Information processing system and speed limit acquisition device

Abstract

To provide a technology capable of acquiring information on traffic rules that apply to a vehicle.SOLUTION: An information processing system applied to a vehicle acquires information on traffic sign rules that are traffic rules indicated by traffic signs installed on roads on which the vehicle travels. The information processing system acquires information on a first traffic rule applied to the vehicle based on the traffic sign rules and a first vehicle category, which is a category for the vehicle. The information processing system notifies the vehicle's user of the first traffic rule or controls the travel of the vehicle based on the first traffic rule.SELECTED DRAWING: Figure 10

Description

Technical Field

[0001] The present disclosure relates to a technique for acquiring information on traffic rules applied to a vehicle.

Background Art

[0002] Patent Document 1 discloses a driving support device. The driving support device discriminates the contents of main signs and auxiliary signs that constitute road signs installed on the traveling road of a vehicle. When the driving conditions of the vehicle meet the regulation conditions displayed on the auxiliary signs of the road signs, the driving support device warns the driver based on the regulation contents indicated by the main signs.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In order to acquire information on traffic rules (e.g., speed limits) applied to a vehicle, it is conceivable to recognize traffic signs installed on the road on which the vehicle is traveling. However, the traffic rules indicated by traffic signs are not necessarily applicable to all vehicles.

[0005] One object of the present disclosure is to provide a technique capable of acquiring information on traffic rules applied to a vehicle.

Means for Solving the Problems

[0006] A first aspect relates to an information processing system applied to a vehicle. The information processing system includes one or more processors. One or more processors obtain information on traffic signs, which are traffic rules indicated by traffic signs installed on the roads on which the vehicles travel. One or more processors obtain information on the first traffic rule applicable to the vehicle, based on the traffic signs and the first vehicle category, which is the vehicle category of the vehicle. One or more processors notify the vehicle user of the first traffic rule or control the vehicle's operation based on the first traffic rule.

[0007] The second aspect concerns a speed limit acquisition device that obtains information on the speed limit applicable to a vehicle. The speed limit acquisition device comprises one or more processors and one or more storage devices. One or more storage devices store a table showing the correspondence between the speed limit indicated by speed limit signs and the prescribed speed limit predetermined for each vehicle category. One or more processors obtain information about the speed limit indicated by speed limit signs installed on the road on which the vehicle is traveling. One or more processors, based on a table, obtain the prescribed speed limits associated with the sign speed limits and the first vehicle category as the first speed limit, which is the speed limit applicable to the vehicle. [Effects of the Invention]

[0008] According to this disclosure, it will be possible to obtain information on traffic rules applicable to the vehicle. [Brief explanation of the drawing]

[0009] [Figure 1] This is a conceptual diagram illustrating the outline of the speed limit acquisition device according to the first embodiment. [Figure 2] This is a conceptual diagram illustrating an example of processing by the speed limit acquisition device according to the first embodiment. [Figure 3] This is a block diagram showing an example configuration of a speed limit acquisition device according to the first embodiment. [Figure 4] This is a flowchart showing the processing by the speed limit acquisition device according to the first embodiment. [Figure 5] This is a conceptual diagram illustrating an example of processing by a speed limit acquisition device according to the second embodiment. [Figure 6] This is a block diagram showing an example configuration of a speed limit acquisition device according to the second embodiment. [Figure 7] This is a flowchart showing the processing by the speed limit acquisition device according to the second embodiment. [Figure 8] This block diagram shows an example configuration of an information notification system. [Figure 9] This is a block diagram showing an example configuration of a vehicle control system. [Figure 10] This is a flowchart that summarizes the processing performed by an information processing system. [Modes for carrying out the invention]

[0010] 1. First Embodiment 1-1. Speed ​​Limit Acquisition Device Figure 1 is a conceptual diagram illustrating the overview of the speed limit acquisition device 100. The speed limit acquisition device 100 is applied to vehicle 1. Vehicle 1 is driven manually by an operator, for example. The operator of vehicle 1 may be a driver who is on board vehicle 1, or a remote operator who remotely controls (remotely drives, remotely assists) vehicle 1. As another example, vehicle 1 may be an autonomous vehicle controlled by an autonomous driving system.

[0011] The speed limit acquisition device 100 acquires information on the speed limit for vehicle 1 on the road on which vehicle 1 is traveling. The speed limit is notified, for example, to the user O of vehicle 1. The user O of vehicle 1 is the operator of vehicle 1, or an occupant riding in vehicle 1 (an autonomous vehicle). In another example, the speed limit may be used for controlling vehicle 1.

[0012] In order to obtain information on the speed limit for vehicle 1, it is conceivable to recognize a speed limit sign S installed on the road on which vehicle 1 is traveling. For the recognition of the speed limit sign S, an in-vehicle camera C mounted on vehicle 1 is used. The in-vehicle camera C captures the situation around vehicle 1 and acquires an image 121 showing the situation around vehicle 1. The speed limit acquisition device 100 acquires the image 121 obtained by the in-vehicle camera C and recognizes the speed limit sign S by analyzing the image 121. Further, the speed limit acquisition device 100 reads the information (numerals) described on the recognized speed limit sign S based on the image of the speed limit sign S. In this way, the speed limit acquisition device 100 can obtain the information on the speed limit indicated by the speed limit sign S installed on the road on which vehicle 1 is traveling.

[0013] The speed limit indicated by the speed limit sign S, that is, the speed limit described on the speed limit sign S, is hereinafter referred to as the "sign speed limit VL-S".

[0014] Here, consider the vehicle category (type of vehicle). The vehicle category is defined based on vehicle size, number of passengers, usage, etc. For example, passenger cars and large vehicles are exemplified as vehicle categories. Vehicle categories M, N, etc. in Europe are also known. Vehicle category M represents a vehicle having at least four wheels and used for transporting passengers. Vehicle category M is further divided into vehicle categories M1, M2, and M3. Vehicle category M1 represents a vehicle having seats of 8 or less in addition to the driver's seat. Vehicle category M2 represents a vehicle having more than 8 seats in addition to the driver's seat and with a maximum weight of 5 tons or less. Vehicle category M3 represents a vehicle having more than 8 seats in addition to the driver's seat and with a maximum weight exceeding 5 tons. Vehicle category N is given to a vehicle having at least four wheels and used for transporting goods. Vehicle category N is further divided into vehicle categories N1, N2, and N3. Vehicle category N1 represents a vehicle with a maximum weight of 3.5 tons or less. Vehicle category N2 represents a vehicle with a maximum weight exceeding 3.5 tons and up to 12 tons. Vehicle category N3 represents a vehicle with a maximum weight exceeding 12 tons.

[0015] Among the speed limit signs S, there are also those for only specific vehicle categories. The speed limit sign S for a specific vehicle category (e.g., large vehicle) is hereinafter referred to as the "specific speed limit sign SP". For example, the specific speed limit sign SP is composed of a combination of this sign and an auxiliary sign. This sign indicates the sign speed limit VL-S. On the other hand, the auxiliary sign contains information (e.g., icon) indicating a specific vehicle category and shows whether the sign speed limit VL-S indicated by this sign is applicable to the specific vehicle category. For example, the specific speed limit sign SP exemplified in FIG. 1 includes an auxiliary sign arranged below this sign. The auxiliary sign contains an icon of a large vehicle and shows that the sign speed limit VL-S indicated by this sign is only applicable to large vehicles. Note that there may also be an auxiliary sign indicating that the sign speed limit VL-S indicated by this sign is not applicable to a specific vehicle category.

[0016] The vehicle category of vehicle 1 to which the speed limit acquisition device 100 applies will be hereinafter referred to as the "first vehicle category." When the speed limit acquisition device 100 recognizes a specific speed limit sign SP for a particular vehicle category, that particular vehicle category does not necessarily match the first vehicle category. If the specific vehicle category does not match the first vehicle category, accurate information on the speed limit for vehicle 1 of the first vehicle category cannot be obtained from the specific speed limit sign SP itself.

[0017] Therefore, this embodiment proposes a technology that can obtain accurate information on the speed limit for vehicle 1 even when the specific vehicle category indicated by the specific speed limit sign SP does not match the first vehicle category.

[0018] Figure 2 is a conceptual diagram illustrating an example of processing by the speed limit acquisition device 100 according to this embodiment. The speed limit acquisition device 100 has a "conversion table 123". The conversion table 123 shows the correspondence between "signaled speed limit VL-S" and "specified speed limit VL-P". Signaled speed limit VL-S is the speed limit indicated by the speed limit sign S, that is, the speed limit that can be read from the speed limit sign S. On the other hand, the specified speed limit VL-P is the speed limit that is predetermined in traffic laws for each vehicle category (passenger car, heavy vehicle, etc.). The speed limit acquisition device 100 uses this conversion table 123 to acquire information on the speed limit applicable to vehicle 1 of the first vehicle category (hereinafter referred to as "first speed limit").

[0019] As an example, let's consider the case where the primary vehicle category of vehicle 1 to which the speed limit acquisition device 100 applies is "large vehicle". The speed limit acquisition device 100 recognizes a specific speed limit sign SP installed on the road on which vehicle 1 is traveling and acquires information indicating the content of that specific speed limit sign SP. The information indicating the content of the specific speed limit sign SP includes information on the speed limit VL-S indicated by the specific speed limit sign SP (main sign) and information on the specific vehicle category included in the supplementary sign.

[0020] In the case of (A) in Figure 2, the speed limit VL-S indicated by the specific speed limit sign SP (main sign) is 80 kph, and the specific vehicle category included in the supplementary sign is a heavy vehicle. The specific vehicle category matches the first vehicle category of vehicle 1. In this case, the speed limit acquisition device 100 acquires the speed limit VL-S (80 kph) as the first speed limit applicable to vehicle 1. At this time, the speed limit acquisition device 100 may acquire the speed limit VL-S (80 kph) as the first speed limit without using the conversion table 123.

[0021] On the other hand, in the case of (B) in Figure 2, the speed limit VL-S indicated by the specific speed limit sign SP (main sign) is 100 kph, and the specific vehicle category included in the supplementary sign is not a heavy vehicle. The specific vehicle category does not match the first vehicle category of vehicle 1. In this case, the speed limit acquisition device 100 performs a conversion process using the conversion table 123. According to the conversion table 123, the speed limit VL-S (100 kph) is associated with the prescribed speed limit VL-P (100 kph) for passenger cars and the prescribed speed limit VL-P (80 kph) for heavy vehicles. Since the first vehicle category is a heavy vehicle, the speed limit VL-S (100 kph) is converted to the prescribed speed limit VL-P (80 kph) for heavy vehicles. That is, the speed limit acquisition device 100 converts the speed limit VL-S (100 kph) to the prescribed speed limit VL-P (80 kph) for heavy vehicles based on the conversion table 123. The speed limit acquisition device 100 then acquires the prescribed speed limit VL-P (80kph) obtained through the conversion process as the first speed limit to be applied to vehicle 1. In other words, based on the conversion table 123, the speed limit acquisition device 100 acquires the prescribed speed limit VL-P (80kph), which is associated with the sign speed limit VL-S (100kph) and the first vehicle category (large vehicle), as the first speed limit.

[0022] As described above, according to this embodiment, even if the specific vehicle category indicated by the specific speed limit sign SP does not match the first vehicle category, it is possible to obtain accurate information on the speed limit for vehicle 1.

[0023] 1-2. Example of a Speed ​​Limit Acquisition Device Configuration The speed limit acquisition device 100 may be mounted on the vehicle 1, included in an external device outside the vehicle 1, or distributed in multiple locations. The speed limit acquisition device 100 may be included in the camera ECU that controls the onboard camera C. The speed limit acquisition device 100 may be included in a remote operator terminal for remotely controlling the vehicle 1.

[0024] Figure 3 is a block diagram showing an example configuration of the speed limit acquisition device 100. The speed limit acquisition device 100 includes one or more processors 110 (hereinafter simply referred to as processor 110), one or more storage devices 120 (hereinafter simply referred to as storage devices 120), and an I / O interface 130. The processor 110 performs various processes. For example, the processor 110 includes a CPU (Central Processing Unit). The storage devices 120 store various information. Examples of storage devices 120 include volatile memory, non-volatile memory, HDD (Hard Disk Drive), SSD (Solid State Drive), etc.

[0025] The storage device 120 stores images 121, vehicle category information 122, a conversion table 123, etc. Images 121 are captured by an on-board camera C mounted on vehicle 1. Vehicle category information 122 indicates the first vehicle category, which is the vehicle category of vehicle 1. For example, vehicle category information 122 is provided by the manufacturer, manager, or user of vehicle 1. The conversion table 123 shows the correspondence between the speed limit VL-S indicated by the speed limit sign S and the predetermined speed limit VL-P for each vehicle category, as illustrated in Figure 2. The conversion table 123 is created and provided in advance. The processor 110 acquires this information via the I / O interface 130 and stores it in the storage device 120.

[0026] The speed limit acquisition program 150 is a computer program executed by the processor 110. The execution of the speed limit acquisition program 150 by the processor 110 enables various processes by the speed limit acquisition device 100. The speed limit acquisition program 150 is stored in the storage device 120. Alternatively, the speed limit acquisition program 150 may be recorded on a computer-readable recording medium.

[0027] The processor 110 includes a recognition unit 111, a determination unit 112, and a conversion unit 113 as functional blocks. These functional blocks are realized when the processor 110 executes a speed limit acquisition program 150.

[0028] Figure 4 is a flowchart showing the processing performed by the speed limit acquisition device 100. The processing performed by the speed limit acquisition device 100 will be explained with reference to Figures 3 and 4.

[0029] In step S111, the recognition unit 111 recognizes the speed limit sign S installed on the road on which the vehicle 1 is traveling. More specifically, the recognition unit 111 acquires an image 121 obtained by the onboard camera C and recognizes the speed limit sign S by analyzing the image 121. Furthermore, the recognition unit 111 recognizes the numbers written on the speed limit sign S based on the image of the recognized speed limit sign S. In other words, the speed limit acquisition device 100 acquires information on the speed limit indicated by the speed limit sign S. Typically, the recognition unit 111 recognizes the speed limit sign S and the speed limit from the image 121 by utilizing image recognition AI (Artificial Intelligence). The image recognition AI is pre-generated through a learning method such as deep learning. For example, the image recognition AI is learned to detect various signs from the image 121 and to identify the type of sign detected. As another example, the image recognition AI may be learned to detect the speed limit sign S from the image 121. In any case, the speed limit sign S and the speed limit indicated therein can be recognized by utilizing the onboard camera C and the image recognition AI.

[0030] The same applies when the speed limit sign S is a specific speed limit sign SP for a particular vehicle category. The specific speed limit sign SP consists of a main sign and a supplementary sign. The main sign indicates the speed limit VL-S. The supplementary sign, on the other hand, contains information indicating a particular vehicle category (e.g., an icon) and indicates whether the speed limit VL-S indicated by the main sign applies to that particular vehicle category. The recognition unit 111 recognizes the main sign and the supplementary sign from the image 121 by using image recognition AI. Furthermore, the recognition unit 111 obtains information on the speed limit VL-S from the main sign and information on the particular vehicle category from the supplementary sign. In this way, the recognition unit 111 can obtain information indicating the contents of the specific speed limit sign SP (speed limit VL-S and the particular vehicle category).

[0031] Below, we consider the case where the recognized speed limit sign S is a specific speed limit sign SP.

[0032] In step S112, the determination unit 112 acquires vehicle category information 122 and recognizes the first vehicle category, which is the vehicle category of vehicle 1. Furthermore, the determination unit 112 determines whether the specific vehicle category indicated by the specific speed limit sign SP matches the first vehicle category. If the specific vehicle category is the first vehicle category (step S112; Yes), the process proceeds to step S113. On the other hand, if the specific vehicle category is not the first vehicle category (step S112; No), the process proceeds to step S114.

[0033] In step S113, the conversion unit 113 adopts the sign speed limit VL-S as the first speed limit applied to the vehicle 1. At this time, the conversion unit 113 may adopt the sign speed limit VL-S as the first speed limit without using the conversion table 123.

[0034] In step S114, the conversion unit 113 performs a conversion process using the conversion table 123. Specifically, the conversion unit 113 converts the sign speed limit VL-S to the prescribed speed limit VL-P for the first vehicle category based on the conversion table 123. The conversion unit 113 then acquires the prescribed speed limit VL-P obtained by the conversion process as the first speed limit to be applied to vehicle 1. In other words, the conversion unit 113 acquires the prescribed speed limit VL-P, which is associated with the sign speed limit VL-S and the first vehicle category, as the first speed limit based on the conversion table 123.

[0035] In the example of conversion table 123 shown in Figure 2, if the sign speed limit VL-S is 90 kph or less, the sign speed limit VL-S and the prescribed speed limit VL-P for each vehicle category are the same. Therefore, in that case, the conversion process does not need to be performed.

[0036] The speed limit information 124 indicates the first speed limit for vehicle 1 obtained in this manner. The processor 110 stores the speed limit information 124 in the storage device 120. The processor 110 also outputs the speed limit information 124 externally via the I / O interface 130. The speed limit information 124 can be used for various purposes. Examples of the use of the speed limit information 124 will be described in Sections 3 and 4 below.

[0037] 1-3. Variations The speed limit acquisition device 100 (conversion unit 113) may correct the sign speed limit VL-S to the first speed limit by considering the first vehicle category of vehicle 1, without using the conversion table 123. In other words, the speed limit acquisition device 100 may acquire the first speed limit by correcting the sign speed limit VL-S according to the first vehicle category of vehicle 1. For example, if the sign speed limit VL-S is 100 kph or more and the first vehicle category of vehicle 1 is a large vehicle, the speed limit acquisition device 100 calculates the first speed limit by performing a predetermined calculation on the sign speed limit VL-S. Examples of predetermined calculations include subtracting a predetermined value (e.g., 20 kph) from the sign speed limit VL-S, or multiplying the sign speed limit VL-S by a correction coefficient of less than 1. As another example, the speed limit acquisition device 100 may use a machine learning model to correct the sign speed limit VL-S to the first speed limit. The input to the machine learning model is the first vehicle category and the traffic sign speed limit VL-S, and the output from the machine learning model is the first speed limit. In either case, the information for the first speed limit can be obtained by correcting the traffic sign speed limit VL-S according to the first vehicle category. This achieves the same effect as when using the conversion table 123.

[0038] 2. Second Embodiment It is conceivable that the speed limit indicated by a normal speed limit sign S without supplementary signs may not necessarily apply to all vehicle categories. In other words, it is conceivable that the speed limit indicated by the speed limit sign S may differ from the first speed limit applicable to vehicle 1 of the first vehicle category. The second embodiment proposes how to handle such cases. Note that explanations that overlap with the first embodiment will be omitted as appropriate.

[0039] Figure 5 is a conceptual diagram illustrating an example of processing by the speed limit acquisition device 100 according to the second embodiment. Similar to the first embodiment, the conversion table 123 shows the correspondence between the sign speed limit VL-S and the predetermined speed limit VL-P for each vehicle category. In the example shown in Figure 5, M1, M2, M3, N1, N2, and N3 are exemplified as vehicle categories.

[0040] In the case of (A) in Figure 5, the first vehicle category of vehicle 1 is "M1". The sign speed limit VL-S indicated by the speed limit sign S is 100 kph. Based on the conversion table 123, the speed limit acquisition device 100 acquires the prescribed speed limit VL-P (100 kph), which is associated with the sign speed limit VL-S (100 kph) and the first vehicle category (M1), as the first speed limit.

[0041] In the case of (B) in Figure 5, the first vehicle category of vehicle 1 is "N1". The sign speed limit VL-S indicated by the speed limit sign S is 100 kph. Based on the conversion table 123, the speed limit acquisition device 100 acquires the prescribed speed limit VL-P (80 kph), which is associated with the sign speed limit VL-S (100 kph) and the first vehicle category (N1), as the first speed limit. In other words, based on the conversion table 123, the speed limit acquisition device 100 acquires the first speed limit by converting the sign speed limit VL-S (100 kph) to the prescribed speed limit VL-P (80 kph) for vehicle category N1.

[0042] As described above, this embodiment also makes it possible to obtain information on the first speed limit applicable to the vehicle 1 based on the speed limit sign VL-S indicated by the speed limit sign S.

[0043] Figure 6 is a block diagram showing an example configuration of the speed limit acquisition device 100 according to the second embodiment. Descriptions that overlap with the first embodiment are omitted. The processor 110 includes a recognition unit 111 and a conversion unit 115 as functional blocks. These functional blocks are realized when the processor 110 executes the speed limit acquisition program 150.

[0044] Figure 7 is a flowchart showing the processing performed by the speed limit acquisition device 100 according to the second embodiment.

[0045] In step S111, the recognition unit 111 recognizes the speed limit sign S installed on the road on which the vehicle 1 is traveling. The recognition unit 111 then acquires information on the speed limit VL-S indicated by the speed limit sign S. This step S111 is the same as in the first embodiment.

[0046] In step S115, the conversion unit 115 acquires vehicle category information 122 indicating the first vehicle category of vehicle 1. Furthermore, based on the conversion table 123, the conversion unit 115 acquires the prescribed speed limit VL-P, which is associated with the sign speed limit VL-S and the first vehicle category, as the first speed limit. In other words, the speed limit acquisition device 100 acquires the first speed limit by converting the sign speed limit VL-S to the prescribed speed limit VL-P for the first vehicle category based on the conversion table 123.

[0047] As a variation, the speed limit acquisition device 100 (conversion unit 113) may correct the sign speed limit VL-S to the first speed limit by considering the first vehicle category of vehicle 1, without using the conversion table 123. In other words, the speed limit acquisition device 100 may acquire the first speed limit by correcting the sign speed limit VL-S according to the first vehicle category of vehicle 1. For example, if the sign speed limit VL-S is 100 kph or more, and the first vehicle category of vehicle 1 is other than M1, the speed limit acquisition device 100 calculates the first speed limit by performing a predetermined calculation on the sign speed limit VL-S. Examples of predetermined calculations include subtracting a predetermined value (e.g., 20 kph) from the sign speed limit VL-S, or multiplying the sign speed limit VL-S by a correction coefficient of less than 1. As another example, the speed limit acquisition device 100 may use a machine learning model to correct the sign speed limit VL-S to the first speed limit. The input to the machine learning model is the first vehicle category and the traffic sign speed limit VL-S, and the output from the machine learning model is the first speed limit. In either case, the information for the first speed limit can be obtained by correcting the traffic sign speed limit VL-S according to the first vehicle category. This achieves the same effect as when using the conversion table 123.

[0048] The speed limit information 124 indicates the first speed limit for vehicle 1 obtained in this manner. The processor 110 stores the speed limit information 124 in the storage device 120. The processor 110 also outputs the speed limit information 124 externally via the I / O interface 130. The speed limit information 124 can be used for various purposes. Examples of the use of the speed limit information 124 are described below.

[0049] 3. Information Notification System The information notification system 200 is applied to vehicle 1 and notifies the user O of vehicle 1 of various information. The information notification system 200 may be installed in vehicle 1, or it may be included in a remote operator terminal operated by a remote operator. Alternatively, the information notification system 200 may be distributed between vehicle 1 and the remote operator terminal.

[0050] Figure 8 is a block diagram showing an example configuration of the information notification system 200. The information notification system 200 includes one or more processors 210 (hereinafter simply referred to as processor 210) and one or more storage devices 220 (hereinafter simply referred to as storage devices 220). The processor 210 performs various processes. For example, the processor 210 includes a CPU. The storage devices 220 store various information. Examples of storage devices 220 include volatile memory, non-volatile memory, HDD, SSD, etc.

[0051] The information notification system 200 further includes a notification device 230. The notification device 230 is a device for notifying the user O of vehicle 1 of various information. If user O is the driver riding in vehicle 1, the notification device 230 is installed in vehicle 1. If user O is a remote operator, the notification device 230 is included in the remote operator terminal. For example, the notification device 230 includes a display device. Examples of display devices include an instrument panel, a display, a head-up display (HUD), etc. Another example is that the notification device 230 may include a speaker.

[0052] The information notification program 250 is a computer program executed by the processor 210. The execution of the information notification program 250 by the processor 210 enables various processes by the information notification system 200. The information notification program 250 is stored in the storage device 220. Alternatively, the information notification program 250 may be recorded on a computer-readable recording medium.

[0053] The processor 210 acquires speed limit information 124 from the speed limit acquisition device 100 described above. The speed limit information 124 is stored in the storage device 220. The processor 210 notifies the user O of the vehicle 1 of the first speed limit information indicated by the speed limit information 124 via the notification device 230. For example, the processor 210 displays the first speed limit information on a display device. The first speed limit information may be an image or icon of a speed limit sign S, or a numerical value of the first speed limit. As another example, the processor 210 may output audio information notifying the first speed limit from a speaker.

[0054] Furthermore, the processor 210 may issue a warning to the user O of vehicle 1 via the notification device 230 if the vehicle speed of vehicle 1 exceeds the first speed limit. The vehicle speed of vehicle 1 is obtained from the vehicle control system 300, which will be described later.

[0055] Furthermore, the speed limit acquisition device 100 and the information notification system 200 may be partially common. The speed limit acquisition device 100 may be part of the information notification system 200. In other words, the processor 110 and the processor 210 may be at least partially common, and the storage device 120 and the storage device 220 may be at least partially common.

[0056] 4. Vehicle control system Figure 9 is a block diagram showing an example configuration of a vehicle control system 300. The vehicle control system 300 is applied to and controls vehicle 1. The vehicle control system 300 includes one or more processors 310 (hereinafter simply referred to as processor 310), one or more storage devices 320 (hereinafter simply referred to as storage devices 320), a sensor group 330, and a driving device 340. The processor 310 performs various processes. For example, the processor 310 includes a CPU. The storage devices 320 store various information. Examples of storage devices 320 include volatile memory, non-volatile memory, HDD, SSD, etc.

[0057] The sensor group 330 is mounted on the vehicle 1. The sensor group 330 includes a recognition sensor, a vehicle status sensor, a position sensor, etc. The recognition sensor includes an on-board camera C. The on-board camera C captures images of the surroundings of the vehicle 1 and acquires an image 121 showing the surroundings of the vehicle 1. The recognition sensor may also include a LIDAR or the like. The vehicle status sensor detects the state of the vehicle 1. For example, the vehicle status sensor includes a vehicle speed sensor that detects the vehicle speed of the vehicle 1. The position sensor includes a GNSS (Global Navigation Satellite System) sensor.

[0058] The running gear 340 is mounted on the vehicle 1. The running gear 340 includes a steering system, a drive system, and a braking system. The steering system steers the wheels. The drive system is a power source that generates driving force. Examples of drive systems include an engine, an electric motor, an in-wheel motor, etc. The braking system generates braking force.

[0059] The vehicle control program 350 is a computer program executed by the processor 310. The execution of the vehicle control program 350 by the processor 310 enables various processes by the vehicle control system 300. The vehicle control program 350 is stored in the storage device 320. Alternatively, the vehicle control program 350 may be recorded on a computer-readable recording medium.

[0060] The processor 310 uses the sensor group 330 to acquire driving environment information 325 that indicates the driving environment of vehicle 1. The driving environment information 325 is stored in the storage device 320.

[0061] The driving environment information 325 includes surrounding situation information that shows the recognition results from the recognition sensor. For example, the surrounding situation information includes an image 121 captured by the onboard camera C. The surrounding situation information may also include object information regarding objects around the vehicle 1. Examples of objects around the vehicle 1 include pedestrians, other vehicles, white lines, traffic lights, signs, roadside structures, etc. Signs include speed limit signs S. The object information indicates the relative position and relative speed of the object with respect to the vehicle 1.

[0062] Furthermore, the driving environment information 325 includes vehicle status information indicating the vehicle status detected by the vehicle status sensor. In addition, the driving environment information 325 includes the location information of vehicle 1 obtained by the location sensor.

[0063] The processor 310 performs vehicle driving control to control the movement of vehicle 1. Vehicle driving control includes steering control, drive control, and braking control. The processor 310 performs vehicle driving control by controlling the driving device 340 (steering device, drive device, and braking device).

[0064] The processor 310 may perform automatic driving control based on the driving environment information 325. More specifically, the processor 310 generates a driving plan for the vehicle 1 based on the driving environment information 325. Furthermore, the processor 310 generates a target trajectory necessary for the vehicle 1 to drive according to the driving plan, based on the driving environment information 325. The target trajectory includes a target position and a target speed. The processor 310 then performs vehicle driving control so that the vehicle 1 follows the target trajectory.

[0065] The processor 310 acquires speed limit information 124 from the speed limit acquisition device 100 described above. The speed limit information 124 is stored in the storage device 320. The processor 310 performs vehicle driving control based on the first speed limit indicated by the speed limit information 124.

[0066] For example, the processor 310 sets the set speed in conjunction with the first speed limit. For example, the set speed is set to be the same as the first speed limit. As another example, the set speed may be set to a value obtained by subtracting a certain value from the first speed limit. The processor 310 then automatically maintains the vehicle speed of vehicle 1 at the set speed even when there is no accelerator operation by the operator of vehicle 1.

[0067] As another example, the processor 310 may perform speed limiting control to restrict the speed of vehicle 1. The requested speed for vehicle 1 is determined according to the amount of accelerator operation by the operator of vehicle 1. Alternatively, the requested speed is determined by the automated driving system. If the requested speed exceeds the set speed, the processor 310 automatically reduces the speed V of vehicle 1 to the set speed. Therefore, even if the operator of vehicle 1 keeps the accelerator pedal pressed down and the requested speed exceeds the set speed Vs, the speed is automatically maintained at the set speed. Also, if the road speed limit changes and the current speed exceeds the set speed, the processor 310 automatically decelerates vehicle 1 so that the speed is below the set speed.

[0068] Furthermore, the speed limit acquisition device 100 and the vehicle control system 300 may be partially common. The speed limit acquisition device 100 may be part of the vehicle control system 300. In other words, the processor 110 and the processor 310 may be at least partially common, and the storage device 120 and the storage device 320 may be at least partially common.

[0069] 5. Information Processing Systems The information processing system 400 applied to vehicle 1 includes at least one of an information notification system 200 and a vehicle control system 300. The information processing system 400 may include both the information notification system 200 and the vehicle control system 300.

[0070] In the above-described embodiment, the speed limit indicated by the speed limit sign S was examined. The technical concept relating to this disclosure is similarly applicable to traffic rules indicated by other traffic signs. Examples of other traffic rules include minimum speed, direction of travel at intersections, no entry signs, etc. For generalization, "speed limit," "speed limit sign," "sign speed limit," "prescribed speed limit," and "first speed limit" in the above-described embodiment shall be read as "traffic rule," "traffic sign," "sign traffic rule," "prescribed traffic rule," and "first traffic rule," respectively.

[0071] Figure 10 is a flowchart that summarizes the processing performed by the information processing system 400 applied to vehicle 1. In step S410, the information processing system 400 recognizes traffic signs installed on the road on which vehicle 1 is traveling and obtains information on the traffic signs, which are the traffic rules indicated by the traffic signs. In step S420, the information processing system 400 obtains information on the first traffic rules applicable to vehicle 1 of the first vehicle category, based on the traffic signs and the first vehicle category. For example, the information processing system 400 obtains the prescribed traffic rules associated with the traffic signs and the first vehicle category as the first traffic rules, based on the conversion table 123. Alternatively, the information processing system 400 may obtain the first traffic rules by correcting the traffic signs according to the first vehicle category. Then, in step S430, the information processing system 400 notifies the user O of vehicle 1 of the first traffic rules, or controls the driving of vehicle 1 based on the first traffic rules. [Explanation of Symbols]

[0072] 1…Vehicle, 100…Speed ​​Limit Acquisition Device, 121…Image, 122…Vehicle Category Information, 123…Conversion Table, 124…Speed ​​Limit Information, 200…Information Notification System, 300…Vehicle Control System, 400…Information Processing System

Claims

1. An information processing system applied to a vehicle, Equipped with one or more processors, The one or more processors described above are: The system acquires information on traffic rules indicated by traffic signs installed on the roads on which the vehicle travels, Based on the aforementioned traffic signs and the vehicle category, which is the first vehicle category, information on the first traffic rules applicable to the vehicle is obtained. Notifying the vehicle user of the first traffic rule, or controlling the vehicle's operation based on the first traffic rule. It is configured in such a way, Obtaining the information of the first traffic rule includes, if the sign traffic rule indicated by the traffic sign does not apply to the first vehicle category, converting the sign traffic rule indicated by the traffic sign to the first traffic rule that is not indicated by the traffic sign but applies to the first vehicle category. Information processing system.

2. The information processing system according to claim 1, The aforementioned traffic rule is the speed limit. The aforementioned traffic sign is a speed limit sign, The aforementioned traffic sign rule is the speed limit indicated by the speed limit sign, The first traffic rule is the first speed limit which is the speed limit that applies to the vehicle of the first vehicle category. Information processing system.

3. An information processing system according to Claim 2, Converting the speed limit indicated by the speed limit sign to the first speed limit not indicated by the speed limit sign includes calculating the first speed limit by performing a predetermined calculation on the speed limit sign. Information processing system.

4. The information processing system according to claim 1, The device further includes one or more storage devices that store tables showing the correspondence between the aforementioned traffic signs and prescribed traffic rules predetermined for each vehicle category. The one or more processors are configured to acquire the prescribed traffic rules, which are associated with the sign traffic rules and the first vehicle category, as the first traffic rules based on the table. Information processing system.

5. The information processing system according to claim 4, The aforementioned traffic rule is the speed limit. The aforementioned traffic sign is a speed limit sign, The aforementioned traffic sign rule is the speed limit indicated by the speed limit sign, The first traffic rule is the first speed limit which is the speed limit that applies to the vehicle of the first vehicle category, The aforementioned table shows the correspondence between the speed limit indicated by the sign and the predetermined speed limit for each vehicle category. The one or more processors are configured to acquire the specified speed limit, which is associated with the sign speed limit and the first vehicle category, as the first speed limit, based on the table. Information processing system.

6. The information processing system according to claim 5, A specific speed limit sign is a speed limit sign for a specific vehicle category, The one or more processors described above are: Information is obtained indicating the content of the specific speed limit sign installed on the road on which the vehicle is traveling. If the specified vehicle category is not the first vehicle category, the first speed limit is obtained by converting the sign speed limit indicated by the specified speed limit sign to the specified speed limit for the first vehicle category, based on the table. It is configured in such a way Information processing system.

7. The information processing system according to claim 6, If the specified vehicle category is the first vehicle category, the one or more processors are configured to acquire the speed limit indicated by the specified speed limit sign as the first speed limit. Information processing system.

8. An information processing system according to claim 6 or 7, The information indicating the content of the specified speed limit sign includes the information of the speed limit indicated by the specified speed limit sign and the information of the specific vehicle category. Information processing system.

9. The information processing system according to claim 8, The aforementioned specific speed limit sign is a combination of a main sign indicating the speed limit and a supplementary sign indicating whether or not the speed limit applies to the specific vehicle category. The vehicle is equipped with an onboard camera that photographs the surrounding environment. The one or more processors are configured to recognize the main sign and the auxiliary sign based on images captured by the in-vehicle camera, thereby acquiring the information on the sign's speed limit and the information on the specific vehicle category. Information processing system.

10. A speed limit acquisition device that acquires information on the speed limit applicable to a vehicle, One or more processors, One or more storage devices that store a table showing the correspondence between the speed limit indicated by speed limit signs and the prescribed speed limit predetermined for each vehicle category. Equipped with, The one or more processors described above are: The vehicle acquires information on the speed limit indicated by the speed limit sign installed on the road on which the vehicle travels, Based on the table, the specified speed limit not indicated by the speed limit sign, which is associated with the sign speed limit and the first vehicle category which is the vehicle category of the vehicle, is obtained as the first speed limit applicable to the vehicle. It is configured in such a way Speed ​​limit acquisition device.

11. A speed limit acquisition device according to claim 10, A specific speed limit sign is a speed limit sign for a specific vehicle category, The one or more processors described above are: Information is obtained indicating the content of the specific speed limit sign installed on the road on which the vehicle is traveling. If the specified vehicle category is not the first vehicle category, the first speed limit is obtained by converting the sign speed limit indicated by the specified speed limit sign to the specified speed limit for the first vehicle category, based on the table. It is configured in such a way Speed ​​limit acquisition device.

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