Control device, control method, and control program

Abstract

To enable a user to easily recognize a position of each one of mobile bodies or to appropriately control a vehicle.SOLUTION: An acquisition section of a control device acquires a plurality of pieces of data, which is collected at a plurality of points in time by a plurality of sensors and indicates positions and behaviors of a plurality of mobile bodies present in an actual world, in association with the points in time (S100). A calculation section of the control device reproduces the positions and behaviors of the mobile bodies on a virtual space based on a plurality of pieces of time-synchronized data (S120). The calculation section calculates existence ranges 30 being the ranges where the respective mobile bodies are assumed to be present in the virtual space (S110). A control display section of the control device causes a display device to display the existence ranges 30 of the respective mobile bodies in the virtual space (S130).SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] This invention relates to a control device, a control method, and a control program for a system that reproduces a real-world traffic environment in a virtual space.

Background Art

[0002] Digital twin is a technology that reproduces the same environment as the real world in a virtual space. In Patent Document 1, a system using a traffic digital twin that reproduces a real-world traffic environment in a virtual space is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When attempting to reproduce the positions of each moving object in the real world in a virtual space, it is conceivable that the positions of each moving object cannot be specified as a single point in the virtual space. In view of such problems, even when the positions of each moving object reproduced in the virtual space cannot be specified as a single point, the user can easily recognize the positions of each moving object, or the vehicle can be appropriately controlled.

Means for Solving the Problems

[0005] The control device for solving the above problems includes an acquisition unit that acquires data indicating the positions of a plurality of moving objects existing in the real world. Further, the control device includes a display control unit that causes a display device to display an existence range, which is a range in which each of the moving objects is estimated to exist, in a virtual space reproduced based on the data acquired by the acquisition unit.

[0006] A control method for solving the above problems includes the step of an acquisition unit acquiring data indicating the positions of multiple moving objects existing in the real world. This control method includes the step of a display control unit causing a display device to display an existence range, which is the range in which each moving object is estimated to exist in a virtual space that reproduces the positions of the multiple moving objects, constructed based on the data acquired by the acquisition unit.

[0007] A control program to solve the above problem causes an acquisition unit to acquire data indicating the positions of multiple moving objects existing in the real world. This control program then causes a display control unit to display on a display device the existence range, which is the range in which each moving object is estimated to exist in a virtual space that reproduces the positions of the multiple moving objects, constructed based on the data acquired by the acquisition unit.

[0008] A control device for solving the above problems includes an acquisition unit that acquires data indicating the positions of multiple moving objects existing in the real world. Furthermore, the control device includes a calculation unit that calculates an existence range, which is the range in which each moving object is estimated to exist, in a virtual space that reproduces the positions of the multiple moving objects and is constructed based on the data acquired by the acquisition unit. In addition, the control device includes a control unit that controls a vehicle existing in the real world based on the existence range calculated by the calculation unit. [Effects of the Invention]

[0009] According to the present invention, even if the position of each moving object reproduced in the virtual space cannot be precisely determined to a single point, it becomes possible for the user to easily recognize the position of each moving object. Furthermore, according to another aspect of the present invention, it is possible to appropriately control the vehicle even when the position of each moving object reproduced in the virtual space cannot be precisely determined to a single point. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a schematic diagram illustrating a traffic digital twin system. [Figure 2] Figure 2 is a schematic diagram showing the control device. [Figure 3] Figure 3 is a schematic diagram showing the in-vehicle equipment of a vehicle. [Figure 4] Figure 4 is a flowchart showing the flow of a series of processes performed by the processing unit in the control device of the first embodiment for constructing a traffic digital twin. [Figure 5] Figure 5 is a diagram showing the display mode of the traffic digital twin that the control device of the first embodiment displays on the display device. [Figure 6] Figure 6 is an explanatory diagram illustrating the first range of existence of the moving body calculated by the processing device of the first embodiment. [Figure 7] Figure 7 is an explanatory diagram illustrating the second range of existence of the moving body calculated by the processing device of the first embodiment. [Figure 8] Figure 8 is a schematic diagram showing the third range of existence. [Figure 9] Figure 9 is a schematic diagram showing the fourth range of existence. [Figure 10] Figure 10 is a schematic diagram showing the first range of existence, which is displayed in an enlarged manner over time. [Figure 11] Figure 11 is a schematic diagram showing the second range of existence, which is displayed in an enlarged manner over time. [Figure 12] Figure 12 is a flowchart showing the sequence of processes that the processing unit performs to control the vehicle in the second embodiment. [Figure 13] Figure 13 is a schematic diagram showing a state in the second embodiment where the range of the controlled vehicle and the range of other moving objects overlap. [Figure 14] Figure 14 is a schematic diagram illustrating the difference in the range of the controlled vehicle in the second embodiment. [Figure 15] Figure 15 is a flowchart showing the sequence of processes that the processing unit performs to control the vehicle in a modified example of the second embodiment. [Figure 16] Figure 16 is a schematic diagram showing a modified example of the second embodiment, in which different probability ranges of existence are displayed for each vehicle. [Figure 17] FIG. 17 is a flowchart showing the flow of a series of processes executed by the processing device to control the vehicle in a further modification of the second embodiment. [Figure 18] FIG. 18 is a schematic diagram showing a state where the distance between the center of the existence range of the vehicle to be controlled and the existence range of another moving body is farther than the medium distance and within the long distance. [Figure 19] FIG. 19 is a schematic diagram showing a state where the distance between the center of the existence range of the vehicle to be controlled and the existence range of another moving body is farther than the short distance and within the medium distance. [Figure 20] FIG. 20 is a schematic diagram showing a state where the distance between the center of the existence range of the vehicle to be controlled and the existence range of another moving body is within the short distance.

Mode for Carrying Out the Invention

[0011] (First Embodiment) Hereinafter, a first embodiment of a traffic digital twin system for constructing a traffic digital twin that reproduces the real-world traffic environment in a virtual space will be described with reference to FIGS. 1 to 11.

[0012] <Outline of Traffic Digital Twin System 10> As shown in FIG. 1, the traffic digital twin system 10 includes a control device 100, a display 200 as a display device, and an external communication line network 300.

[0013] The control device 100 includes a storage device 120 in which a program is stored, and a processing device 110 that executes the program stored in the storage device 120. The processing device 110 includes a processor. The control device 100 includes a communication device 130. The control device 100 is connected to the external communication line network 300 via the communication device 130.

[0014] The display 200 is connected to the control device 100. The control device 100 can display information on the display 200. The control device 100 displays an image of the traffic digital twin 20 constructed in a virtual space on the display 200.

[0015] The traffic digital twin system 10 is equipped with sensors that acquire information on multiple moving objects 600 in the real world in order to reproduce the positions and behaviors of multiple moving objects 600 in the real world in the traffic digital twin 20. Multiple moving objects 600 are objects that move in the real world.

[0016] Multiple mobile units 600 include multiple vehicles 400. Each vehicle 400 is equipped with multiple on-board sensors 420. Specific examples of the on-board sensors 420 will be described later. The vehicles 400 can send and receive information to and from the control unit 100 via an external communication network 300. For example, the vehicle 400 can transmit information collected by its multiple on-board sensors 420 to the control unit 100. The vehicle 400 can receive information about the traffic digital twin 20 from the control unit 100.

[0017] Among the multiple vehicles 400, there may be some vehicles 400 that do not transmit information collected by the on-board sensor 420 to the control device 100. Among the multiple vehicles 400, there may be some vehicles 400 that provide information collected by on-board sensors 420 to the control device 100, but do not receive information about the traffic digital twin 20 from the control device 100.

[0018] Among the multiple vehicles 400, there may be vehicles 400 that do not provide information to the control device 100, nor do they receive information about the traffic digital twin 20 from the control device 100.

[0019] The mobile unit 600 includes multiple pedestrians 520. The information terminal 700 is, for example, a smartphone carried by a pedestrian 520. The information terminal 700 is, for example, a smartphone carried by an occupant of a vehicle 400.

[0020] The road sensor 800 consists of multiple sensors installed on the road. For example, the road sensor 800 may include multiple road cameras 810 or multiple traffic lights 820. The information terminal 700 and the road sensor 800 collect multiple data points at multiple time points, indicating the position and behavior of multiple moving objects 600.

[0021] The processing unit 110 periodically receives data indicating the position and behavior of multiple mobile objects 600 from multiple vehicles 400, multiple information terminals 700, and multiple road sensors 800, associated with the time. The processing unit 110 may receive each piece of data at different times. The processing unit 110 stores the received data indicating the position and behavior of multiple mobile objects 600 in the storage device 120, associated with the time each piece of data was received.

[0022] <Regarding the data stored in the storage device 120> The following describes the data indicating the position and behavior of the moving object 600, which is collected by the processing unit 110 and stored in the storage device 120. The data collected by the processing unit 110 and stored in the storage device 120 includes, for example, vehicle information such as the VIN (Vehicle Identification Number) of the vehicle 400, trajectory information such as the vehicle speed, direction of travel, and travel trajectory of the vehicle 400, and position information.

[0023] The data collected by the processing unit 110 and stored in the storage device 120 includes data indicating the position and behavior of moving objects 600 other than the vehicle 400. This data indicating the position and behavior of moving objects 600 other than the vehicle 400 includes, for example, data indicating the position and behavior of pedestrians 520 and bicycles.

[0024] The road sensor 800 collects information related to changes in the state of traffic infrastructure around the road sensor 800. Information related to changes in the state of traffic infrastructure includes, for example, changes in the state of traffic lights 820. Changes in the state of traffic lights 820 include the timing at which traffic lights 820 turn green and the number of seconds that traffic lights 820 remain green.

[0025] The road sensor 800 recognizes vehicles 400 in its vicinity. For example, it transmits information about vehicles 400 captured in images taken by the road camera 810 to the processing unit 110. As shown in Figure 2, the control device 100 comprises an acquisition unit 101, a calculation unit 102, a display control unit 103, and a control unit 104. The acquisition unit 101 acquires data indicating the position and behavior of multiple moving objects 600 present in the real world. The calculation unit 102 calculates the range of existence 30 of the moving objects 600 based on the data acquired by the acquisition unit 101. The display control unit 103 displays the range of existence 30 of each moving object 600 on a display device such as a display 200. The control unit 104 controls the vehicles 400 present in the real world based on the range of existence 30 of each moving object 600.

[0026] In this embodiment, the communication device 130 corresponds to the acquisition unit 101. The processing unit 110 corresponds to the calculation unit 102, the display control unit 103, and the control unit 104. <Regarding the composition of the 400 vehicles> As shown in Figure 3, the vehicle 400 is equipped with an in-vehicle communication device 410. The vehicle 400 is equipped with a plurality of in-vehicle sensors 420. The in-vehicle sensors 420 include a vehicle speed sensor 421, an accelerator sensor 422, a brake sensor 423, and an acceleration sensor 424. In addition, the vehicle 400 is equipped with a sonar 425, a position information acquisition system 426, a steering sensor 427, and an external camera 428. Furthermore, the vehicle 400 is equipped with a brake system 430, a steering system 432, a turn signal 433, a display 434, and a speaker 435. As shown in Figure 3, the above devices equipped in the vehicle 400 are connected to each other by an in-vehicle network 440.

[0027] The vehicle 400 can transmit information to the control device 100 via the in-vehicle communication device 410 and the external communication network 300. For example, the vehicle 400 can transmit its location information, acquired by the location information acquisition system 426, to the control device 100.

[0028] An acceleration sensor 424 is, for example, an IMU (Inertial Measurement Unit). The sonar 425 mounted on the vehicle 400 can collect information on the distance to other moving objects 600 located around the vehicle 400. The vehicle 400 may also be equipped with a LiDAR (Light Detection and Ranging) sensor, which, like the sonar 425, collects information on the distance to other moving objects 600 located around it. The LiDAR can also collect information on the distance to other moving objects 600 located around the vehicle 400.

[0029] The position information acquisition system 426 is not limited to a specific system. GNSS (Global Navigation Satellite System), RTK (Real Time Kinematic), LiDAR, etc., can be used as the position information acquisition system 426.

[0030] The processing unit 110 can display an image of the traffic digital twin 20 constructed in a virtual space on the display 434.

[0031] <Control method for the control device 100 for constructing a traffic digital twin 20> Next, we will describe the method for constructing a traffic digital twin 20 that is performed by the control device 100 according to the first embodiment.

[0032] Figure 4 is a flowchart showing the sequence of processes performed by the processing unit 110 to build the traffic digital twin 20. The storage device 120 of the control unit 100 stores a control program that instructs the processing unit 110 to perform this sequence of processes. The processing unit 110 updates the traffic digital twin 20 by repeatedly executing the sequence of processes shown in Figure 4 according to this control program stored in the storage device 120. The traffic digital twin 20 is updated by the processing unit 110 every few seconds.

[0033] As shown in Figure 4, when this series of processes is started, the processing unit 110 first acquires, in step S100, a plurality of data indicating the position and behavior of a plurality of moving objects 600 existing in the real world, associated with time, via the communication device 130. The plurality of data indicating the position and behavior of a plurality of moving objects 600 existing in the real world are collected, for example, by on-board sensors 420 of a plurality of vehicles 400. This data is acquired by the processing unit 110 at predetermined intervals. The data acquired by the processing unit 110 is stored in the storage device 120. After the processing unit 110 has acquired the plurality of data indicating the position and behavior of a plurality of moving objects 600, the process proceeds to step S110.

[0034] In step S110, the processing unit 110 calculates the range of existence 30 of the mobile body 600 based on the data stored in the storage device 120. A detailed explanation of the range of existence 30 will be given later. After the processing unit 110 calculates the range of existence 30 of the mobile body 600, the process proceeds to step S120.

[0035] In step S120, the processing unit 110 constructs a traffic digital twin 20 in a virtual space that reproduces the positions and behaviors of multiple mobile objects 600 based on multiple data indicating the positions and behaviors of the mobile objects 600. This traffic digital twin 20 includes information on the range 30 in which the mobile objects 600 exist. After the processing unit 110 has completed constructing the traffic digital twin 20, the process proceeds to step S130.

[0036] In step S130, the processing unit 110 displays the constructed traffic digital twin 20 on the display device. Once the processing in step S120 is complete, the processing unit 110 terminates this series of processes. The processing unit 110 does not have to construct a traffic digital twin 20 that includes information on the range of existence 30 of all moving objects 600. For example, the processing unit 110 may construct the traffic digital twin 20 by excluding information on the range of existence 30 where the probability of a moving object 600 being present is less than a predetermined value.

[0037] <Regarding the range 30 of the mobile object 600 on the traffic digital twin 20> There may be discrepancies between the positions of multiple moving objects 600 in the real world and the positions of multiple moving objects 600 on the traffic digital twin 20 reproduced in the virtual space.

[0038] Therefore, as shown in Figure 5, in the traffic digital twin system 10 of this embodiment, the area in which each mobile body 600 on the traffic digital twin 20 is estimated to exist is displayed as the existence range 30 of each mobile body 600.

[0039] Figure 5 shows examples of multiple moving objects 600, including vehicle 400_1, vehicle 400_2, vehicle 400_3, vehicle 400_4, vehicle 400_5, and pedestrian 520_1. Figure 5 shows examples of the ranges of existence 30 for each mobile body 600: range 30_1, range 30_2, range 30_3, range 30_4, range 30_5, and range 30_6.

[0040] Existence range 30_1 is the existence range 30 of vehicle 400_1. Existence range 30_2 is the existence range 30 of vehicle 400_2. Existence range 30_3 is the existence range 30 of vehicle 400_3. Existence range 30_4 is the existence range 30 of vehicle 400_4. Existence range 30_5 is the existence range 30 of vehicle 400_5. Existence range 30_6 is the existence range 30 of pedestrian 520_1.

[0041] There are multiple ways to display a moving object 600 along with its presence range 30 on the traffic digital twin 20. For example, one way to display the presence range 30 is to calculate and display the presence range 30 so that the probability of a moving object 600 being present within the presence range 30 is a predetermined value. The presence ranges 30_1, 30_2, 30_3, 30_4, 30_5, and 30_6 shown in Figure 5 are presence ranges 30 calculated so that the probability of each moving object 600 being present within each presence range 30 is 80%.

[0042] In this way, when calculating and displaying the existence range 30 such that the probability of a moving object 600 being within the existence range 30 is a predetermined value, the size of the existence range 30 changes depending on the measurement uncertainty contained in the multiple data acquired by the processing device 110.

[0043] For example, the location information of a moving object 600 acquired by the location information acquisition system 426 includes errors stemming from the precision of the location information measurement method. For instance, the location information of a moving object 600 measured by GNSS includes an error of 10 to 20 meters. The location information of a moving object 600 measured by RTK includes an error of several centimeters. The range of existence 30 calculated by the processing unit 110 based on data obtained by a measurement method with small errors will be narrower than the range of existence 30 calculated by the processing unit 110 based on data obtained by a measurement method with large errors.

[0044] The speed of the vehicle 400 being measured affects the uncertainty of the measurement. The higher the speed of the vehicle 400 being measured, the wider the range in which the vehicle 400 is estimated to exist at a given time. In other words, the higher the speed of the vehicle 400 being measured, the wider the range 30 in which the vehicle 400 can exist at a given time. Furthermore, if there is a large variation in the speed of the vehicle 400 being measured, the range in which the vehicle 400 is estimated to exist at a given time also widens. In other words, if there is a large variation in the speed of the vehicle 400 being measured, the range 30 in which the vehicle 400 can exist at a given time widens.

[0045] Changes in the state of the traffic infrastructure surrounding the vehicle 400 being measured affect the uncertainty of the vehicle 400's range 30. Changes in the state of the traffic infrastructure include, for example, the timing of when the traffic light 820 turns green and the number of seconds that the traffic light 820 remains green. When the traffic light 820 turns green, the vehicle 400 begins to move. Therefore, when the traffic light 820 turns green, the vehicle 400's range 30 expands.

[0046] If multiple moving objects 600 are present around the vehicle 400 being measured, the movement of the other moving objects 600 located around the vehicle 400 being measured may affect the movement of the vehicle 400 being measured. Therefore, the processing unit 110 widens the range 30 in which the vehicle 400 being measured is located, according to the number of other moving objects 600 located around the vehicle 400 being measured.

[0047] The existence range 30 calculated by the processing unit 110 includes a first existence range 31, which is the existence range 30 of the mobile body 600 itself, calculated using sensors on the mobile body 600. In addition, the existence range 30 calculated by the processing unit 110 includes a second existence range 32, which is the existence range 30 of other surrounding mobile bodies 600, calculated using sensors on the mobile body 600. The method by which the processing unit 110 calculates the first existence range 31 and the second existence range 32 is described below.

[0048] <Regarding the first existence range 31> When calculating the first existence range 31, the processing unit 110 acquires multiple data indicating the position and behavior of the mobile body 600 itself, collected at multiple times by multiple sensors on the mobile body 600, via the communication device 130, the external communication network 300, and the in-vehicle communication device 410. The processing unit 110 stores the multiple data indicating the position and behavior of the mobile body 600 itself in the storage device 120.

[0049] Referring to Figure 6, the method by which the processing unit 110 calculates the first existence range 31 based on data collected by sensors on the vehicle 400 being measured will be explained. Examples of data indicating the position and behavior of the vehicle 400 being measured include the following: The data indicating the position and behavior of the vehicle 400 being measured is the speed of the vehicle 400 obtained from the vehicle speed sensor 421 of the vehicle 400 being measured. The data indicating the position and behavior of the vehicle 400 being measured is the acceleration of the vehicle 400 obtained from the acceleration sensor 424 of the vehicle 400 being measured. The data indicating the position and behavior of the vehicle 400 being measured is the steering angle of the vehicle 400 obtained from the steering sensor 427 of the vehicle 400 being measured. The data indicating the position and behavior of the vehicle 400 being measured is the position information of the vehicle 400 obtained from the position information acquisition system 426 of the vehicle 400 being measured. The data indicating the position and behavior of the vehicle 400 being measured is the speed and position information of the vehicle 400 collected by an information terminal 700 held by the occupant of the vehicle 400 being measured. The data indicating the position and behavior of the vehicle 400 being measured is information on the distance between the vehicle 400 and the surrounding moving objects 600, obtained from the sonar 425 of the vehicle 400. The data indicating the position and behavior of the vehicle 400 being measured is also an image of the area around the vehicle 400 obtained from the external camera 428 of the vehicle 400.

[0050] Subsequently, the processing unit 110 calculates a first existence range 31, which is the existence range 30 of the vehicle 400 being measured, based on multiple data indicating the position and behavior of the vehicle 400 being measured. Then, the processing unit 110 determines the existence range 30 of the vehicle 400 being measured in the traffic digital twin 20 based on the first existence range 31. The processing unit 110 reflects the determined existence range 30 in the traffic digital twin 20 constructed in virtual space. Then, the processing unit 110 displays an image of the traffic digital twin 20, which reflects the existence range 30 of the vehicle 400 being measured, on the display device.

[0051] <Regarding the second range of existence> When calculating the second existence range 32, the processing unit 110 obtains from the mobile body 600, via the communication device 130, multiple data indicating the position and behavior of other mobile bodies 600 located around the mobile body 600, collected at multiple times by multiple sensors on the mobile body 600.

[0052] Figure 7 shows two examples of the moving object 600: vehicle 400_6 and vehicle 400_7. Figure 6 shows an example in which data indicating the position and behavior of vehicle 400_7 is acquired by sensors on vehicle 400_6, and the second existence range 32 of vehicle 400_7 is calculated.

[0053] The processing unit 110 can acquire multiple data indicating the position and behavior of vehicle 400_7 from vehicle 400_6. The data that the processing unit 110 can acquire is, for example, the distance between vehicle 400_7 and vehicle 400_6 collected by the sonar 425 mounted on vehicle 400_6. The detection range 425_1 is the range in which the sonar 425 of vehicle 400_6 can detect the moving object 600.

[0054] The processing unit 110 can acquire data indicating the position and behavior of vehicle 400_7 based on distance data to vehicle 400_7 acquired from vehicle 400_6 and data indicating the position and behavior of vehicle 400_6. Based on the acquired data indicating the position and behavior of vehicle 400_7, the processing unit 110 calculates a second existence range 32 for vehicle 400_7. Then, the processing unit 110 determines the existence range 30 of vehicle 400_7 in the traffic digital twin 20 based on the second existence range 32. The processing unit 110 reflects the determined existence range 30 in the traffic digital twin 20 constructed in virtual space. Then, the processing unit 110 displays an image of the traffic digital twin 20 reflecting the existence range 30 of vehicle 400_7 on the display device.

[0055] Thus, the processing unit 110 can also calculate the range 30 of the vehicle 400_7 based on data acquired from the vehicle 400_6. In other words, the control unit 100 can calculate the range 30 of a moving object 600 that has not provided the control unit 100 with data indicating its position and behavior, based on data provided by the surrounding moving objects 600.

[0056] The position and behavior data of vehicle 400_7 acquired by the processing unit 110 is data collected by the on-board sensor 420 of vehicle 400_6. Therefore, the second existence range 32 is affected not only by the uncertainty of the measurements by the on-board sensor 420 mounted on vehicle 400_6, but also by the certainty of the position and behavior of vehicle 400_6 as known by the processing unit 110.

[0057] <Regarding the calculation of the existence range 30 by the processing unit 110 based on both the first existence range 31 and the second existence range 32> The processing device 110 can make the combined range of the first existence range 31 and the second existence range 32 the existence range 30 of the moving body 600. Two examples of how to combine the first existence range 31 and the second existence range 32 are given below.

[0058] As shown in Figure 8, the processing device 110 may use a third existence range 33, which is the sum of the first existence range 31 and the second existence range 32, as the existence range 30 of the mobile body 600. As shown in Figure 9, the processing device 110 may define the fourth existence range 34, which is the overlapping range of the first existence range 31 and the second existence range 32, as the existence range 30 of the mobile body 600.

[0059] <Regarding the expansion of the first existence range 31 over time> The expansion of the existence range 30 will be explained using the first existence range 31 as an example. The processing unit 110 periodically acquires data via the communication device 130. Based on the periodically acquired data, the processing unit 110 periodically calculates the first existence range 31. However, in the time between the time the processing unit 110 calculates the first existence range 31 and the next calculation of the first existence range 31 is completed and the first existence range 31 is updated, the moving object 600 may move in the real world. Until the data is acquired, the processing unit 110 cannot grasp the behavior of the moving object 600. Therefore, the first existence range 31 calculated by the processing unit 110 becomes more uncertain as time passes since the calculation.

[0060] Therefore, the processing unit 110 expands the size of the first existence range 31 displayed on the display device as time elapses since the calculation of the first existence range 31, from the time the first existence range 31 is calculated until the next calculation of the first existence range 31 is completed and the first existence range 31 is updated.

[0061] Figure 10 illustrates the expansion of the first existence range 31, using the calculation of the first existence range 31 of vehicle 400_8 as an example. In Figure 10, the designation "_N_M" is added to the first existence range 31. "N" is a number added to indicate an increase in the number of calculations of the first existence range 31. "M" is a number added to indicate an increase in the number of expansions of the first existence range 31.

[0062] As shown in Figure 10, after receiving data indicating the position and behavior of vehicle 400_8, the processing unit 110 calculates a first existence range 31_1_1 as the existence range 30 of vehicle 400_8. The processing unit 110 causes the display device to display an image of the traffic digital twin 20 that reflects the first existence range 31_1_1 of vehicle 400_8.

[0063] Subsequently, the processing unit 110 displays the area where the vehicle 400_8 is estimated to be located as the first existence range 31_1_2 on the display device as time progresses. The first existence range 31_1_2 is an existence range 30 that is expanded from the first existence range 31_1_1.

[0064] Furthermore, the processing unit 110 displays the area where the vehicle 400_8 is estimated to be located as a first existence range 31_1_3 as time progresses. The first existence range 31_1_3 is an existence range 30 that is expanded from the first existence range 31_1_2.

[0065] At the next calculation timing, if the calculation of the vehicle 400_8's presence range 30 is completed, the processing unit 110 updates the vehicle 400_8's presence range 30. That is, after receiving data indicating the position and behavior of the vehicle 400_8, the processing unit 110 calculates the first presence range 31_2_1 as the vehicle 400_8's presence range 30. The processing unit 110 displays the traffic digital twin 20, which reflects the first presence range 31_2_1 of the vehicle 400_8, on the display device.

[0066] The first existence range 31_2_1 is the existence range 30 that has just been calculated by the processing unit 110. Therefore, the first existence range 31_2_1 is often narrower than the first existence range 31_1_2 and the first existence range 31_1_3, which are existence ranges 30 that have expanded over time since the calculation.

[0067] <Regarding the expansion of the second existence range 32 over time> The processing unit 110 expands the second existence range 32 in accordance with the time elapsed since the calculation, similar to the first existence range 31.

[0068] As shown in Figure 7, the range of existence 30 for vehicle 400_6 is the first range of existence 31. The range of existence 30 for vehicle 400_7 is the second range of existence 32. The first range of existence 31 and the second range of existence 32 shown in Figure 7 are the ranges of existence 30 immediately after being calculated by the processing unit 110.

[0069] Figure 11 shows the positions and ranges 30 of vehicles 400_6 and 400_7 after a certain period of time has elapsed. As shown in Figure 11, the processing unit 110 displays the second existence range 32 of the vehicle 400_7 after a certain period of time has elapsed, enlarged compared to the second existence range 32 shown in Figure 7.

[0070] As shown in Figure 11, the processing unit 110 displays the first existence range 31 of the vehicle 400_6 after a certain period of time has elapsed, enlarged compared to the first existence range 31 shown in Figure 7. <Operation of the First Embodiment> The processing unit 110 in the control device 100 calculates the presence range 30, which is the range in which the mobile object 600 is estimated to exist. Furthermore, the processing unit 110 displays the presence range 30 of each of the multiple mobile objects 600 on the display device. In other words, the control device 100 causes the display device to display information that takes into account the discrepancy between the position of each mobile object 600 in the real world and the position of each mobile object 600 in the traffic digital twin 20 reproduced in the virtual space.

[0071] <Effects of the First Embodiment> (1) Users of the traffic digital twin system 10 will be able to more easily recognize the position of each moving object 600 in the traffic digital twin 20, taking into account the discrepancy in position with the real world.

[0072] (2) The control device 100 calculates the range of existence 30 of the moving body 600 based on the measurement uncertainty in multiple data indicating the position and behavior of the moving body 600, which the processing device 110 has determined. The processing unit 110, via the communication device 130, receives data indicating the position and behavior of the moving object 600 acquired by the sensor, which includes measurement uncertainty. Therefore, in addition to the acquired data indicating the position and behavior of the moving object 600, the processing unit 110 calculates the range of existence 30 of the moving object 600 based on the measurement uncertainty of that data. This makes it easier for users of the traffic digital twin system 10 to recognize the position of each moving object 600 in the traffic digital twin 20 based on the range of existence 30 that reflects the measurement uncertainty.

[0073] (3) The control device 100 calculates the existence range 30 such that the probability that the moving object 600 to be displayed is present within the existence range 30 of the processing device 110 is a predetermined value. The processing unit 110 described above determines the size of each existence range 30 based on certain criteria. Therefore, the information indicated by the existence range 30 in the traffic digital twin 20 can be handled with a common understanding. As a result, the control unit 100 can calculate an existence range 30 that is easy to use.

[0074] (4) The control device 100 calculates the existence range 30 such that the probability that the moving object 600 to be displayed is present within the existence range 30 is less than 100%. The range 30 in which the moving object 600 exists includes measurement uncertainty in the data indicating the position and behavior of the moving object 600. Therefore, the range 30 calculated so that the probability of the moving object 600 being within the range 30 is 100% may be an extremely wide range. In contrast, the processing device 110 calculates the range 30 so that the probability of the moving object 600 being within the range 30 is less than 100%. As a result, the control device 100 can calculate a user-friendly range 30.

[0075] (5) In the control device 100, the processing unit 110 periodically acquires multiple data via the communication device 130. Based on the multiple data acquired periodically, the processing unit 110 periodically calculates the range of existence 30 of the mobile object 600. Each time the processing unit 110 calculates the range of existence 30, it updates the range of existence 30. From the time the processing unit 110 calculates the range of existence 30 until the next calculation of the range of existence 30 is completed and the range of existence 30 is updated, it expands the displayed range of existence 30 of the mobile object 600 as time has passed since the calculation.

[0076] The existence range 30 calculated by the processing unit 110 becomes less certain as time passes since the calculation. Therefore, the processing unit 110 expands the size of the existence range 30 as time passes since the calculation. This allows the control unit 100 to achieve a display that reflects the fact that the display of the existence range 30 becomes less certain as time passes since the calculation.

[0077] (6) In the control device 100, the processing unit 110 obtains from the mobile body 600, via the communication device 130, a plurality of data indicating the position and behavior of the mobile body 600 itself, collected at multiple times by a plurality of sensors on the mobile body 600. The processing unit 110 calculates a first existence range 31, which is the range of existence of the mobile body 600 itself, calculated based on the plurality of data indicating the position and behavior of the mobile body 600 itself. The processing unit 110 obtains from other mobile bodies 600 in the vicinity of the mobile body 600, via the communication device 130, a plurality of data indicating the position and behavior of the mobile body 600, collected at multiple times by a plurality of sensors on the other mobile bodies 600. The processing unit 110 calculates a second existence range 32, which is the range of existence of the mobile body 600, calculated based on the plurality of data indicating the position and behavior of the mobile body 600, collected at multiple times by a plurality of sensors on the other mobile bodies 600. The processing unit 110 determines the range of existence 30 of the mobile body 600 in the traffic digital twin 20 based on the first range of existence 31 and the second range of existence 32 for the mobile body 600. The processing unit 110 then displays the determined range of existence 30 of the mobile body 600 on the display device.

[0078] The processing unit 110 determines the range of existence 30 of the mobile body 600 based on the first range of existence 31 and the second range of existence 32. Furthermore, the processing unit 110 displays the range of existence 30 of multiple mobile bodies 600 on the display device based on the range of existence 30 thus determined. As a result, the user of the traffic digital twin system 10 can recognize the position and behavior of mobile bodies 600 that are not communicating with the control device 100 of the traffic digital twin 20, in the traffic digital twin 20.

[0079] (7) The processing device 110 determines the range of existence 30 of the moving object 600 based on the first range of existence 31 and the second range of existence 32. As a result, users of the traffic digital twin system 10 can more accurately recognize the position and behavior of the moving object 600 in the traffic digital twin 20.

[0080] (8) The processing device 110 determines the range of presence 30 of the moving object 600 based on the second range of presence 32. Therefore, the control device 100 can display on the display device the range of presence 30 of vehicles 400, pedestrians 520, etc. that are not communicating with the control device 100 of the traffic digital twin 20.

[0081] (9) The processing device 110 can display the range of existence 30 of the moving body 600 on the display device more accurately than displaying the range of existence 30 on the display device based on only the first range of existence 31 or only the second range of existence 32.

[0082] (10) The control method executed by the control device 100 includes the step (step S100) of the processing device 110 acquiring multiple data indicating the position and behavior of a moving object 600 existing in the real world, collected at multiple times by multiple sensors via the communication device 130, in association with the time. The control method executed by the control device 100 includes the step (step S120) of the processing device 110 constructing a traffic digital twin 20 in a virtual space that reproduces the position and behavior of multiple moving objects 600 based on the time-synchronized data. The control method executed by the control device 100 includes the step (step S110) of the processing device 110 calculating an existence range 30, which is the range in which the moving object 600 is estimated to exist in the traffic digital twin 20. The control method executed by the control device 100 includes the step (step S130) of the processing device 110 displaying the existence range 30 in the traffic digital twin 20 on a display device.

[0083] By executing this control method, the processing unit 110 of the control device 100 calculates the presence range 30, which is the range in which the mobile object 600 is estimated to exist. Furthermore, the processing unit 110 displays the presence range 30 of each of the multiple mobile objects 600 on the display device. In other words, the control device 100 causes the display device to display information that takes into account the discrepancy between the position of each mobile object 600 in the real world and the position of each mobile object 600 in the traffic digital twin 20 reproduced in the virtual space.

[0084] This makes it easier for users of the traffic digital twin system 10 to recognize the position of each moving object 600 in the traffic digital twin 20, taking into account the discrepancy between its position in the real world and the digital twin. (11) The storage device 120 of the control device 100 stores a control program that causes the processing device 110 to execute processing. This control program causes the processing device 110 of the control device 100 to acquire multiple data showing the position and behavior of multiple moving objects 600 existing in the real world, collected at multiple times by multiple sensors via the communication device 130, in association with the time. The control program causes the processing device 110 to construct a traffic digital twin 20 in a virtual space that reproduces the position and behavior of the multiple moving objects 600 based on the multiple time-synchronized data. The control program causes the processing device 110 to calculate the existence range 30, which is the range in which the moving objects 600 are estimated to exist in the traffic digital twin 20. The control program causes the processing device 110 to display the existence range 30 in the traffic digital twin 20 on the display device. That is, the control program causes the display device to display information that takes into account the discrepancy between the position of each moving object 600 in the real world and the position of each moving object 600 in the traffic digital twin 20 reproduced in the virtual space.

[0085] This makes it easier for users of the traffic digital twin system 10 to recognize the position of each moving object 600 in the traffic digital twin 20, taking into account the discrepancy between its position in the real world and the digital twin. <Example of modification of the first embodiment> The first embodiment can be implemented with the following modifications. The first embodiment and the following modifications can be combined with each other to the extent that they do not contradict each other technically.

[0086] The processing unit 110 of the control device 100 may calculate only the first existence range 31 of the mobile body 600. In that case, the existence range 30 of the mobile body 600 is the first existence range 31. The processing unit 110 may calculate only the second existence range 32 of the mobile body 600. In that case, the existence range 30 of the mobile body 600 is the second existence range 32.

[0087] When the processing unit 110 calculates both the first existence range 31 and the second existence range 32 of the mobile body 600, it may consider only the first existence range 31 as the existence range 30 of the mobile body 600.

[0088] When the processing unit 110 calculates both the first existence range 31 and the second existence range 32 of the mobile body 600, it may consider only the second existence range 32 as the existence range 30 of the mobile body 600.

[0089] If the processing unit 110 cannot calculate the first existence range 31 of the mobile body 600, it may consider the second existence range 32 to be the existence range 30 of the mobile body 600. If the processing unit 110 cannot calculate the second existence range 32 of the mobile body 600, it may consider the first existence range 31 to be the existence range 30 of the mobile body 600.

[0090] The processing unit 110 does not need to acquire the measurement uncertainty for each measurement result in the information indicating the position or behavior of the moving object 600. For example, in that case, a coefficient to reflect the uncertainty of the information indicating the position or behavior is set for each measurement method. Then, the processing unit 110 calculates the range 30 of the moving object 600 by reflecting the coefficient according to the measurement method in addition to the information indicating the position or behavior of the moving object 600.

[0091] When the processing unit 110 calculates the probability that the moving object 600 is within the range 30 of the moving object 600, it does not need to acquire the measurement uncertainty for each measurement result in the information indicating the position or behavior of the moving object 600. For example, in that case, a coefficient to reflect the uncertainty of the information indicating the position or behavior of the moving object 600 is set for each measurement method.

[0092] The processing unit 110 does not need to expand the existence range 30 over time from the time it receives information until it receives the next information and updates the traffic digital twin 20. For example, the processing unit 110 may, taking into account the time until the next update of the traffic digital twin 20, display on the display device an existence range 30 that has been expanded in advance from the time the existence range 30 was calculated, up until the time immediately before the next update of the traffic digital twin 20. In other words, in this case, an existence range 30 that is expanded beyond the calculated existence range 30 will always be displayed on the display device.

[0093] The processing unit 110 does not have to display the existence ranges 30 to be displayed on the display device in such a way that the probability of a mobile object 600 being present in each existence range 30 is the same for all displayed existence ranges 30. For example, the existence ranges 30 may be displayed such that for one existence range 30, the probability of a mobile object 600 being present in that existence range 30 is 60%, and for another existence range 30, the probability of a mobile object 600 being present in that existence range 30 is 80%.

[0094] The existence range 30 may be displayed in a manner that changes the color of the existence range 30 in stages according to the probability that the vehicle 400 is present within the existence range 30. For example, the processing unit 110 may display the existence range 30 in a manner that makes the color of the existence range 30 darker as the probability of presence increases.

[0095] The processing unit 110 does not have to display the existence range 30 as a circle on the display device. For example, the processing unit 110 may display the existence range 30 as an ellipse that matches the lane in which the vehicle 400 is traveling. For example, the processing unit 110 may display the existence range 30 as the area obtained by removing from the circular existence range 30 that the map information indicates cannot contain the moving object 600. For example, the processing unit 110 may display the existence range 30 as a shape that takes into account buildings and other structures around the vehicle 400.

[0096] The processing unit 110 may acquire information regarding the length, height, and width of the vehicle 400. In that case, the processing unit 110 may calculate the range of existence 30 taking into account the length, height, and width of the vehicle 400.

[0097] (Second Embodiment) Next, the second embodiment will be described with reference to Figures 3 and 12-14. The second embodiment will be described focusing on the differences from the first embodiment. In the second embodiment, the control device 100 controls multiple vehicles 400 based on information from the traffic digital twin system 10.

[0098] As shown in Figure 3, the processing unit 110 of the control device 100 controls the vehicle 400 by transmitting information to the devices installed in the vehicle 400 via the external communication network 300 and the in-vehicle communication device 410.

[0099] For example, the processing unit 110 can decelerate or stop the vehicle 400 by transmitting information to the vehicle's brake system 430. Furthermore, the processing unit 110 can control the steering of the vehicle 400 by transmitting information to the vehicle's steering system 432.

[0100] <Control of the vehicle 30 by the processing unit 110 according to the size of the vehicle 400's presence range 30> The processing unit 110 changes the content of the control applied to the vehicle 400 to be controlled according to the extent of the vehicle 400's presence range 30 in the traffic digital twin 20.

[0101] Figure 12 shows the flow of a series of processes related to the control of the vehicle 400 performed by the processing unit 110. The storage device 120 of the control unit 100 stores a control program that causes the processing unit 110 to execute this series of processes. This series of processes is repeatedly executed by the processing unit 110 of the control unit 100 according to this control program stored in the storage device 120.

[0102] When this series of processes is started, the processing unit 110 calculates the range 30 of the controlled vehicle 400 in the process of step S300, similar to the first embodiment. That is, in the process of step S300, the processing unit 110 calculates the range 30 of the controlled vehicle 400 by executing the series of processes shown in Figure 4. Subsequently, in the process of step S310, the processing unit 110 determines whether or not control of the controlled vehicle 400 is necessary. The processing unit 110 determines that control of the controlled vehicle 400 is necessary (step S310: YES) for example, as shown in Figure 13, when the range 30_9 of the controlled vehicle 400_9 overlaps with the range 30_10 of another vehicle 400_10.

[0103] As shown in Figure 12, if the processing unit 110 determines that control of the vehicle 400 to be controlled is necessary (step S310: YES), the process proceeds to step S320. In step S320, the processing unit 110 controls the vehicle 400 in accordance with the size of the area 30 in which the vehicle 400 to be controlled exists.

[0104] The size of the presence ranges 30_11 for vehicle 400_11, 30_12 for vehicle 400_12, and 30_13 for vehicle 400_13, as shown in Figure 14, is such that there is an 80% probability that vehicle 400 is present within the presence range 30. When the probability of vehicle 400 being present within the presence range 30 is the same, the narrower the presence range 30, the more accurately the processing unit 110 can grasp the position and behavior of the controlled vehicle 400. Therefore, when the probability of vehicle 400 being present within the presence range 30 is the same, the narrower the presence range 30, the more the processing unit 110 can implement control measures that involve a greater degree of the vehicle 400's movement.

[0105] Among the three existence ranges 30 shown in Figure 14, existence range 30_13 is the widest of the three existence ranges 30. For vehicles 400_13 that are estimated to be located within existence range 30_13, which is the wide existence range 30, the processing unit 110 can implement controls that have a low degree of involvement in the vehicle's operation. Controls that have a low degree of involvement in the vehicle's operation include, for example, warnings to the driver via the display 434 or speaker 435 shown in Figure 3.

[0106] Among the three existence ranges 30 shown in Figure 14, existence range 30_11 is the narrowest of the three existence ranges 30. For a vehicle 400_11 that is estimated to be located within existence range 30_11, which is the narrow existence range 30, the processing unit 110 can implement control that has a high degree of involvement in the vehicle 400's driving. Control that has a high degree of involvement in the vehicle 400's driving includes, for example, steering control via the steering system 432 of the vehicle 400 shown in Figure 3. The processing unit 110 may also control the turn signals 433 along with the steering control.

[0107] Among the three existence ranges 30 shown in Figure 14, existence range 30_12 is the existence range 30 of medium size. For a vehicle 400_12 that is estimated to be located within existence range 30_12, which is the medium-sized existence range 30, the processing unit 110 can implement control with a moderate degree of involvement in the vehicle 400's movement. Control with a moderate degree of involvement in the vehicle 400's movement includes, for example, deceleration and stopping of the vehicle 400 via the vehicle 400's braking system 430 shown in Figure 3.

[0108] As shown in Figure 12, after the processing unit 110 has performed control according to the size of the area 30 in which the vehicle 400 is located, the processing unit 110 terminates control of the vehicle 400 being controlled. If the processing unit 110 determines that control of the vehicle 400 to be controlled is not necessary (step S310: NO), the processing unit 110 will terminate this series of processes without executing the process in step S320.

[0109] <Operation of the second embodiment> The processing unit 110 in the control device 100 controls the vehicle 400 to be controlled based on the extent of the vehicle's presence range 30. That is, for each vehicle 400 on the traffic digital twin 20, the processing unit 110 performs control that takes into account the presence range 30, which is the area where the vehicle 400 is estimated to exist, even if it exceeds the actual size of the vehicle 400.

[0110] <Effects of the second embodiment> (1) The processing unit 110 of the control device 100 in the second embodiment can safely control the vehicle 400 to be controlled.

[0111] (2) In the control device 100 of the second embodiment, the processing device 110 calculates the range of existence 30 of the moving object 600 so that the probability of the moving object 600 being within the range of existence 30 is a predetermined value. The processing device 110 controls the vehicle 400 to be controlled when the range of existence 30 of the vehicle 400 to be controlled overlaps with the range of existence 30 of another moving object 600.

[0112] The processing unit 110 determines the size of the range 30 of multiple vehicles 400, including the vehicle 400 to be controlled, based on certain criteria. Therefore, the information indicated by the range 30 in the traffic digital twin 20 can be handled with a common understanding. As a result, the control unit 100 can calculate a range 30 that is convenient for controlling the vehicles 400.

[0113] (3) In the control device 100 of the second embodiment, the processing device 110 changes the content of the control for the vehicle 400 to be controlled according to the size of the area 30 in which the vehicle 400 to be controlled is located. In the traffic digital twin 20, the size of the existence range 30, calculated so that the probability of a vehicle 400 being within the existence range 30 is a predetermined value, varies depending on the certainty of the position and behavior of the vehicle 400 estimated by the control device 100. A wide calculated existence range 30 means that the certainty of the position and behavior of the vehicle 400 estimated by the control device 100 is low. Some controls, such as steering control, cannot be implemented unless the position and behavior of the vehicle 400 to be controlled are accurately known. The processing device 110 changes the content of the control for the vehicle 400 to be controlled according to the size of the existence range 30. As a result, the processing device 110 can execute control according to the certainty of the estimation of the position and behavior of the vehicle 400 to be controlled.

[0114] (4) The control method performed by the control device 100 of the second embodiment includes the step (step S100) in which the processing device 110 acquires a plurality of data indicating the position and behavior of a moving object 600 existing in the real world, collected at multiple times by a plurality of sensors via the communication device 130, in association with the time. The control method performed by the control device 100 includes the step (step S120) in which the processing device 110 constructs a traffic digital twin 20 in a virtual space that reproduces the position and behavior of a plurality of moving objects 600 based on the plurality of time-synchronized data. The control method performed by the control device 100 includes the step (step S110) in which the processing device 110 calculates an existence range 30, which is the range in which the moving object 600 is estimated to exist in the traffic digital twin 20. The control method performed by the control device 100 includes the step (step S320) in which the processing device 110 controls the vehicle 400 via the communication device 130 based on the existence range 30 in the traffic digital twin 20.

[0115] By implementing this control method, the control device 100 controls the vehicle 400 based on the range 30 in which the mobile body 600 exists. In other words, the control method controls the vehicle 400 for each mobile body 600 on the traffic digital twin 20, taking into account the range in which the mobile body 600 is estimated to exist, even if it exceeds the actual size of the mobile body 600. By implementing this control method, the control device 100 can safely control the vehicle 400.

[0116] (5) The storage device 120 of the control device 100 of the second embodiment stores a control program that causes the processing device 110 to execute processing. This control program causes the processing device 110 of the control device 100 to acquire multiple data indicating the position and behavior of multiple moving objects 600 existing in the real world, collected at multiple times by multiple sensors via the communication device 130, in association with the time. The control program causes the processing device 110 to construct a traffic digital twin 20 in a virtual space that reproduces the position and behavior of the multiple moving objects 600 based on the multiple time-synchronized data. The control program causes the processing device 110 to calculate the presence range 30, which is the range in which the moving objects 600 are estimated to be present in the traffic digital twin 20. The control program causes the processing device 110 to control the vehicle 400 via the communication device 130 based on the presence range 30 of the multiple moving objects 600. The processing device 110 in the control device 100 as described above controls the vehicle 400 based on the presence range 30 of the moving objects 600. In other words, the control program causes the control device 100 to perform control of the vehicle 400 for each mobile object 600 on the traffic digital twin 20, taking into account the range in which the mobile object 600 is estimated to exist, even if it exceeds the actual size of the mobile object 600.

[0117] In other words, the control program allows the control device 100 to safely perform control of the vehicle 400. <Example of modification of the second embodiment> The second embodiment described above can be implemented with the following modifications. The second embodiment and the following modifications can be combined with each other to the extent that they do not contradict each other technically.

[0118] The processing unit 110 can change the content of the control applied to the vehicle 400 to be controlled, depending on the probability that the vehicle 400 is present within the presence range 30. Examples of these changes will be explained with reference to Figures 3, 13, 15, and 16.

[0119] Figure 15 shows the flow of a series of processes related to the control of the vehicle 400 performed by the processing unit 110. The storage device 120 of the control unit 100 stores a control program that causes the processing unit 110 to execute this series of processes. The processing unit 110 repeatedly executes this series of processes in accordance with this control program stored in the storage device 120.

[0120] As shown in Figure 15, when this series of processes is started, the processing unit 110 calculates the range 30 of the controlled vehicle 400 in step S400, similar to the process in step S300 in the second embodiment. Subsequently, in step S410, the processing unit 110 determines whether or not control of the controlled vehicle 400 is necessary. The processing unit 110 determines that control of the controlled vehicle 400 is necessary (step S410: YES) for example, as shown in Figure 13, when the range 30_9 of the controlled vehicle 400_9 overlaps with the range 30_10 of another vehicle 400_10.

[0121] If the processing unit 110 determines that control of the vehicle 400 to be controlled is necessary (step S410: YES), the process proceeds to step S420. In step S420, the processing unit 110 controls the vehicle 400 to be controlled according to the probability that the vehicle 400 is present within the presence range 30.

[0122] Figure 16 shows an example where the control device 100 displays a fixed range of existence 30 in the traffic digital twin 20. As shown in Figure 16, in this case, the range of existence 30_14 for vehicle 400_14, the range of existence 30_15 for vehicle 400_15, and the range of existence 30_16 for vehicle 400_16 are all the same size. In this case, the control device 100 calculates the probability of existence for each moving object 600.

[0123] For example, in the case shown in Figure 16, the probability that vehicle 400_14 is within the range 30_14 is 60%. That is, the probability of vehicle 400_14 being in the range 30_14 is 60%. The probability that vehicle 400_15 is within the range 30_15 is 80%. That is, the probability of vehicle 400_15 being in the range 30_15 is 80%. The probability that vehicle 400_16 is within the range 30_16 is 95%. That is, the probability of vehicle 400_16 being in the range 30_16 is 95%.

[0124] If there is a high probability that vehicle 400 is within the presence range 30, the processing unit 110 can accurately grasp the position and behavior of the vehicle 400 to be controlled. Therefore, if there is a high probability that vehicle 400 is within the presence range 30, the processing unit 110 can implement a control on the vehicle 400 that is more involved in the vehicle's movement.

[0125] For example, if the probability of vehicle 400_14 being present in the presence range 30_14 is 60%, the processing unit 110 can implement control measures for vehicle 400_14 that have a low degree of involvement in its driving. Examples of such low-degree control measures for vehicle 400 include warnings to the driver via the display 434 and speaker 435 shown in Figure 3.

[0126] For example, if the probability of vehicle 400_15 being present in the presence range 30_15 is 80%, the processing unit 110 can implement a moderate level of control over vehicle 400_15 to control its movement. Moderate level of control over vehicle 400 to movement includes, for example, deceleration or stopping of vehicle 400 via the vehicle 400's braking system 430 as shown in Figure 3.

[0127] If the probability of vehicle 400_16 being present in the presence range 30_16 is 95%, the processing unit 110 can implement control that has a high degree of involvement in the vehicle's driving. Control that has a high degree of involvement in the vehicle's driving includes, for example, steering control via the vehicle 400's steering system 432 as shown in Figure 3. The processing unit 110 may also control the turn signals 433 along with the steering control.

[0128] As shown in Figure 15, after the processing unit 110 has performed control according to the probability that a vehicle 400 is present within the presence range 30, the processing unit 110 terminates control of the vehicle 400 being controlled. If the processing unit 110 determines that control of the vehicle 400 to be controlled is not necessary (step S410: NO), the processing unit 110 terminates control of the vehicle 400 to be controlled.

[0129] The control device 100 may change the content of the control for the vehicle 400 to be controlled according to the distance L between the range of existence 30 of another moving object 600 that overlaps with the range of existence 30 of the vehicle 400 to be controlled and the center Cent of the range of existence 30 of the vehicle 400 to be controlled.

[0130] In this case, the processing unit 110 modifies the control content for the controlled vehicle 400 according to the distance L between the range 30 of other moving objects 600 and the center Cent of the range 30 of the controlled vehicle 400. An example of this modification will be explained with reference to Figures 3 and 17 to 20.

[0131] Figure 17 shows the flow of a series of processes related to the control of the vehicle 400 performed by the processing unit 110. The storage device 120 of the control unit 100 stores a control program that causes the processing unit 110 to execute this series of processes. The processing unit 110 repeatedly executes this series of processes in accordance with the control program stored in the storage device 120.

[0132] As shown in Figure 17, when this series of processes is started, the processing unit 110 calculates the range 30 of the controlled vehicle 400 in step S500, similar to the process in step S300 in the second embodiment. Subsequently, in step S510, the processing unit 110 determines whether or not control of the controlled vehicle 400 is necessary. The processing unit 110 determines that control of the controlled vehicle 400 is necessary (step S510: YES) for example, as shown in Figure 18, when the range 30_17 of the controlled vehicle 400_17 overlaps with the range 30_18 of another vehicle 400_18.

[0133] If the processing unit 110 determines that control of the vehicle 400 to be controlled is necessary (step S510: YES), the process proceeds to step S520. In step S520, the processing unit 110 controls the vehicle 400 to be controlled according to the distance L between the range of existence 30 of the other moving body 600 and the center Cent of the range of existence 30 of the vehicle 400 to be controlled.

[0134] The closer the controlled vehicle 400 is to the center Cent of the range 30 where it is located, the higher the probability that the controlled vehicle 400 is present. When the probability of the controlled vehicle 400 being present is high, the processing unit 110 can accurately grasp the position and behavior of the controlled vehicle 400. Therefore, the closer the controlled vehicle 400 is to the center Cent of the range 30 where it is located, the more control the controlled vehicle 400 can implement that involves a greater degree of the vehicle's movement.

[0135] Figure 18 shows the case where the distance L between the range 30_18 of other vehicles 400_18 and the center Cent of the range 30_17 of the controlled vehicle 400_17 is greater than the medium distance L_2 but within the long distance L_1. In this case, the processing unit 110 can perform control that involves a small degree of involvement in the driving of the controlled vehicle 400_18. Control that involves a small degree of involvement in the driving of vehicle 400 includes, for example, warnings to the driver via the display 434 or speaker 435 shown in Figure 3.

[0136] Figure 19 shows the case where the distance L between the range 30_18 of other vehicles 400_18 and the center Cent of the range 30_17 of the controlled vehicle 400_17 is greater than the short distance L_3 but within the medium distance L_2. In this case, the processing unit 110 can perform moderate control of the controlled vehicle 400_17 to the extent of its involvement in the vehicle's movement. Moderate control of the vehicle 400 to the extent of its involvement in the vehicle's movement includes, for example, deceleration and stopping of the vehicle 400 via the vehicle 400's braking system 430 shown in Figure 3.

[0137] Figure 20 shows the case where the distance L between the location range 30_18 of another vehicle 400_18 and the center Cent of the location range 30_17 of the vehicle to be controlled 400_17 is within a short distance L_3. In this case, the processing unit 110 can perform control that involves a large degree of the vehicle to be controlled 400_17 in its movement. Control that involves a large degree of the vehicle 400 in its movement includes, for example, steering control via the steering system 432 of the vehicle 400 shown in Figure 3.

[0138] If the processing unit 110 determines that control of the vehicle 400 to be controlled is not necessary (step S510: NO), the processing unit 110 terminates processing. After the processing unit 110 has performed control according to the distance L between the range 30 of other moving objects 600 and the center Cent of the range 30 of the controlled vehicle 400, the processing unit 110 terminates processing.

[0139] The closer the controlled vehicle 400 is to the center Cent of the range 30 in which it exists, the higher the probability that the controlled vehicle 400 is present. The processing unit 110 described above can perform control according to the accuracy of the estimation of the position and behavior of the controlled vehicle 400.

[0140] The control of the vehicle 400 performed by the processing unit 110 can be applied to various advanced safety technologies. These advanced safety technologies include, for example, PCS (Pre-crash safety), ACC (Adaptive Cruise Control), LKA (Lane Keeping Assist), and LCA (Lane Change Assist).

[0141] <Other examples of changes> Other elements that can be modified in common with each of the above embodiments are as follows. The following examples of modifications can be combined with each other to the extent that they do not contradict each other technically.

[0142] The processing unit 110 of the control device 100 does not necessarily have to display the range of existence 30 of the multiple mobile bodies 600 in the traffic digital twin 20 on the display device. That is, it may control multiple vehicles 400 in the real world based on the range of existence 30 of the multiple mobile bodies 600 via the communication device 130 without displaying anything on the display device. In that case, the processing unit 110 executes the processing of the series of processes described with reference to Figure 4, excluding the processing of S130.

[0143] <Note> The technical concepts that can be understood from the above embodiments and modified examples are described below. [Note 1] A control device comprising: an acquisition unit that acquires data indicating the positions of multiple moving objects existing in the real world; and a display control unit that causes a display device to display an existence range, which is the range in which each of the multiple moving objects is estimated to exist, in a space that reproduces the positions of the multiple moving objects and is constructed based on the data acquired by the acquisition unit.

[0144] [Note 2] The acquisition unit is the control device described in [Note 1] that acquires the data collected by a plurality of sensors. [Note 3] The acquisition unit is the control device described in [Note 1] or [Note 2], which acquires the data in association with time information.

[0145] [Note 4] A control device according to any one of [Note 1] to [Note 3], further comprising a calculation unit that calculates the existence range of the moving bodies based on the accuracy of the positions of the plurality of moving bodies indicated by the data, wherein the display control unit causes the existence range calculated by the calculation unit to be displayed on the display device.

[0146] [Note 5] The control device according to [Note 4], wherein the calculation unit calculates the existence range such that the probability of the moving object to be displayed being within the existence range is a predetermined value. [Note 6] The control device according to any one of [Note 1] to [Note 5], wherein, from the time the calculation unit calculates the existence range until the next calculation of the existence range is completed, the display control unit expands the size of the existence range as time has elapsed since the calculation and displays it on the display device.

[0147] [Note 7] The control device according to any one of [Note 1] to [Note 6], wherein the acquisition unit acquires at least data indicating the position of the moving body itself, collected by a sensor on the moving body.

[0148] [Note 8] The control device according to any one of [Note 1] to [Note 6], wherein the acquisition unit acquires at least data from the moving body indicating the positions of other moving bodies in the vicinity of the moving body, collected by sensors on the moving body.

[0149] [Note 9] A control device comprising: an acquisition unit that acquires data indicating the positions of multiple moving objects existing in the real world; a calculation unit that calculates an existence range, which is the range in which each moving object is estimated to exist, in a virtual space that reproduces the positions of the multiple moving objects and is constructed based on the data acquired by the acquisition unit; and a control unit that controls a vehicle existing in the real world based on the existence range calculated by the calculation unit.

[0150] [Note 10] The control device described in [Note 9], wherein the calculation unit calculates the range of existence of the moving body such that the probability of the moving body being within the range of existence is a predetermined value, and the control unit changes the content of the control when the range of existence of the vehicle to be controlled overlaps with the range of existence of another moving body.

[0151] [Note 11] The control device according to [Note 9] or [Note 10], wherein the control unit changes the content of the control for the vehicle to be controlled according to the extent of the range of the vehicle to be controlled.

[0152] [Note 12] The control unit, when the range of existence of the vehicle to be controlled overlaps with the range of existence of another moving object, changes the content of the control for the vehicle to be controlled according to the probability that the vehicle to be controlled is within the range of existence of the vehicle to be controlled in the virtual space, as described in any one of [Note 9] to [Note 11].

[0153] [Note 13] The control device according to any one of [Notes 9] to [Note 12], wherein, from the time the calculation unit calculates the existence range until the next calculation of the existence range is completed, the control unit expands the size of the existence range as time has passed since the calculation, and controls the vehicle based on the expanded existence range.

[0154] After the acquisition unit receives data indicating the position and behavior of a moving object, the object may still move in the real world between the time the acquisition unit receives the next piece of information and the time elapsed since the calculation unit was calculated. Therefore, the range of existence calculated by the calculation unit becomes less and less certain as time passes.

[0155] Therefore, the control unit expands the range of existence as time elapses since the calculation. This allows the control system to perform vehicle control that reflects the fact that the range of existence becomes uncertain as time passes since the calculation.

[0156] [Note 14] The control device according to any one of [Note 9] to [Note 13], wherein the acquisition unit acquires at least data indicating the position of the moving body itself, collected by sensors on the moving body, and the calculation unit calculates the vehicle's presence range from at least the data indicating the position of the moving body itself.

[0157] [Note 15] The control device according to any one of [Note 9] to [Note 13], wherein the acquisition unit acquires at least data from the moving body indicating the positions of other moving bodies in the vicinity of the moving body collected by sensors on the moving body, and the calculation unit calculates the presence range of the vehicle from at least the data indicating the positions of other moving bodies in the vicinity of the moving body.

[0158] The control unit described above can control vehicles while taking into account the range of vehicles, pedestrians, etc., that are not communicating with the traffic digital twin control unit. This allows the control system to control vehicles while taking into account the range of mobile entities that are not directly communicating with the traffic digital twin.

[0159] [Note 16] A control device according to any one of [Note 9] to [Note 15], wherein the calculation unit calculates the range of existence of the moving body such that the probability of the moving body being within the range of existence is a predetermined value, and the control unit controls the vehicle to be controlled when the range of existence of the vehicle to be controlled overlaps with the range of existence of another moving body.

[0160] [Note 17] A control device according to any one of [Note 9] to [Note 15], wherein the calculation unit calculates the range of existence of the moving body such that the probability of the moving body being within the range of existence is a predetermined value, and the control unit controls the vehicle to be controlled when the range of existence of the vehicle to be controlled comes into contact with the range of existence of another moving body.

[0161] If the range of the controlled vehicle is narrow, there is a possibility of contact between the vehicle and another moving object when their ranges overlap. Therefore, the control unit controls the controlled vehicle before its range overlaps with that of the other moving object. This allows the control unit to safely control the controlled vehicle.

[0162] [Note 18] A control device according to any one of [Notes 9] to [Note 15], wherein the calculation unit calculates the range of existence of the moving body such that the probability of the moving body being within the range of existence is a predetermined value, and the control unit controls the vehicle to be controlled when the distance between the outer periphery of the range of existence of the vehicle to be controlled and the outer periphery of the range of existence of other moving bodies becomes less than a predetermined distance.

[0163] When the range of the controlled vehicle is extremely narrow, contact between the vehicle and another moving object is possible when the range of the controlled vehicle and the range of another moving object come into contact. Therefore, the control unit controls the controlled vehicle before the range of the controlled vehicle and the range of another moving object come into contact. This allows the control device to control the controlled vehicle more safely.

[0164] [Note 19] A control device according to any one of [Note 9] to [Note 18], which modifies the content of the control for the vehicle to be controlled according to the extent of the range in which the vehicle to be controlled exists.

[0165] [Note 20] A control device according to any one of [Note 9] to [Note 18], which modifies the content of control for the vehicle to be controlled according to the probability that the vehicle to be controlled is within the range of existence of the vehicle to be controlled.

[0166] [Note 21] A control device according to any one of [Note 9] to [Note 18], which changes the control content for the vehicle to be controlled according to the distance between the presence range of the other moving body and the center of the presence range of the vehicle to be controlled.

[0167] [Note 22] The control device according to any one of [Note 9] to [Note 21], which performs control that increases the degree of involvement of the vehicle in driving the vehicle as the range of the vehicle to be controlled becomes narrower.

[0168] [Note 23] The control device according to any one of [Note 9] to [Note 21], wherein the control device performs a control that is more involved in the vehicle's movement if the probability of the vehicle being within the range of the vehicle being controlled is high.

[0169] [Note 24] The control device according to any one of [Note 9] to [Note 21], which performs control that increases the degree of involvement of the vehicle in driving the vehicle when the distance between the presence range of the other moving body and the center of the presence range of the vehicle to be controlled is small.

[0170] [Note 25] A control device according to any one of [Notes 22] to [Note 24] that provides a warning to the vehicle being controlled as a control with a small degree of involvement in the vehicle's movement. [Note 26] A control device according to any one of [Notes 22] to [Note 24] that decelerates the vehicle being controlled as a control device with a moderate degree of involvement in the vehicle's movement.

[0171] [Note 27] A control device according to any one of [Notes 22] to [Note 24] that stops the vehicle being controlled as a control device with a moderate degree of involvement in the vehicle's movement. [Note 28] A control device according to any one of [Notes 22] to [Note 24] that performs steering control of the controlled object as a control that has a large degree of involvement in the driving of the vehicle.

[0172] [Note 29] A control method comprising: an acquisition unit acquiring data indicating the positions of multiple moving objects existing in the real world; a calculation unit calculating an existence range, which is the range in which each moving object is estimated to exist in a virtual space that reproduces the positions of the multiple moving objects and is constructed based on the data acquired by the acquisition unit; and a control unit controlling a vehicle existing in the real world based on the existence range.

[0173] [Note 30] A control program that causes an acquisition unit to acquire data indicating the positions of multiple moving objects existing in the real world, causes a calculation unit to calculate an existence range, which is the range in which each moving object is estimated to exist in a virtual space that reproduces the positions of the multiple moving objects and is constructed based on the data acquired by the acquisition unit, and causes a control unit to control a vehicle existing in the real world based on the existence range.

[0174] [Note 31] A control device comprising: an acquisition unit that acquires data indicating the positions of multiple moving objects existing in the real world; a calculation unit that calculates an existence range, which is the range in which each moving object is estimated to exist in a space that reproduces the positions of the multiple moving objects and is constructed based on the data acquired by the acquisition unit; a display control unit that displays the existence range on a display device; and a control unit that controls a vehicle existing in the real world based on the existence range.

[0175] [Appendix 32] The control device according to [Appendix 31], wherein the display control unit causes the existence range to be displayed on the display device based on the contents described in any one of [Appendix 1] to [Appendix 8], and the control unit controls the vehicle based on the contents described in any one of [Appendix 9] to [Appendix 28].

[0176] [Note 33] A control method comprising: an acquisition unit acquiring data indicating the positions of multiple moving objects existing in the real world; a calculation unit calculating an existence range, which is the range in which each moving object is estimated to exist in a virtual space that reproduces the positions of the multiple moving objects and is constructed based on the data acquired by the acquisition unit; a display control unit causing the existence range to be displayed on a display device; and a control unit controlling a vehicle existing in the real world based on the existence range.

[0177] [Note 34] A control program that causes an acquisition unit to acquire data indicating the positions of multiple moving objects existing in the real world, causes a calculation unit to calculate an existence range, which is the range in which each moving object is estimated to exist in a virtual space that reproduces the positions of the multiple moving objects and is constructed based on the data acquired by the acquisition unit, causes a display control unit to display the existence range on a display device, and causes a control unit to control a vehicle existing in the real world based on the existence range. [Explanation of Symbols]

[0178] 10…Transportation Digital Twin System 20…Transportation Digital Twin 30... Scope of existence 100...Control device 101…Acquisition Department 102...Calculation section 103...Display Control Unit 104... Control Unit 110… Processing equipment 120...Storage device 130...Communication device 200…Display 300…External communication network 400...vehicles 410... In-vehicle communication device 420... Vehicle sensors 421... Vehicle speed sensor 422... Accelerator sensor 423...Brake sensor 424...Accelerometer 425... Sonar 426...Location information acquisition system 427... Steering sensor 428...Exterior car camera 430... Brake system 432…Steering System 433... Turn signal 434…Display 435...Speaker 440…In-vehicle network 520…Pedestrians 700... Information terminal 600... Mobile 800... Roadside sensors 810...Street camera 820... Traffic light

Claims

1. An acquisition unit that acquires data indicating the positions of multiple moving objects existing in the real world, A display control unit causes a display device to display the presence range, which is the range in which each of the multiple moving objects is estimated to exist, in a virtual space that reproduces the positions of the multiple moving objects, which is constructed based on the data acquired by the acquisition unit. A calculation unit that calculates the range of existence of the moving bodies based on the accuracy of the positions of the plurality of moving bodies indicated by the data, Equipped with, From the time the calculation unit calculates the existence range until the next calculation of the existence range is completed, the display control unit expands the size of the existence range as time has passed since the calculation and displays it on the display device. Control device.

2. The acquisition unit acquires the data collected by the multiple sensors. The control device according to claim 1.

3. The acquisition unit acquires the data in association with time information. The control device according to claim 1.

4. The calculation unit calculates the existence range such that the probability of the moving object to be displayed being within the existence range is a predetermined value. The control device according to claim 1.

5. The acquisition unit acquires at least data from the moving body indicating the position of the moving body itself, collected by sensors on the moving body. The control device according to claim 1.

6. The acquisition unit acquires from the moving body at least data indicating the positions of other moving bodies in the vicinity of the moving body, collected by sensors on the moving body. The control device according to claim 1.

7. The acquisition unit acquires data indicating the positions of multiple moving objects existing in the real world, The display control unit causes the display device to display the presence range, which is the range in which each of the multiple moving objects is estimated to exist, in a virtual space that reproduces the positions of the multiple moving objects, which is constructed based on the data acquired by the acquisition unit. The calculation unit performs the steps of calculating the range of existence of the moving bodies based on the accuracy of the positions of the plurality of moving bodies indicated by the data, Includes, In the step of displaying the existence range on the display device, the display control unit expands the size of the existence range on the display device as time elapses since the calculation, from the time the calculation unit calculates the existence range until the next calculation of the existence range is completed. Control method.

8. The acquisition unit is instructed to acquire data indicating the positions of multiple moving objects that exist in the real world. Based on the data acquired by the acquisition unit, the display control unit is instructed to display on the display device the existence range, which is the range in which each of the multiple moving objects is estimated to exist, in a virtual space that reproduces the positions of the multiple moving objects. Based on the accuracy of the positions of the multiple moving bodies indicated by the aforementioned data, the calculation unit is instructed to calculate the range of existence of the moving bodies. When displaying the aforementioned existence range on the display device, the display control unit is instructed to expand the size of the existence range on the display device as time elapses since the calculation, from the time the calculation unit calculates the existence range until the next calculation of the existence range is completed. Control program.

9. The system further includes a control unit that controls vehicles existing in the real world based on the existence range calculated by the calculation unit. The control device according to claim 1.

10. The calculation unit calculates the range of existence of the moving object so that the probability of the moving object being within the range of existence is a predetermined value. The control unit controls the vehicle to be controlled when the range of the vehicle to be controlled overlaps with the range of another moving object. The control device according to claim 9.

11. The control unit changes the content of the control applied to the controlled vehicle according to the extent of the range in which the controlled vehicle exists. The control device according to claim 10.

12. When the range of the controlled vehicle overlaps with the range of another moving object, the control unit changes the content of the control for the controlled vehicle according to the probability that the controlled vehicle is within the range of the controlled vehicle in the virtual space. The control device according to claim 9.

13. The control unit changes the content of the control for the controlled vehicle according to the distance between the range of existence of the other moving object that overlaps with the range of existence of the controlled vehicle and the center of the range of existence of the controlled vehicle. The control device according to claim 9.

14. The control unit performs control that increases the degree of involvement in the vehicle's movement as the range of the controlled vehicle narrows. The control device according to claim 9.

15. The control unit performs a control that increases the degree of involvement in the vehicle's movement as the probability of the controlled vehicle being within the controlled vehicle's range increases. The control device according to claim 9.

16. The closer the distance between the range of existence of the other moving object and the center of the range of existence of the vehicle to be controlled, the greater the degree of involvement of the vehicle in the vehicle's movement that the control system will perform. The control device according to claim 9.

17. As a control measure that involves a small degree of involvement in the vehicle's operation, a warning is issued to the vehicle being controlled. The control device according to any one of claims 14 to 16.

18. As a control measure with a moderate degree of involvement in the vehicle's movement, the controlled vehicle is decelerated. The control device according to any one of claims 14 to 16.

19. As a control measure with a moderate degree of involvement in the vehicle's movement, the controlled vehicle is brought to a stop. The control device according to any one of claims 14 to 16.

20. As a control method that has a high degree of involvement in the vehicle's movement, steering control of the vehicle being controlled is performed. The control device according to any one of claims 14 to 16.

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