Information processing device and control device

Abstract

To provide an information processing device a control device for assisting in driving of a target vehicle by transferring information on moving objects around the target vehicle to the target vehicle.SOLUTION: An information processing device comprises: an environment detection device; a data generation unit; and a communication device. The environment detection device detects a moving object present in a predetermined range on a road. The data generation unit generates moving object data related to the moving object on the basis of environmental information generated by the environment detection device. The communication device transmits the moving object data to a target vehicle present on the road by wireless communication.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an information processing device and a control device capable of wireless communication with a target vehicle.

Background Art

[0002] Conventionally, there is known a technique for acquiring moving object information such as the relative distance, relative vehicle speed, and relative position between a moving object moving around a vehicle and the vehicle using sensors provided in front, rear, and sides of the vehicle (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] As disclosed in Patent Document 1, a blind spot area that is not detected by both sensors is formed between the rear sensor and the side sensor. Therefore, when a moving object enters the blind spot area, it is difficult to detect the moving object, and there is a risk of being involved when the vehicle turns right or left, makes a width adjustment during a right or left turn, changes lanes, etc. In addition, when the detection range of the rear sensor is not sufficient, it is not possible to sufficiently detect a moving object approaching from the rear when the vehicle turns right or left, makes a width adjustment during a right or left turn, changes lanes, etc., and there is a risk of being involved with the moving object.

[0005] In view of the above circumstances, an object of the present invention is to provide an information processing device and a control device that assist the driving of a target vehicle by transmitting information on a moving object around the target vehicle to the target vehicle.

Means for Solving the Problems

[0006] An information processing device according to one embodiment of the present invention comprises an environment detection device, a data generation unit, and a communication device. The above-mentioned environmental detection device detects moving objects present within a predetermined range on the road. The data generation unit generates mobile body data related to the mobile body based on the environmental information generated by the environmental detection device. The above communication device transmits the above mobile data to the target vehicle located on the above road via wireless communication.

[0007] This allows information about moving objects around the vehicle to be transmitted to the vehicle, thereby assisting the vehicle's operation.

[0008] The above-mentioned information processing device may be installed at a predetermined location on the above-mentioned road. In that case, the data generation unit generates the position and speed of the moving body relative to the predetermined position based on the environmental information.

[0009] The data generation unit may further generate data relating to the predicted time until the moving object reaches the predetermined position, based on the position and speed of the moving object.

[0010] The above roads may include intersections. In that case, the designated location is the roadside of the intersection into which the vehicle in question enters.

[0011] The designated location mentioned above may be a bus stop.

[0012] The above-mentioned display device may have a first display unit provided on the rear of the target vehicle that displays information about the first object facing the rear of the target vehicle.

[0013] The system may further include an acquisition unit for acquiring vehicle information of the above-mentioned target vehicle. In that case, the data generation unit generates the mobile data based on the vehicle information and environmental information acquired by the acquisition unit, and transmits the mobile data to the communication device.

[0014] The system may further include a determination unit that determines whether or not there is a possibility of a collision between the target vehicle and the moving object based on the moving object data generated by the data generation unit.

[0015] The above vehicle information may include the location and speed information of the target vehicle, and the above environmental information may include the location and speed information of the moving object.

[0016] The above vehicle information may further include the route information of the above-mentioned vehicle.

[0017] The above roads may include intersections. In that case, the predetermined range is the area around the road leading to the intersection into which the target vehicle enters, and the determination unit determines whether or not there is a possibility of the target vehicle coming into contact with the moving object when it changes lanes at the intersection.

[0018] The vehicles mentioned above may also be buses.

[0019] The above-mentioned predetermined range is a bus stop, and the determination unit may determine whether there is a possibility of collision with the moving object when the target vehicle stops at the bus stop or departs from the bus stop.

[0020] The moving object mentioned above may be a vehicle or a person.

[0021] A control device according to one embodiment of the present invention comprises a data generation unit and a communication device. The data generation unit generates mobile object data related to the mobile object based on environmental information generated by an environmental detection device that detects mobile objects within a predetermined range on the road. The above communication device transmits the above mobile data to the target vehicle located on the above road via wireless communication. [Effects of the Invention]

[0022] According to the present invention, by transmitting information on moving objects around a target vehicle to the target vehicle, the driving of the target vehicle can be supported.

Brief Description of the Drawings

[0023] [Figure 1] It is a diagram showing the configuration of an information processing apparatus according to a first embodiment of the present invention. [Figure 2] It is a diagram in which an information processing apparatus is installed on a road. [Figure 3] It is a diagram showing the detection range of an information processing apparatus. [Figure 4] It is a diagram in which a bicycle has entered a blind spot area of a bus. [Figure 5] It is a diagram in which a bicycle exists behind the detection range of a bus. [Figure 6] It is a diagram showing the operation flow of an information processing apparatus. [Figure 7] It is a diagram showing the operation flow of an on-vehicle device of a bus. [Figure 8] It is a diagram showing the configuration of an information processing apparatus according to Application Example 1. [Figure 9] It is a diagram showing the operation flow of an information processing apparatus according to Application Example 1. [Figure 10] It is a diagram showing the operation flow of an on-vehicle device of a bus according to Application Example 1. [Figure 11] It is a diagram in which an information processing apparatus according to Application Example 2 is installed on a road.

Modes for Carrying Out the Invention

[0024] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0025] <First Embodiment> 1. Configuration of Information Processing Apparatus <000013​​Figure 1 shows the configuration of the information processing device 1 according to the first embodiment of the present invention. Figure 2 shows the information processing device 1 installed on road D. Figure 3 shows a predetermined range (detection range) R of the information processing device 1. Hereafter, the X-axis and Y-axis directions shown in the figures are orthogonal to each other.

[0027] The information processing device 1 includes a control device 10 and an environment detection device 11 that is connected to the control device 10 via wired or wireless communication. The control device 10 includes a control circuit 100 and a communication device 12. The control device 10 can communicate with the on-board unit 200 of the target vehicle, the bus 20, using the communication device 12.

[0028] The information processing device 1 is installed on the roadside of intersection C. More specifically, the information processing device 1 is installed on the roadside of the road that the bus 20 passes through when entering intersection C (the road on the negative Y-axis side relative to intersection C), on a support column H installed 10m before intersection C (see Figures 2 and 3).

[0029] As shown in Figure 3, the environmental detection device 11 detects moving objects (people, cars, bicycles, etc.) within a predetermined range R on the road D and generates environmental information. The environmental detection device 11 periodically (for example, every 0.1 seconds) generates environmental information and continues to transmit it to the data generation unit 101 (described later). The environmental information includes coordinate information (position and speed) and size information of moving objects present in the environment. The size information may simply be the size (width, length, height), or it may include the type of object, such as a pedestrian, bicycle, or vehicle.

[0030] Here, Road D includes the lane on which Bus 20 travels, the opposing lane for Bus 20, the bicycle lane, the shoulder, the sidewalk, etc. The specified range R is, for example, Road D from a point 10m before intersection C to a range of approximately 50m to 100m, but is not limited to this and may be a wider range.

[0031] Coordinate information refers to information detected based on the location where the information processing device 1 is installed (in this embodiment, the location of the support pillar H 10m before intersection C). In other words, the coordinate position of the moving object, the bicycle 30, is its position relative to the information processing device 1, and not only the Y-axis position from the information processing device 1 to the moving object 30, but also the X-axis position is detected. Furthermore, the speed of the moving object 30 is its speed relative to the information processing device 1.

[0032] The environmental detection device 11 may be an image detection device such as a camera, a distance measuring and detection device such as a millimeter-wave detection device, or a LiDAR (Light Detection and Ranging) that combines an image detection device and a distance measuring and detection device.

[0033] The control circuit 100 is connected to the environmental detection device 11 in a communicative manner. Based on the detection information generated by the environmental detection device 11, the control circuit 100 generates data related to the moving object. The control circuit 100 operates as a data generation unit 101 and a communication control unit 102 by loading an information processing program stored in a storage device such as ROM into RAM and executing it (not shown) (the operation of each unit will be described later by referring to the operation flow).

[0034] The communication device 12 can communicate with the on-board unit 200 on the bus 20 via short-range wireless communication (e.g., Wi-Fi®) or long-range wireless communication (e.g., LTE (Long Term Evolution)). The communication device 12 is controlled by the control circuit 100 and transmits data about the mobile object generated by the control circuit 100 to the on-board unit 200 on the bus 20 when requested by the bus 20. The communication device 12 may also continue to periodically (e.g., every 0.1 seconds) transmit data about the mobile object generated by the control circuit 100 to the vicinity of the predetermined range R, regardless of whether the bus 20 is within the predetermined range R or not.

[0035] The bus 20 has an on-board unit 200 which includes a communication device 21, a state determination unit 22, and a control command unit 23. The communication device 21 transmits the requested signal information regarding the aforementioned mobile object via wireless communication (e.g., LTE or Wi-Fi®) and receives data regarding the mobile object from the information processing device 10.

[0036] The state determination unit 22 is located inside the bus 20 and determines whether or not there is a possibility of a collision between the bus 20 and the moving object based on data from the bus 20's own sensors and the moving object.

[0037] The control command unit 23 generates and transmits commands to the drive unit (not shown) such as slow down, stop, or continue driving, based on the determination result of the state determination unit 22.

[0038] Figure 4 shows a bicycle 30 that has entered the blind spot area W of the bus 20, and Figure 5 shows a bicycle 30 that is located behind the rear sensor S3 of the bus 20.

[0039] Here, we will explain the sensors provided on the bus 20 itself in the conventional technology and their problems. The bus 20 is equipped with a forward sensor S1 that senses the area in front, a side sensor S2 that senses the area to the side, and a rear sensor S3 that senses the area behind. However, as shown in Figure 4, there is a blind spot W between the side sensor S2 and the rear sensor S3 in which an object cannot be detected even if it enters. If a bicycle 30 enters this blind spot W, it cannot be detected by the side sensor S2 or the rear sensor S3, and if the bus 20 turns left at intersection C and moves close to the bicycle lane, there is a risk of hitting the bicycle 30.

[0040] Furthermore, depending on the bus 20, a rear sensor S3 (e.g., LiDAR (Light Detection and Ranging)) with a detection range of approximately 30m behind the bus 20 may be used. In this case, for example, suppose a bicycle 30 is approaching from 35m behind the bus 20 at a speed of 20km / h and is traveling in a bicycle lane, and the bus 20 enters the bicycle lane to make a left turn at intersection C. At this time, the time it takes for the bus 20 to detect the bicycle 30 and stop is 7.6 seconds (according to the inventors). On the other hand, the distance the bicycle 30 travels in the time it takes for the bus 20 to stop is approximately 42m. In other words, even if the bus 20 stops after the rear sensor S3 detects the bicycle 30, there is still a risk of collision with the bicycle 30 (see Figure 5).

[0041] However, according to this embodiment, the environmental detection device 11 detects moving objects (people, cars, bicycles 30, etc.) around the road D on which the bus 20 is located relative to the target vehicle, the bus 20. The data generation unit 101 generates moving object data based on the environmental information generated by the environmental detection device 11 and transmits it to the bus 20 via the communication device 12. As a result, even if the detection range and detection distance of the bus 20's sensors alone are insufficient, the information processing device 1 can support the operation of the bus 20 by transmitting moving object data to the bus 20, thereby suppressing the possibility of collision or entanglement with the bicycle 30. The operation flow of the information processing device 1 and the operation flow of the bus's onboard equipment in this embodiment will be described below.

[0042] 2. Operation Flow of the Information Processing Device

[0043] Figure 6 shows the operation flow of the information processing device.

[0044] As a prerequisite, the environmental detection device 11 generates environmental information periodically (for example, every 0.1 seconds), and the data generation unit 101 continuously receives the environmental information.

[0045] The environmental detection device 11 detects moving objects within a predetermined range R on the road D (step S101).

[0046] The data generation unit 101 generates mobile object data, which is data about moving objects, based on the environmental information generated by the environmental detection device 11 (step S102). The mobile object data includes, for example, the position and speed of the moving object relative to the location where the information processing device 1 is installed, the estimated time it takes for the moving object to reach the location where the information processing device 1 is installed, the stopping time while the moving object is stationary, the type of moving object present on the road D (person, car, bicycle, etc.), and which lane (or bicycle lane, shoulder, etc.) the moving object is in.

[0047] The communication control unit 102 determines whether it has received signal information from the communication unit 12 requesting the transmission of mobile data from the in-vehicle unit 200 (step S103). If it has received the above signal information (step S103, YES), it controls the communication device 12 to transmit the mobile data to the in-vehicle unit 200 on the bus 20 (step S104). If the communication control unit 102 has not received a signal from the communication unit 12 requesting the transmission of mobile data from the in-vehicle unit 200 (step S103, NO), it controls the communication device 12 not to transmit the mobile data to the in-vehicle unit 200 on the bus 20.

[0048] 3. Operation flow of the bus's onboard equipment

[0049] Figure 7 shows the operation flow of the in-vehicle equipment on the bus.

[0050] First, the state determination unit 22 detects whether the bus 20 has activated its left turn signal when turning left at an intersection (step S201). If it determines that the left turn signal has been activated (step S201, YES), the state determination unit 22 generates signal information requesting mobile object data from the information processing device 1, and the communication device 21 transmits the signal information to the information processing device 1 based on the signal information (step S202). The state determination unit 22 then determines whether it has received mobile object data from the information processing device 1 (step S203), and if it has received mobile object data (step S203, YES), it determines whether there is a possibility of collision with a mobile object when the bus 20 moves to the left side, based on the mobile object data and the sensing results of the bus 20 itself (step S204).

[0051] If it is determined that there is a possibility of collision with the moving object (step S204, YES), the bus 20 slows down or comes to a complete stop (step S205). If it is determined that there is no possibility of collision with the moving object (step S204, NO), the bus moves to the left (step S208). At this point, the bus 20 slows down or comes to a complete stop (step S205) and determines whether the moving object has passed the bus 20 (step S206). If the moving object has passed the bus 20 (step S206, YES), the bus moves to the left (step S208). On the other hand, if the moving object has not passed (step S206, NO), it determines whether the moving object has not moved for a certain period of time (for example, 5 seconds) (step S207). If it is determined that the moving object has been stopped for a certain period of time (step 207, YES), the bus assumes that the moving object has stopped to give priority to the bus 20's movement and moves to the left (step S208).

[0052] This allows bus 20 to acquire information about moving objects when it moves to the left side of road D when turning left at intersection C, thereby reducing the possibility of collision with moving objects during the move.

[0053] In this embodiment, the bus 20 was moving closer to a bicycle lane, but of course, it is not limited to this, and can also be applied when moving closer to the roadside, when changing lanes to the left or right, or when moving closer to the roadside or bicycle lane when stopping at a bus stop.

[0054] In this embodiment, the condition for bus 20 to transmit signal information is set to when it signals left, but of course, it is not limited to this. Bus 20 may transmit signal information 30 meters before an intersection where it will turn left or right, or a separate transmission means may be provided.

[0055] In this embodiment, the bus 20 may always receive mobile data from the information processing device 1 when the left turn signal is activated. This allows for the continuous reception of mobile data such as the stopping time of the mobile object.

[0056] In this embodiment, the coordinate information among the moving object data is information based on the information processing device 1, but of course, it is not limited to this, and may also be coordinate information based on the target vehicle, the bus 20.

[0057] 4. Application Example 1

[0058] Figure 8 shows the configuration of the information processing device 1A according to Application Example 1 of the present invention. Descriptions of configurations similar to those in the above embodiments may be omitted or simplified. The difference from the above embodiments is that in Application Example 1, the information processing device 1A has a vehicle detection device 13 (described later) as an acquisition unit for acquiring vehicle information, and the control circuit 100A has a determination unit 104 (described later).

[0059] The information processing device 1A includes an environment detection device 11, a vehicle detection device 13, and a control device 10A. The control device 10A includes a control circuit 100A and a communication device 12. The control circuit 100A includes a data generation unit 101, a communication control unit 102, a vehicle determination unit 103, and a determination unit 104.

[0060] The information processing device 1A is installed on the roadside of road D, similar to the embodiment described above.

[0061] The vehicle detection device 13 detects target vehicles such as buses 20 that are stopped on road D and generates vehicle detection information. The vehicle detection information includes the vehicle's coordinate information (position and speed) and size information. The size information may simply be the size (width, length, height), or it may include vehicle type such as large vehicle, passenger car, or motorcycle.

[0062] The vehicle detection device 13 periodically (for example, every 0.1 seconds) generates vehicle detection information and transmits it to the control circuit 100A. The vehicle detection device 13 is, for example, an optical vehicle sensor (a so-called optical beacon) that detects vehicles by emitting near-infrared light. Alternatively, the vehicle detection device 13 may be an image detection device such as a camera, a distance measurement detection device such as a millimeter-wave detection device, or a LiDAR (Light Detection and Ranging) that combines an image detection device and a distance measurement detection device. Alternatively, the vehicle detection device 13 may detect vehicles by receiving GPS information transmitted from a vehicle such as a bus 20 via a base station (not shown).

[0063] The vehicle determination unit 103 receives vehicle detection information from the vehicle detection device 13. Based on the size information (indicating size or vehicle type) included in the vehicle detection information, the vehicle determination unit 103 determines whether the vehicle on road D is a bus 20.

[0064] The control circuit 100A is connected to the vehicle detection device 13 and the aforementioned environmental detection device 11 in a communicative manner. The data generation unit 101 generates data (mobile object data) related to the bus 20 and the moving object based on the vehicle information generated by the vehicle detection device 13 and the environmental information generated by the environmental detection device 11.

[0065] Vehicle information includes the position of the bus 20 relative to the installation location of the information processing device 1, its speed, and the route information of the bus 20. Here, route information refers to information such as whether the bus 20 will go straight on road D, change lanes, or turn right or left at intersection C. This information may be detected, for example, from the bus 20's turn signals using a camera, or it may be obtained based on the type of bus 20 and the route information of the bus 20 recorded in memory (not shown).

[0066] The moving object data includes the relative position and relative speed of the moving object as seen from the bus 20, the estimated time it will take for the moving object to reach the location where the information processing device 1A is installed, the stopping time while the moving object is stationary, the type of moving object present on the road D (person, car, bicycle, etc.), which lane (or bicycle lane, shoulder, etc.) the moving object is in, and the aforementioned route information of the bus 20.

[0067] The determination unit 104 determines whether there is a possibility of a collision between the bus 20 and the moving object based on the moving object data generated by the data generation unit 101, and transmits the determination result to the in-vehicle unit 200 via the communication device 12.

[0068] Whether or not there is a possibility of collision between bus 20 and a moving object is determined by considering various factors, such as the object's position, speed, stopping time, and bus 20's route information, as well as road conditions (whether the road surface is frozen, etc.) and weather conditions (whether it is raining or snowing, etc.).

[0069] 5. Operation Flow of Information Processing Device

[0070] Figure 9 shows the operation flow of the information processing device 1A in Application Example 1.

[0071] As a prerequisite, the vehicle detection device 13 continuously generates and transmits vehicle detection information periodically (for example, every 0.1 seconds), and the vehicle determination unit 103 continuously receives vehicle detection information. The environment detection device 11 continuously generates and transmits environment information periodically (for example, every 0.1 seconds), and the data generation unit 101 continuously receives vehicle information and environment information.

[0072] The vehicle determination unit 103 receives vehicle detection information from the vehicle detection device 13. Based on the size information (indicating size or vehicle type) included in the vehicle detection information, the vehicle determination unit 103 determines whether the vehicle on road D is a bus 20 (step S101A).

[0073] If the vehicle determination unit 103 determines that the vehicle on road D is the bus 20 (step S101A, YES), the data generation unit 101 generates moving object data based on the vehicle detection information received from the vehicle detection device 13 and the environmental information received from the environmental detection device 11, including the presence or absence of a moving object, and if a moving object exists, its type (person, car, bicycle, etc.), its relative position to the bus 20, its relative speed, and the bus 20's path information (step S102A).

[0074] The determination unit 104 generates collision possibility information regarding whether or not there is a possibility of collision between the bus 20 and the moving object, based on the moving object data generated by the data generation unit 101 (step S103A).

[0075] The communication control unit 102 determines whether it has received a signal from the bus 20 requesting collision possibility information (step S104A). If it determines that it has received a signal from the bus 20 (step S104A, YES), it controls the communication device 12 to transmit collision possibility information to the bus 20 (step S105A). Step S104A may also be omitted. In other words, the communication control unit 102 may control the communication device 12 to transmit collision possibility information to the bus 20 whenever it detects the bus 20.

[0076] 6. Operation flow of the bus's onboard equipment

[0077] Figure 10 shows the operation flow of the in-vehicle device in the bus in Application Example 1.

[0078] When the state determination unit 22 detects that the bus 20 has activated its left turn signal as it turns left at intersection C (step S201A, YES), the state determination unit 22 generates signal information requesting collision possibility information from the information processing device 1, and the communication device 21 transmits the signal information to the information processing device 1 based on the signal information (step S202A). The state determination unit 22 determines whether it has received collision possibility information (step S203A). When the state determination unit 22 determines that it has received collision possibility information (step S203A, YES), the state determination unit 22 determines whether there is a possibility of collision based on the collision possibility information and the sensing results of the bus 20 itself (step S204A). If there is a possibility of collision (step S204A, YES), the bus slows down or stops (step S205), and if there is no possibility of collision (step S204A, NO), the bus moves to the left (step S207A). Here, bus 20 slows down or comes to a complete stop (step S205A) and determines whether the moving object has passed the bus (step S206A). If the moving object has passed bus 20 (step S206A, YES), it moves to the left (step S208A). On the other hand, if the moving object has not passed (step S206A, NO), it determines from the collision possibility information whether the moving object has not moved for a certain period of time (step S207A). If it is determined that the moving object has been stopped for a certain period of time (step 207A, YES), it is assumed that the moving object has stopped to give priority to the movement of bus 20, and it moves to the left (step S208A).

[0079] This allows bus 20 to acquire information regarding the possibility of collision with a moving object when swerving to the left side of the road when turning left at an intersection, thereby reducing the possibility of collision with a moving object when swerving.

[0080] Application Example 1 involved bus 20 moving closer to a bicycle lane, but of course, it is not limited to this. It can also be applied when moving closer to the shoulder, when changing lanes to the left or right, or when moving closer to the shoulder or bicycle lane when stopping at a bus stop.

[0081] In Application Example 1, the vehicle detection device 13 detected the position, speed, and path information of the bus 20, but the system is not limited to this; this information may also be obtained from the bus 20.

[0082] In this embodiment, the condition for bus 20 to transmit signal information is set to when it signals left, but of course, it is not limited to this. Bus 20 may transmit signal information 30 meters before an intersection where it will turn left or right, or a separate transmission means may be provided.

[0083] In this embodiment, the bus 20 may always receive collision possibility information from the information processing device 1 when the left turn signal is activated. This allows collision possibility information to be received continuously.

[0084] In this embodiment, collision possibility information was either present or absent, but collision possibility information may also be ranked. For example, if a moving object enters the blind spot W of the bus 20, the risk level may be considered high, and when moving towards a bicycle lane, if a bicycle is traveling in the bicycle lane 100m behind the bus 20 at a speed of 5 kilometers per hour, the risk level may be considered low. If the risk level is low, the bus may proceed to move towards the bicycle lane.

[0085] In this embodiment, the bus 20 determined the passage of the moving object, but of course, it is not limited to this, and the determination unit 104 may include the information about the passage of the moving object in the collision possibility information and transmit that information to the bus 20.

[0086] 7. Application Example 2

[0087] Figure 11 shows the information processing device 1B according to Application Example 2 of the present invention installed on road D. Note that the explanation of configurations and flows similar to those in the above embodiment may be simplified or omitted. The difference between the first embodiment and Application Example 1 is that Application Example 2 concerns the starting of the bus 20, and the configuration of the information processing device 1B is the same as in Figure 1.

[0088] The information processing device 1B will be installed on the roadside of road D. More specifically, the information processing device 1B will be installed at bus stop 40 where bus 20 is expected to stop frequently.

[0089] The environmental detection device 11 detects moving objects (people, cars 50, bicycles, etc.) present in a predetermined range R (for example, 100 m behind the bus stop 40) around a bus 20 stopped at, for example, a bus stop 40 on a road D, and generates environmental information. The environmental detection device 11 periodically (for example, every 0.1 seconds) generates environmental information and continues to transmit it to the data generation unit 101. The environmental information includes coordinate information (position and speed of movement) and size information of moving objects present in the environment. The size information may simply be the size (width, length, height), or it may include the type of object, such as a pedestrian, bicycle, or vehicle.

[0090] The data generation unit 101 generates mobile object data, which is data about moving objects, based on the environmental information generated by the environmental detection device 11. The mobile object data includes, for example, the estimated time it takes for a moving object to reach the location where the information processing device 1 is installed, the stopping time while the moving object is stationary, the type of moving object present on the road D (person, car 50, bicycle, etc.), and which lane (or bicycle lane or shoulder, etc.) the moving object is in.

[0091] 8. Operation flow of the information processing device in Application Example 2

[0092] The operation flow of the information processing device 1B in Application Example 2 is the same as the operation flow of the information processing device 1 in the first embodiment, so a description will be omitted.

[0093] 9. Operation flow of the bus's onboard equipment

[0094] The difference between the operation flow of the in-vehicle device of the bus 20 shown in Figure 7 in the first embodiment and this application example 2 is that in step S201, the state determination unit 22 detects that the left turn signal has been activated in the first embodiment, whereas in this application example 2, the state determination unit 22 detects that the right turn signal has been activated when starting the vehicle.

[0095] Furthermore, in step S204, in the first embodiment, the state determination unit 22 determines whether there is a possibility of collision with the moving object when the bus 20 moves to the left based on the moving object data, whereas in this application example 2, it differs in that it determines whether there is a possibility of collision with the moving object when the bus 20 starts moving forward to the right based on the moving object data and the sensing results of the bus 20 itself.

[0096] Furthermore, in step S208, the vehicle moves to the left in the first embodiment, but in this application example 2, it starts moving forward to the right, which is a difference.

[0097] This allows bus 20 to acquire information about the moving object when it departs from bus stop 40, thereby reducing the possibility of collision with the moving object at the time of departure.

[0098] In this application example 2, the bus 20 determined the possibility of a collision, but of course, this is not the only option. As shown in application example 1, the information processing device 1B may generate collision possibility information and transmit it to the bus 20.

[0099] In this embodiment, the bus 20 was departing from a bus stop 40, but of course, it is not limited to this and can also be applied to cases where the bus is departing from a parked or temporarily stopped position.

[0100] In this embodiment, only one environmental detection device 11 was used to detect the environment around the bus 20, but this is not limited to this, and multiple environmental detection devices 11 may be used. This allows for a more accurate understanding of the environment around the bus 20.

[0101] In the above explanation, bus 20 may be an autonomous bus. By accumulating data on the behavior of moving objects (people, cars, bicycles, etc.), an autonomous bus can, for example, predict the movement of bicycle 30 when bus 20 moves to a bicycle lane and decide whether or not to move to it.

[0102] Although various embodiments and modifications of this technology have been described above, this technology is not limited to the embodiments described above, and various modifications can be made without departing from the gist of this technology. [Explanation of symbols]

[0103] 1…Information Processing Device 10...Control device 11…Environmental detection device 12…Communication devices 13…Vehicle detection device 20... Bus 21...Communication equipment 22... State determination unit 23...Control Command Unit 100...control circuit 101...Data generation unit 102...Communication Control Unit 103... Vehicle Judgment Unit 104…Judgment department 200...Onboard equipment

Claims

1. An environmental detection device that detects moving objects within a predetermined area, such as a bus stop on a road, A data generation unit generates mobile body data relating to the mobile body based on the environmental information generated by the environmental detection device, A communication device that transmits the mobile data to a target vehicle, which is a bus, located on the road via wireless communication, An acquisition unit that acquires vehicle information of the aforementioned target vehicle, A determination unit determines whether or not there is a possibility of collision between the target vehicle and the moving object based on the moving object data generated by the data generation unit. Furthermore, it is equipped with, The data generation unit generates the mobile data based on the vehicle information and environmental information acquired by the acquisition unit, and transmits the mobile data to the communication device. The determination unit determines whether or not there is a possibility of the target vehicle colliding with the moving object when it stops at the bus stop or departs from the bus stop. Information processing device.

2. An information processing apparatus according to claim 1, The information processing device is installed at a predetermined location on the road, The data generation unit generates the position and speed of the moving body relative to the predetermined position based on the environmental information. Information processing device.

3. An information processing apparatus according to claim 2, The data generation unit further generates data relating to the predicted time until the moving body reaches the predetermined position, based on the position and speed of the moving body. Information processing device.

4. An information processing apparatus according to claim 3, The aforementioned road includes an intersection, The predetermined location is the roadside of the intersection into which the target vehicle enters. Information processing device.

5. An information processing apparatus according to claim 3, The aforementioned designated location is a bus stop. Information processing device.

6. An information processing apparatus according to claim 1, The vehicle information includes the location and speed information of the target vehicle, The environmental information includes the position and speed information of the moving object. Information processing device.

7. An information processing apparatus according to claim 1, The aforementioned vehicle information further includes the route information of the aforementioned target vehicle. Information processing device.

8. An information processing apparatus according to claim 1, The aforementioned road includes an intersection, The predetermined area is the area around the road leading to the intersection into which the target vehicle enters. The determination unit determines whether or not there is a possibility of the target vehicle colliding with the moving object when changing lanes at the intersection. Information processing device.

9. An information processing apparatus according to claim 1, The moving object is a vehicle or a person. Information processing device.

10. A data generation unit generates mobile object data relating to a mobile object based on environmental information generated by an environmental detection device that detects mobile objects within a predetermined range, such as a bus stop on a road. A communication device that transmits mobile data to a target vehicle, which is a bus located on the road, via wireless communication, An acquisition unit that acquires vehicle information of the aforementioned target vehicle, A determination unit determines whether or not there is a possibility of collision between the target vehicle and the moving object based on the moving object data generated by the data generation unit. Furthermore, it is equipped with, The data generation unit generates the mobile data based on the vehicle information and environmental information acquired by the acquisition unit, and transmits the mobile data to the communication device. The determination unit determines whether or not there is a possibility of the target vehicle colliding with the moving object when it stops at the bus stop or departs from the bus stop. Control device.

11. An environmental detection device for detecting moving objects present within a predetermined range on a road, A data generation unit generates mobile body data relating to the mobile body based on the environmental information generated by the environmental detection device, A communication device that transmits the mobile data to a target vehicle located on the road via wireless communication, An acquisition unit that acquires vehicle information of the aforementioned target vehicle, Based on the moving object data generated by the data generation unit, a determination unit determines whether or not there is a possibility of collision with the moving object when the target vehicle moves closer or changes lanes. An information processing device equipped with the following.

12. A data generation unit that generates moving object data relating to a moving object based on environmental information generated by an environmental detection device that detects moving objects present in a predetermined range on a road, A communication device that transmits the mobile data to a target vehicle located on the road via wireless communication, An acquisition unit that acquires vehicle information of the aforementioned target vehicle, Based on the moving object data generated by the data generation unit, a determination unit determines whether or not there is a possibility of collision with the moving object when the target vehicle moves closer or changes lanes. A control device equipped with the following.

Images