 10 when the in-vehicle device 100 receives the first information. A method for setting the first area will be described later. If it is determined that an obstacle is located within the first area (for example, obstacle Ob1 in FIG. 1), the in-vehicle device 100 notifies the user of the first vehicle 10 of information (second information) that calls attention to the obstacle. On the other hand, if it is determined that the obstacle is not located within the first area (for example, obstacle Ob2 in FIG. 1), the in-vehicle device 100 does not notify the user of the first vehicle 10 of the second information regarding the obstacle.

[0020] (Hardware configuration of the first vehicle) Fig. 2 is a diagram showing an example of the hardware configuration of a first vehicle 10 in this embodiment. As shown in Fig. 2, the first vehicle 10 in this embodiment is configured to include an in-vehicle device 100, an ECU 110, and a yaw rate sensor 120. Note that, in the example shown in Fig. 2, only the hardware configuration related to driving assistance using V2X is extracted and illustrated, but the first vehicle 10 may include other hardware configurations. For example, the first vehicle 10 may include a prime mover, a transmission, a braking device, electrical components, a battery, an advanced safety system, and the like in addition to the components shown in Fig. 2.

[0021] The in-vehicle device 100 receives the first information using V2X communication and notifies the user of the first vehicle 10 of the second information. As shown in FIG. 2 , the in-vehicle device 100 includes 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, a communication unit 107, and an in-vehicle communication unit 108.

[0022] 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 102 and executed, and through this execution, Controls the device 100.

[0023] 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.

[0024] 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). The auxiliary storage device 103 may include a removable storage medium. The removable medium is, for example, a disk storage medium such as a USB (Universal Serial Bus) memory, a CD (Compact Disc), or a DVD (Digital Versatile Disc). The auxiliary storage device 103 stores various programs and data used by the processor 101 when executing each program.

[0025] 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.

[0026] 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 dedicated display, or may be a multi-information display (MID) or a display of a navigation system already installed in the first vehicle 10.

[0027] 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.

[0028] 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.

[0029] 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).

[0030] The in-vehicle communication unit 108 is an interface for communicating with the ECU 110 via an in-vehicle network. The in-vehicle network may be a CAN (Controller Area Network), a LIN (Loopback Path Network), or the like. (Local Interconnect Network), or a network based on standards such as FlexRay.

[0031] The ECU 110 is a computer that controls various devices (for example, a motor, a transmission, a braking device, electrical components, a battery, an advanced safety system, etc.) mounted on the first vehicle 10. The ECU 110 detects the yaw rate of the first vehicle 10 through a yaw rate sensor 120. In this embodiment, the ECU 110 detects the yaw rate in response to a request from the in-vehicle device 100, and transmits the detected yaw rate to the in-vehicle device 100.

[0032] (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.

[0033] 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.

[0034] The control unit F110 receives, via the communication unit 107, first information broadcast 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.

[0035] The control unit F110 acquires the traveling state of the first vehicle 10 and sets the range of the first area according to the acquired traveling state. In this embodiment, the control unit F110 uses the yaw rate of the first vehicle 10 as the traveling state of the first vehicle 10. In this case, the control unit F110 transmits a signal requesting the yaw rate to the ECU 110 via the in-vehicle communication unit 108. Upon receiving such a signal, the ECU 110 detects the yaw rate of the first vehicle 10 via the yaw rate sensor 120. The detected yaw rate is transmitted from the ECU 110 to the in-vehicle device 100 via the in-vehicle network. When the yaw rate transmitted from the ECU 110 is received by the in-vehicle communication unit 108 of the in-vehicle device 100, the received yaw rate is passed from the in-vehicle communication unit 108 to the control unit F110.

[0036] The control unit F110 determines whether the first vehicle 10 is traveling on a straight road or a cornering road based on the yaw rate acquired through the ECU 110. For example, the control unit F110 may determine that the first vehicle 10 is traveling on a straight road if the yaw rate is equal to or less than a first threshold value, and may determine that the first vehicle 10 is traveling on a cornering road if the yaw rate is greater than the first threshold value. The first threshold value is a value that allows the first vehicle 10 to be determined to be traveling on a cornering road if the yaw rate is greater than the first threshold value. Such a first threshold value is set in advance based on the results of experiments or simulations, etc.

[0037] When it is determined that the first vehicle 10 is traveling on a cornering road, the control unit F110 sets the range of the first area to be larger than when it is determined that the first vehicle 10 is traveling on a straight road. Here, an example of a method for setting the first area will be described with reference to Fig. 4. Fig. 4 is a diagram showing an example of the first area in this embodiment.

[0038] In this embodiment, the first area is the area in the traveling direction of the first vehicle 10 in the geographic coordinate system. The first area in this embodiment is a virtual area set in such a way that, as shown in FIG. 4, the first area is an area that is shaped like a substantially inverted triangle in plan view, with the position of the first vehicle 10 as the apex. In this case, the first area is set so that the portion corresponding to the base of the inverted triangle is perpendicular to the traveling direction of the first vehicle 10 in the horizontal direction. In the first area, the length of the portion corresponding to the base of the inverted triangle (hereinafter sometimes referred to as the "first length Dl1") is set longer when it is determined that the first vehicle 10 is traveling on a cornering road than when it is determined that the first vehicle 10 is traveling on a straight road. The first length Dl1 when it is determined that the first vehicle 10 is traveling on a cornering road may be a preset fixed value, or may be a variable value that is set to a longer value as the yaw rate increases.

[0039] In addition, the length from the first vehicle 10 to the part corresponding to the bottom side in the direction of travel of the first vehicle 10 (hereinafter, sometimes referred to as the "second length Dl2") may be a predetermined fixed value, or may be a variable value that is set to a longer value as the traveling speed of the first vehicle 10 increases.

[0040] 5 is a diagram showing an example of a first area that is set when it is determined that the first vehicle 10 is traveling on a cornering road. The range of the first area (the inverted triangular area indicated by the solid line in FIG. 5) when it is determined that the first vehicle 10 is traveling on a cornering road is wider than the range of the first area (the inverted triangular area indicated by the dashed dotted line in FIG. 5) when it is determined that the first vehicle 10 is traveling on a straight road.

[0041] Once the first area is set as described above, the control unit F110 determines whether an obstacle is located within the first area based on the position information included in the first information. Here, as illustrated in FIG. 5 above, when the first vehicle 10 is traveling on a cornering road, the position of an obstacle Ob present near the path of the first vehicle 10 is included within the range of the first area. On the other hand, when it is determined that the first vehicle 10 is traveling on a straight road, the range of the first area is set smaller than when it is determined that the first vehicle 10 is traveling on a cornering road, and therefore the position of an obstacle present at a location away from the path of the first vehicle 10 is not included within the range of the first area.

[0042] If it is determined that an obstacle is located within the first area, the control unit F110 generates second information about the obstacle. The second information is information for urging the user of the first vehicle 10 to pay attention to the obstacle. The second information includes, for example, information indicating that an obstacle may be present near the path of the first vehicle 10, and information for urging the user to prepare for a driving operation to avoid the obstacle. The control unit F110 outputs the generated second information through the output device 104. In this case, 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 displaying text indicating the second information on the display of the output device 104, a notification sound may be output from the speaker of the output device 104 to urge the user to pay attention. If it is determined that the obstacle is not located within the first area, the control unit F110 does not generate or output the second information about the obstacle.

[0043] (Processing flow) Next, the flow of processing executed by the in-vehicle device 100 in this embodiment will be described with reference to Fig. 6. Fig. 6 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. 6 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.

[0044] 6, 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 process of step S101, the control unit F110 executes the process of step S102.

[0045] In step S102, the control unit F110 acquires the yaw rate of the first vehicle 10. Specifically, the control unit F110 transmits a signal for requesting the yaw rate to the ECU 110 through the in-vehicle communication unit 108. In this case, the ECU 110 detects the yaw rate of the first vehicle 10 through the yaw rate sensor 120. The ECU 110 transmits the detected yaw rate to the in-vehicle device 100 through the in-vehicle network. When the yaw rate transmitted from the ECU 110 is received by the in-vehicle communication unit 108 of the in-vehicle device 100, the yaw rate is passed from the in-vehicle communication unit 108 to the control unit F110. This allows the control unit F110 to acquire the yaw rate of the first vehicle 10. After completing the process of step S102, the control unit F110 executes the process of step S103.

[0046] In step S103, the control unit F110 sets a first area based on the yaw rate acquired in step S102. As described above in the description of FIG. 4, the first area is a virtual area set in the traveling direction of the first vehicle 10 in the geographic coordinate system. In setting such a first area, the control unit F110 determines whether the yaw rate acquired in step S102 is equal to or less than a first threshold. If the yaw rate is equal to or less than the first threshold, the control unit F110 determines that the first vehicle 10 is traveling on a straight road. If the yaw rate is greater than the first threshold, the control unit F110 determines that the first vehicle 10 is traveling on a cornering road. If the control unit F110 determines that the first vehicle 10 is traveling on a cornering road, the control unit F110 sets the range of the first area to be larger than if it determines that the first vehicle 10 is traveling on a straight road. Specifically, when it is determined that the first vehicle 10 is traveling on a cornering road, the control unit F110 sets the first length Dl1 illustrated in Fig. 4 to a longer value than when it is determined that the first vehicle 10 is traveling on a straight road. After completing the process of step S103, the control unit F110 executes the process of step S104.

[0047] In step S104, the control unit F110 compares the position information (information indicating the position of the obstacle) included in the first information with the first area set in step S103 to determine whether the obstacle is located within the first area. If it is determined that the obstacle is not located within the first area (negative determination in step S104), the control unit F110 ends the execution of this processing routine without generating and outputting the second information. On the other hand, if it is determined that the obstacle is located within the first area (positive determination in step S104), the control unit F110 executes the processing from step S105 onwards.

[0048] In step S105, ECU 110 generates second information related to the obstacle that is the subject of the first information. As described above, the second information is information for urging the user of first vehicle 10 to pay attention to the obstacle, and includes information indicating that there is a possibility that an obstacle is present near the path of first vehicle 10, information for urging the user to prepare for a driving operation to avoid the obstacle, etc. After completing the processing of step S105, ECU 110 executes the processing of step S106.

[0049] In step S106, the control unit F110 outputs the second information generated in step S105 through the output device 104. At this time, the control unit F110 may, for example, display characters 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 the process of step 06 is completed, the execution of this processing routine is terminated.

[0050] (Actions and Effects of the Embodiments) In the above-described embodiment, the on-vehicle device 100 outputs the second information only when it receives the first information about an obstacle located within the first area. This allows the user of the first vehicle 10 to be alerted only about obstacles located near the path of the first vehicle 10. As a result, it is possible to prevent the driver of the first vehicle from feeling annoyed.

[0051] Furthermore, in the above-described embodiment, the range of the first area is set according to the traveling state of the first vehicle 10 when the first information is received. That is, when the traveling state of the first vehicle 10 indicates that it is traveling on a cornering road, the range of the first area (particularly the range in the horizontal direction (in a plan view) and in the direction perpendicular to the traveling direction of the first vehicle 10) is set larger than when the traveling state of the first vehicle 10 indicates that it is traveling on a straight road. As a result, for example, when it is determined that the first vehicle 10 is traveling on a straight road, the second information is not notified to the user of the first vehicle 10 about obstacles that exist at a location away from the path of the first vehicle 10. On the other hand, when it is determined that the first vehicle 10 is traveling on a cornering road, the second information about obstacles that exist near the path of the first vehicle 10 is notified to the user of the first vehicle 10.

[0052] Therefore, according to the present embodiment, it is possible to alert the user of the first vehicle 10 only about obstacles located near the path of the first vehicle 10. As a result, it is possible to appropriately alert the user of the first vehicle 10 while reducing the inconvenience to the user of the first vehicle 10.

[0053] <Modification> In the first embodiment described above, an example has been described in which the yaw rate of the first vehicle 10 is used as the traveling state of the first vehicle 10, but the steering angle of the first vehicle 10 or the lateral acceleration of the first vehicle 10 may also be used. In this case, the control unit F110 of the in-vehicle device 100 may determine whether the first vehicle 10 is traveling on a straight road or a cornering road based on the steering angle or the lateral acceleration.

[0054] <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.

[0055] 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. [Explanation of symbols]

[0056] 10 First car 100 In-vehicle equipment 101 processors 102 Main storage 103 Auxiliary storage device 104 Output Device 105 Position acquisition part 106 Camera 107 Communications Department 108 In-vehicle communication unit F110 control unit 110 ECU 120 Yaw rate sensor

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; acquiring a yaw rate of the first vehicle as a running state of the first vehicle; determining whether the first vehicle is traveling on a curved road or a straight road based on the yaw rate of the first vehicle; When it is determined that the first vehicle is traveling on a curved road, the range of the first area on the traveling direction side of the first vehicle is set wider than when it is determined that the first vehicle is traveling on a straight road; and determining whether the first object is located within the first area based on location information included in the first information; outputting second information for calling attention to the first target when it is determined that the first target is located within the first area; a control unit that executes the the first area is an area having an inverted triangular shape in a plan view with the position of the first vehicle as a vertex, Setting the range of the first area on the traveling direction side of the first vehicle to be wider includes setting, by the control unit, a length of a portion corresponding to a base of the inverted triangular area in a horizontal direction perpendicular to the traveling direction of the first vehicle to a value that increases as the acquired yaw rate of the first vehicle increases. Information processing device.

2. Setting the range of the first area in the direction of travel of the first vehicle to be wider includes the control unit further setting the length from the first vehicle to the part corresponding to the base of the inverted triangular area to a value that becomes longer as the traveling speed of the first vehicle increases. The information processing device according to claim 1 .

3. The first object is an accident vehicle, a work vehicle, a broken-down vehicle, or a fallen object. The information processing device according to claim 1 .

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