Control device, control method, and control program

Abstract

A control device (100) comprises: an acquisition unit (101) configured to acquire data indicating the positions of a plurality of mobile objects (600) present in the real world; and a display control unit (103) configured to cause a display device (200) to display a presence range (30), in which each of the mobile objects (600) is estimated to be present, in a virtual space which is constructed on the basis of the data acquired by the acquisition unit (101) and in which the positions of the plurality of mobile objects (600) are reproduced.

Description

Control device, control method, and control program

[0001] The present disclosure 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.

[0002] Digital twin is a technology that reproduces an environment identical to the real world in a virtual space. Patent Literature 1 discloses a system that uses a transportation digital twin that reproduces a real-world traffic environment in a virtual space.

[0003] Japanese Patent Application Laid-Open No. 2020-013557

[0004] When attempting to reproduce the position of each moving object in the real world in a virtual space, it is conceivable that the position of each moving object cannot be precisely identified as a single point in the virtual space. In view of such a problem, an object of the present disclosure is to enable a user to easily recognize the position of each moving object or to appropriately control a vehicle, even when the position of each moving object reproduced in a virtual space cannot be precisely identified as a single point.

[0005] A control device according to one aspect of the present disclosure includes an acquisition unit configured to acquire data indicating the positions of multiple moving objects existing in the real world, and a display control unit configured to cause a display device to display a presence range, which is a range within which each of the moving objects 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.

[0006] A control method according to one aspect of the present disclosure includes a step of acquiring data indicating positions of a plurality of moving objects existing in the real world by an acquisition unit, and a step of causing a display control unit to display, on a display device, a presence range that is a range within which each of the moving objects is estimated to exist in a virtual space that reproduces the positions of the plurality of moving objects and is constructed based on the data acquired by the acquisition unit.

[0007] A control program according to one aspect of the present disclosure causes an acquisition unit to acquire data indicating the positions of multiple moving objects existing in the real world, and causes a display control unit to display, on a display device, a presence range, which is a range within which each of the moving objects 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.

[0008] A control device according to one aspect of the present disclosure includes an acquisition unit configured to acquire data indicating the positions of multiple moving objects existing in the real world. The control device includes a calculation unit configured to calculate a presence range, which is a range within which each of the moving objects 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. Additionally, the control device includes a control unit configured to control a vehicle existing in the real world based on the presence range calculated by the calculation unit.

[0009] FIG. 1 is a schematic diagram showing a transportation digital twin system. FIG. 2 is a schematic diagram showing the control device of FIG. 1. FIG. 3 is a schematic diagram showing on-board equipment of the vehicle of FIG. 1. FIG. 4 is a flowchart showing a series of processes for constructing a transportation digital twin executed by a processing device in the control device of the first embodiment. FIG. 5 is a diagram showing a display mode of a transportation digital twin displayed on a display device by the control device of the first embodiment. FIG. 6 is a diagram explaining a first presence range of a moving object calculated by the processing device of the first embodiment. FIG. 7 is a diagram explaining a second presence range of a moving object calculated by the processing device of the first embodiment. FIG. 8 is a schematic diagram showing a third presence range of a moving object that can be calculated by the processing device of the first embodiment. FIG. 9 is a schematic diagram showing a fourth presence range of a moving object that can be calculated by the processing device of the first embodiment. FIG. 10 is a schematic diagram showing the first presence range enlarged and displayed over time. FIG. 11 is a schematic diagram showing the second presence range enlarged and displayed over time. FIG. 12 is a flowchart showing a series of processes executed by a processing device to control a vehicle in the second embodiment. FIG. 13 is a schematic diagram showing a state in which the presence range of a vehicle to be controlled overlaps with the presence range of another moving body in the second embodiment. FIG. 14 is a schematic diagram showing different sizes of the presence ranges of vehicles to be controlled in the second embodiment. FIG. 15 is a flowchart showing a series of processes executed by a processing device to control a vehicle in a modified example of the second embodiment. FIG. 16 is a schematic diagram showing a state in which presence ranges with different probabilities are displayed for each vehicle in a modified example of the second embodiment. FIG. 17 is a flowchart showing a series of processes executed by a processing device to control a vehicle in a further modified example of the second embodiment. FIG. 18 is a schematic diagram showing a state in which the distance between the center of the presence range of a vehicle to be controlled and the presence range of another moving body is farther than a predetermined medium distance and within a predetermined long distance. FIG. 19 is a schematic diagram showing a state in which the distance between the center of the presence range of a vehicle to be controlled and the presence range of another moving body is farther than a predetermined short distance and within a predetermined medium distance. FIG. 20 is a schematic diagram showing a state in which the distance between the center of the presence range of a vehicle to be controlled and the presence range of another moving body is within a predetermined short distance.

[0010] First Embodiment Hereinafter, a first embodiment of a transportation digital twin system 10 that constructs a transportation digital twin that reproduces a real-world transportation environment in a virtual space will be described with reference to FIGS. 1 to 11 .

[0011] <Outline of Transportation Digital Twin System 10> As shown in FIG. 1 , the transportation digital twin system 10 includes a control device 100, a display 200 which is a display device, and an external communication network 300.

[0012] 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 is a processing circuit including one or more processors. The processing circuit may include one or more dedicated hardware circuits, such as application-specific integrated circuits (ASICs), that perform at least some of the various processes. Alternatively, the processing circuit may include a combination of one or more processors and one or more dedicated hardware circuits. The storage device 120 includes memory, such as RAM and ROM, and memory, i.e., computer-readable media, includes any available media that can be accessed by a general-purpose or dedicated computer. The control device 100 includes a communication device 130. The control device 100 is connected to an external communication network 300 via the communication device 130.

[0013] 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 transportation digital twin 20 constructed in the virtual space on the display 200.

[0014] The transportation digital twin system 10 is equipped with sensors that acquire information about the multiple moving bodies 600 in the real world in order to reproduce the positions and behaviors of the multiple moving bodies 600 in the real world in the transportation digital twin 20. The multiple moving bodies 600 are objects that move in the real world.

[0015] The multiple moving bodies 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 vehicle 400 can transmit and receive information to and from the control device 100 via the external communication network 300. For example, the vehicle 400 can transmit information collected by the multiple on-board sensors 420 installed on the vehicle 400 to the control device 100. The vehicle 400 can receive information related to the traffic digital twin 20 from the control device 100.

[0016] The plurality of vehicles 400 may include a vehicle 400 that does not transmit information collected by the on-board sensors 420 to the control device 100. The plurality of vehicles 400 may include a vehicle 400 that provides information collected by the on-board sensors 420 to the control device 100, but does not receive information related to the traffic digital twin 20 from the control device 100.

[0017] The plurality of vehicles 400 may include vehicles 400 that do not provide information to the control device 100 or receive information about the traffic digital twin 20 from the control device 100.

[0018] The moving object 600 includes a plurality of pedestrians 520. The information terminal 700 shown in Fig. 1 is, for example, a smartphone carried by the pedestrian 520. The information terminal 700 is, for example, a smartphone carried by an occupant of the vehicle 400.

[0019] 1 are multiple sensors installed on a road. For example, the road sensors 800 include multiple road cameras 810 and multiple traffic lights 820. The information terminal 700 and the road sensors 800 collect multiple pieces of data indicating the positions and behaviors of multiple mobile objects 600 at multiple times.

[0020] The processing device 110 periodically receives data indicating the positions and behaviors of the multiple moving bodies 600 from the multiple vehicles 400, the multiple information terminals 700, and the multiple road sensors 800, associating each piece of data with the time it was received. The processing device 110 may receive each piece of data at different times. The processing device 110 stores the received data indicating the positions and behaviors of the multiple moving bodies 600 in the storage device 120, associating each piece of data with the time it was received.

[0021] <Data Stored in Storage Device 120> The following describes data indicating the position and behavior of the mobile object 600, which is received by the processing device 110 and stored in the storage device 120. The data received by the processing device 110 and stored in the storage device 120 includes, for example, vehicle information such as the VIN (Vehicle Identification Number) of the vehicle 400, the speed, direction of travel, trajectory information, and position information of the vehicle 400. The trajectory information indicates the traveling path of the vehicle 400.

[0022] The data received by the processing device 110 and stored in the storage device 120 includes data indicating the positions and behaviors of moving objects 600 other than the vehicle 400. The data indicating the positions and behaviors of moving objects 600 other than the vehicle 400 is, for example, data indicating the positions and behaviors of pedestrians 520 and bicycles.

[0023] Road sensor 800 collects information related to changes in the state of traffic infrastructure around road sensor 800. Information related to changes in the state of traffic infrastructure is, for example, information related to changes in the state of traffic lights 820. Information related to changes in the state of traffic lights 820 is, for example, the timing at which traffic lights 820 change to green and the number of seconds that traffic lights 820 remain green.

[0024] The road sensor 800 recognizes the vehicle 400 around the road sensor 800. For example, the road sensor 800 transmits information about the vehicle 400 that appears in an image captured by the road camera 810 to the processing device 110.

[0025] 2 , the control device 100 includes 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 positions and behaviors of multiple moving objects 600 that exist in the real world. The calculation unit 102 calculates the existence range 30 of the moving objects 600 based on the data acquired by the acquisition unit 101. The display control unit 103 displays the existence range 30 of each moving object 600 on a display device such as the display 200. The control unit 104 controls the vehicle 400 that exists in the real world based on the existence range 30 of each moving object 600.

[0026] In this embodiment, the communication device 130 corresponds to the acquisition unit 101. The processing device 110 corresponds to the calculation unit 102, the display control unit 103, and the control unit 104. <Configuration of the vehicle 400> As shown in FIG. 3 , the vehicle 400 includes an in-vehicle communication device 410. The vehicle 400 includes 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 includes a sonar 425, a position information acquisition system 426, a steering sensor 427, and an exterior camera 428 as the in-vehicle sensors 420. The vehicle 400 also includes a brake system 430, a steering system 432, a turn signal 433, a display 434, and a speaker 435. As shown in FIG. 3 , the above-mentioned devices included in the vehicle 400 are connected to each other via 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 the position information of the vehicle 400 acquired by the position information acquisition system 426 to the control device 100.

[0028] The 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 one or more other moving bodies 600 located around the vehicle 400. The vehicle 400 may also be equipped with a LiDAR (Light Detection And Ranging) sensor that, like the sonar 425, collects information on the distance to one or more other moving bodies 600 located around the vehicle 400.

[0029] The position information acquisition system 426 is not limited to a specific system, and may be a Global Navigation Satellite System (GNSS), a Real Time Kinematic (RTK), a LiDAR, or the like.

[0030] The display 434 mounted on the vehicle 400 functions as a display device. The processing device 110 can cause the display 434 to display an image of the transportation digital twin 20 constructed in the virtual space.

[0031] <Control method of the control device 100 for constructing the transportation digital twin 20> Next, a method for constructing the transportation digital twin 20 executed by the control device 100 according to the first embodiment will be described.

[0032] Figure 4 is a flowchart showing the flow of a series of processes executed by the processing device 110 to build the transportation digital twin 20. A control program that causes the processing device 110 to execute this series of processes is stored in the storage device 120 of the control device 100. The processing device 110 updates the transportation digital twin 20 by repeatedly executing the series of processes shown in Figure 4 in accordance with the control program stored in the storage device 120. The transportation digital twin 20 is updated by the processing device 110 every few seconds.

[0033] As shown in Figure 4, when this series of processes starts, the processing device 110 first acquires, in step S100, via the communication device 130, a plurality of pieces of data indicating the positions and behaviors of a plurality of moving bodies 600 existing in the real world, in association with the time at which each piece of data was acquired. The plurality of pieces of data indicating the positions and behaviors of the plurality of moving bodies 600 existing in the real world are collected, for example, by on-board sensors 420 of a plurality of vehicles 400. The processing device 110 acquires these pieces of data at predetermined intervals. The data acquired by the processing device 110 is stored in the storage device 120. After the processing device 110 acquires the plurality of pieces of data indicating the positions and behaviors of the plurality of moving bodies 600, the process proceeds to step S110.

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

[0035] In the processing of step S120, the processing device 110 constructs a transportation digital twin 20 that reproduces the positions and behaviors of multiple mobile objects 600 in a virtual space, based on multiple pieces of data indicating the positions and behaviors of the mobile objects 600. This transportation digital twin 20 includes information on the ranges of existence 30 of the mobile objects 600. After the processing device 110 has completed construction of the transportation digital twin 20, the processing proceeds to step S130.

[0036] In the processing of step S130, the processing device 110 displays the constructed transportation digital twin 20 on the display device. When the processing of step S120 is completed, the processing device 110 temporarily ends this series of processes. The processing device 110 does not need to construct a transportation digital twin 20 that includes information on the presence ranges 30 of all moving objects 600. For example, the processing device 110 may construct a transportation digital twin 20 excluding information on the presence ranges 30 where the probability of a moving object 600 existing is less than a predetermined value.

[0037] <Regarding the existence range 30 of the moving bodies 600 on the transportation digital twin 20> A discrepancy may occur between the positions of the multiple moving bodies 600 in the real world and the positions of the multiple moving bodies 600 on the transportation digital twin 20 reproduced in the virtual space.

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

[0039] 5 shows a vehicle 400_1, a vehicle 400_2, a vehicle 400_3, a vehicle 400_4, a vehicle 400_5, and a pedestrian 520_1 as examples of a plurality of moving bodies 600. In FIG. 5, a presence range 30_1, a presence range 30_2, a presence range 30_3, a presence range 30_4, a presence range 30_5, and a presence range 30_6 are shown as examples of the presence ranges 30 of the moving bodies 600.

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

[0041] There are multiple display modes for displaying the moving body 600 together with the existence range 30 of the moving body 600 on the transportation digital twin 20. For example, the existence range 30 is calculated and displayed so that the probability that the moving body 600 exists within the existence range 30 is a predetermined value. The existence ranges 30_1, 30_2, 30_3, 30_4, 30_5, and 30_6 shown in FIG. 5 are existence ranges 30 calculated so that the probability that each moving body 600 exists within each existence range 30 is 80%.

[0042] When the presence range 30 is calculated and displayed in this manner so that the probability that a moving body 600 exists within the presence range 30 is a predetermined value, the size of the presence range 30 changes depending on the measurement uncertainty contained in the multiple data acquired by the processing device 110.

[0043] For example, the position information of the mobile body 600 acquired by the position information acquisition system 426 includes an error resulting from the accuracy of the method for measuring the position information. For example, the position information of the mobile body 600 measured by GNSS includes an error of 10 to 20 meters. The position information of the mobile body 600 measured by RTK includes an error of about several centimeters. The presence range 30 calculated by the processing device 110 based on data obtained by a measurement method with a small error will be narrower than the presence range 30 calculated by the processing device 110 based on data obtained by a measurement method with a large error.

[0044] The speed of the vehicle 400 to be measured affects the uncertainty of the measurement. The faster the speed of the vehicle 400 to be measured, the wider the range in which the vehicle 400 is estimated to be present at a given time. In other words, the faster the speed of the vehicle 400 to be measured, the wider the presence range 30 of the vehicle 400 to be measured at a given time. Even when there is a large variation in the speed of the vehicle 400 to be measured, the range in which the vehicle 400 is estimated to be present at a given time becomes wider. In other words, when there is a large variation in the speed of the vehicle 400 to be measured, the presence range 30 of the vehicle 400 to be measured at a given time becomes wider.

[0045] Parameters related to changes in the state of the traffic infrastructure around the vehicle 400 being measured affect the uncertainty of the presence range 30 of the vehicle 400. Parameters related to changes in the state of the traffic infrastructure include, for example, the timing at which the traffic light 820 changes to green and the number of seconds that the traffic light 820 is green. When the traffic light 820 changes to green, the vehicle 400 starts moving. Therefore, when the traffic light 820 changes to green, the presence range 30 of the vehicle 400 becomes wider.

[0046] When multiple moving bodies 600 are present around the vehicle 400 to be measured, the movements of the other moving bodies 600 located around the vehicle 400 to be measured and the movement of the vehicle 400 to be measured may affect each other. Therefore, the processing device 110 widens the range 30 of the vehicle 400 to be measured in accordance with the number of other moving bodies 600 located around the vehicle 400 to be measured.

[0047] The processing device 110 calculates a first presence range 31, which is the presence range 30 of the moving body 600 itself, using a sensor possessed by the moving body 600. In addition, the processing device 110 calculates a second presence range 32, which is the presence range 30 of other moving bodies 600 in the vicinity, using a sensor possessed by the moving body 600. The method by which the processing device 110 calculates the first presence range 31 and the second presence range 32 will be described below.

[0048] <Regarding first presence range 31> When calculating the first presence range 31, the processing device 110 acquires from the mobile object 600 a plurality of pieces of data indicating the position and behavior of the mobile object 600 itself, the data having been collected at a plurality of times by a plurality of sensors possessed by the mobile object 600, via the communication device 130, the external communication network 300, and the in-vehicle communication device 410. The processing device 110 stores the plurality of pieces of data indicating the position and behavior of the mobile object 600 itself in the storage device 120.

[0049] 6 , a method in which the processing device 110 calculates the first presence range 31 based on data collected by sensors of the measurement target vehicle 400 will be described. Examples of data indicating the position and behavior of the measurement target vehicle 400 include the following data. The data indicating the position and behavior of the measurement target vehicle 400 may include the speed of the measurement target vehicle 400 obtained from a vehicle speed sensor 421 of the measurement target vehicle 400. The data indicating the position and behavior of the measurement target vehicle 400 may include the acceleration of the measurement target vehicle 400 obtained from an acceleration sensor 424 of the measurement target vehicle 400. The data indicating the position and behavior of the measurement target vehicle 400 may include the steering angle of the measurement target vehicle 400 obtained from a steering sensor 427 of the measurement target vehicle 400. The data indicating the position and behavior of the measurement target vehicle 400 may include position information of the measurement target vehicle 400 obtained from a position information acquisition system 426 of the measurement target vehicle 400. The data indicating the position and behavior of the vehicle 400 to be measured may include speed and position information of the vehicle 400 to be measured collected by an information terminal 700 carried by an occupant of the vehicle 400 to be measured. The data indicating the position and behavior of the vehicle 400 to be measured may include information on the distance between the vehicle 400 to be measured and the surrounding moving objects 600, obtained from the sonar 425 of the vehicle 400 to be measured. The data indicating the position and behavior of the vehicle 400 to be measured may include images of the surroundings of the vehicle 400 to be measured obtained from the exterior camera 428 of the vehicle 400 to be measured.

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

[0051] <Regarding the second presence range> When calculating the second presence range 32, the processing device 110 acquires from the mobile body 600 via the communication device 130 a plurality of pieces of data indicating the positions and behaviors of other mobile bodies 600 located in the vicinity of the mobile body 600, the data being collected at a plurality of times by a plurality of sensors possessed by the mobile body 600.

[0052] Fig. 7 shows vehicles 400_6 and 400_7 as examples of the moving body 600. Fig. 7 shows an example in which the processing device 110 acquires data indicating the position and behavior of the vehicle 400_7 using a sensor included in the vehicle 400_6, and calculates the second presence range 32 of the vehicle 400_7.

[0053] The processing device 110 can acquire from the vehicle 400_6 a plurality of pieces of data indicating the position and behavior of the vehicle 400_7. The data that the processing device 110 can acquire is, for example, the distance between the vehicle 400_7 and the vehicle 400_6 collected by a sonar 425 mounted on the vehicle 400_6. A detection range 425_1 shown in FIG. 7 is a range within which the sonar 425 equipped on the vehicle 400_6 can detect the moving object 600.

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

[0055] In this way, the processing device 110 can also calculate the presence range 30 of the vehicle 400_7 based on the data acquired from the vehicle 400_6. That is, the control device 100 can calculate the presence range 30 of the moving body 600 that has not provided the control device 100 with data indicating its position and behavior based on data provided by moving bodies surrounding the moving body 600.

[0056] The data on the position and behavior of the vehicle 400_7 acquired by the processing device 110 is data collected by the on-board sensor 420 of the vehicle 400_6. Therefore, the second presence range 32 is affected by the likelihood of the position and behavior of the vehicle 400_6 as perceived by the processing device 110, in addition to the uncertainty of the measurement by the on-board sensor 420 mounted on the vehicle 400_6.

[0057] <Regarding Calculation of Presence Range 30 Based on Both First Presence Range 31 and Second Presence Range 32 by Processing Device 110> The processing device 110 can determine the presence range 30 of the mobile body 600 as a range based on both the first presence range 31 and the second presence range 32. That is, the processing device 110 calculates the first presence range 31 of the mobile body 600 based on a plurality of data indicating the position and behavior of the mobile body 600 itself, collected by a plurality of sensors possessed by the mobile body 600. The processing device 110 calculates the second presence range 32 of the mobile body 600 based on a plurality of data indicating the position and behavior of the mobile body 600, collected by a plurality of sensors possessed by other mobile bodies surrounding the mobile body 600. The processing device 110 determines the calculated range based on both the first presence range 31 and the second presence range 32 of the mobile body 600 as the presence range 30 of the mobile body 600. The following two examples can be given as methods for calculating the presence range 30 based on both the first presence range 31 and the second presence range 32.

[0058] 8, the processing device 110 may determine a third presence range 33, which is the combined range of the first presence range 31 and the second presence range 32, as the presence range 30 of the moving body 600. As shown in Fig. 9, the processing device 110 may determine a fourth presence range 34, which is the overlapping range of the first presence range 31 and the second presence range 32, as the presence range 30 of the moving body 600.

[0059] <Regarding Expansion of the First Presence Range 31 Over Time> The expansion of the presence range 30 will be described using the first presence range 31 as an example. The processing device 110 periodically acquires data via the communication device 130. The processing device 110 periodically calculates the first presence range 31 based on the periodically acquired data. However, the mobile object 600 may move in the real world between the time the processing device 110 calculates the first presence range 31 and the time the next calculation of the first presence range 31 is completed and the first presence range 31 is updated. Until the data is acquired, the processing device 110 cannot grasp the behavior of the mobile object 600. Therefore, the first presence range 31 calculated by the processing device 110 becomes more uncertain as time passes since the calculation.

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

[0061] 10 is a diagram illustrating the expansion of the first presence range 31, taking the calculation of the first presence range 31 of vehicle 400_8 as an example. In FIG. 10, "_N_M" is added to the reference numeral of the first presence range 31. "N" is a number added to indicate an increase in the number of calculations of the first presence range 31. "M" is a number added to indicate an increase in the number of times the first presence range 31 is expanded.

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

[0063] After that, after a predetermined time has elapsed, the processing device 110 causes the display device to display the range in which the vehicle 400_8 is estimated to be present as the first presence range 31_1_2. The first presence range 31_1_2 is a presence range 30 that is expanded from the first presence range 31_1_1.

[0064] After a predetermined time has elapsed, the processing device 110 causes the display device to display the range in which the vehicle 400_8 is estimated to be present as a first presence range 31_1_3. The first presence range 31_1_3 is a presence range 30 that is expanded from the first presence range 31_1_2.

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

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

[0067] <Regarding Expansion of Second Existence Range 32 Over Time> Similar to the first existence range 31, the processing device 110 expands the second existence range 32 over time since calculation.

[0068] 7, the presence range 30 of the vehicle 400_6 is a first presence range 31. The presence range 30 of the vehicle 400_7 is a second presence range 32. The first presence range 31 and the second presence range 32 shown in FIG. 7 are the presence ranges 30 immediately after being calculated by the processing device 110.

[0069] FIG. 11 shows the positions and presence ranges 30 of the vehicles 400_6 and 400_7 after a certain time has passed since the first presence range 31 and the second presence range 32 were calculated by the processing device 110.

[0070] As shown in Figure 11, the processing device 110 displays the second presence range 32 of vehicle 400_7 after a certain time has passed since calculating the first presence range 31 and the second presence range 32, enlarging it compared to the second presence range 32 shown in Figure 7.

[0071] As shown in Figure 11, the processing device 110 displays the first presence range 31 of vehicle 400_6 after a certain time has passed since calculating the first presence range 31 and the second presence range 32, in an enlarged form compared to the first presence range 31 shown in Figure 7.

[0072] <Operation of First Embodiment> The processing device 110 in the control device 100 of the first embodiment calculates the presence range 30, which is the range within which the moving body 600 is estimated to exist. The processing device 110 causes the display device to display the presence range 30 of each of the multiple moving bodies 600. In other words, the control device 100 causes the display device to display the position of each moving body 600 in the transportation digital twin 20, taking into consideration the discrepancy between the position of each moving body 600 in the real world and the position of each moving body 600 in the transportation digital twin 20 reproduced in virtual space.

[0073] <Effects of the first embodiment> (1) A user of the transportation digital twin system 10 can easily recognize the position of each moving body 600 in the transportation digital twin 20, taking into account the deviation of the position from the real world, even if the position of each moving body 600 reproduced in the transportation digital twin 20 cannot be pinpointed to a single point.

[0074] (2) The processing device 110 of the control device 100 calculates the existence range 30 of the mobile object 600 based on the measurement uncertainties of multiple pieces of data indicating the position and behavior of the mobile object 600. The data indicating the position and behavior of the mobile object 600 collected by sensors and acquired by the processing device 110 via the communication device 130 includes measurement uncertainties. Therefore, the processing device 110 calculates the existence range 30 of the mobile object 600 based on the acquired data indicating the position and behavior of the mobile object 600, as well as the measurement uncertainties of that data. This allows the user of the transportation digital twin system 10 to recognize the position of each mobile object 600 in the transportation digital twin 20 based on the existence range 30 that reflects the measurement uncertainties.

[0075] (3) The processing device 110 of the control device 100 calculates the presence range 30 so that the probability that the moving object 600 to be displayed exists within the presence range 30 is a predetermined value. The processing device 110 determines the size of each presence range 30 based on a certain criterion. Therefore, the control device 100 can handle the information indicated by each presence range 30 in the traffic digital twin 20 under a common concept. This allows the control device 100 to calculate a presence range 30 that is easy to use.

[0076] (4) The processing device 110 of the control device 100 calculates the presence range 30 so that the probability that the moving object 600 to be displayed exists within the presence range 30 is a predetermined value less than 100%. The presence range 30 of the moving object 600 is affected by measurement uncertainty in the data indicating the position and behavior of the moving object 600. Therefore, the presence range 30 calculated so that the probability that the moving object 600 exists within the presence range 30 is 100% may be an extremely wide range. In contrast, the processing device 110 of the first embodiment calculates the presence range 30 so that the probability that the moving object 600 exists within the presence range 30 is a predetermined value less than 100%. This allows the control device 100 to calculate a presence range 30 that is easy to use.

[0077] (5) In the control device 100, the processing device 110 periodically acquires a plurality of pieces of data via the communication device 130. The processing device 110 periodically calculates the presence range 30 of the moving object 600 based on the plurality of pieces of data acquired periodically. The processing device 110 updates the presence range 30 each time it calculates the presence range 30. After calculating the presence range 30, the processing device 110 increases the size of the presence range 30 of the moving object 600 displayed on the display device over time, from the time the calculation of the presence range 30 is completed until the next calculation of the presence range 30 is completed and the presence range 30 is updated.

[0078] The presence range 30 calculated by the processing device 110 becomes more uncertain as time passes since the calculation. Therefore, the processing device 110 expands the size of the presence range 30 as time passes since the calculation. In this way, the control device 100 can realize a display that reflects the fact that the presence range 30 becomes more uncertain as time passes since the calculation.

[0079] (6) In the control device 100, the processing device 110 acquires, from the moving body 600 via the communication device 130, a plurality of pieces of data indicating the position and behavior of the moving body 600 itself, which have been collected at multiple times by a plurality of sensors possessed by the moving body 600. The processing device 110 calculates a first presence range 31, which is the presence range of the moving body 600 itself, based on the plurality of pieces of data indicating the position and behavior of the moving body 600 itself. The processing device 110 acquires, from other moving bodies 600 in the vicinity of the moving body 600, a plurality of pieces of data indicating the position and behavior of the moving body 600, which have been collected at multiple times by a plurality of sensors possessed by the other moving bodies 600, via the communication device 130. The processing device 110 calculates a second presence range 32, which is the presence range of the moving body 600, based on the plurality of pieces of data indicating the position and behavior of the moving body 600, which have been collected at multiple times by a plurality of sensors possessed by the other moving bodies 600. The processing device 110 determines the presence range 30 of the moving body 600 in the traffic digital twin 20 based on the first presence range 31 for the moving body 600 and the second presence range 32 for the moving body 600. The processing device 110 displays the determined presence range 30 of the moving body 600 on a display device.

[0080] The processing device 110 determines the presence range 30 of the moving body 600 based on the first presence range 31 and the second presence range 32. The processing device 110 displays the presence range 30 of each of the multiple moving bodies 600 on the display device based on the presence range 30 determined in this way. This allows the user of the transportation digital twin system 10 to recognize the position and behavior in the transportation digital twin 20 even of moving bodies 600 that are not communicating with the control device 100 of the transportation digital twin 20.

[0081] (7) The processing device 110 determines the presence range 30 of the moving object 600 based on the first presence range 31 and the second presence range 32. As a result, the user of the transportation digital twin system 10 can more accurately recognize the position and behavior of the moving object 600 in the transportation digital twin 20.

[0082] (8) The processing device 110 determines the presence range 30 of the moving body 600 based on the second presence range 32. Therefore, the control device 100 can display the presence ranges 30 of vehicles 400, pedestrians 520, etc. that are not communicating with the control device 100 of the traffic digital twin 20 on the display device.

[0083] (9) The processing device 110 can display the presence range 30 of the moving body 600 on the display device more accurately than if the presence range 30 were displayed on the display device based only on the first presence range 31 or only on the second presence range 32.

[0084] (10) The control method executed by the control device 100 includes a step (step S100) in which the processing device 110 acquires, via the communication device 130, a plurality of pieces of data indicating the positions and behaviors of moving objects 600 existing in the real world, collected at a plurality of times by a plurality of sensors, in association with the time at which each piece of data was acquired. The control method executed by the control device 100 includes a step (step S110) in which the processing device 110 calculates a presence range 30 in the transportation digital twin 20, which is a range within which the moving objects 600 are estimated to exist. The control method executed by the control device 100 includes a step (step S120) in which the processing device 110 constructs, in a virtual space, a transportation digital twin 20 that reproduces the positions and behaviors of a plurality of moving objects 600 based on a plurality of time-synchronized pieces of data. The control method executed by the control device 100 includes a step (step S130) in which the processing device 110 displays the presence range 30 in the transportation digital twin 20 on a display device.

[0085] By executing this control method, the processing device 110 of the control device 100 calculates a presence range 30, which is a range within which the moving body 600 is estimated to exist. The processing device 110 displays the presence range 30 of each of the multiple moving bodies 600 on a display device. In other words, the control device 100 causes the display device to display the position of each moving body 600 in the transportation digital twin 20, taking into account the discrepancy between the position of each moving body 600 in the real world and the position of each moving body 600 in the transportation digital twin 20 reproduced in virtual space.

[0086] This makes it easier for users of the transportation digital twin system 10 to recognize the position of each moving body 600 in the transportation digital twin 20, taking into account the deviation of position from the real world, even if the position of each moving body 600 reproduced in the transportation digital twin 20 cannot be pinpointed to a single point.

[0087] (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, via the communication device 130, multiple pieces of data indicating the positions and behaviors of multiple moving objects 600 existing in the real world, collected at multiple times by multiple sensors, in association with the time at which each piece of data was acquired. The control program causes the processing device 110 to construct a transportation digital twin 20 that reproduces the positions and behaviors of the multiple moving objects 600 in a virtual space, based on the multiple pieces of time-synchronized data. The control program causes the processing device 110 to calculate a presence range 30 in the transportation digital twin 20, which is a range within which the moving objects 600 are estimated to exist. The control program causes the processing device 110 to display the presence range 30 in the transportation digital twin 20 on a display device. In other words, the control program causes the display device to display the position of each moving body 600 in the traffic digital twin 20, taking into account the discrepancy between the position of each moving body 600 in the real world and the position of each moving body 600 in the traffic digital twin 20 reproduced in virtual space.

[0088] This makes it easier for users of the transportation digital twin system 10 to recognize the position of each moving body 600 in the transportation digital twin 20, taking into account the deviation of position from the real world, even if the position of each moving body 600 reproduced in the transportation digital twin 20 cannot be pinpointed to a single point.

[0089] <Modifications of the First Embodiment> The first embodiment can be modified as follows: The first embodiment and the following modifications can be combined and implemented within the scope of no technical contradiction.

[0090] The processing device 110 of the control device 100 may calculate only the first presence range 31 of the moving body 600. In that case, the presence range 30 of the moving body 600 is the first presence range 31. The processing device 110 may calculate only the second presence range 32 of the moving body 600. In that case, the presence range 30 of the moving body 600 is the second presence range 32.

[0091] When the processing device 110 calculates both the first presence range 31 and the second presence range 32 of the moving object 600 , the processing device 110 may consider only the first presence range 31 as the presence range 30 of the moving object 600 .

[0092] When the processing device 110 calculates both the first presence range 31 and the second presence range 32 of the moving object 600 , the processing device 110 may consider only the second presence range 32 as the presence range 30 of the moving object 600 .

[0093] When the processing device 110 is unable to calculate the first presence range 31 of the moving body 600, it may regard the second presence range 32 as the presence range 30 of the moving body 600. When the processing device 110 is unable to calculate the second presence range 32 of the moving body 600, it may regard the first presence range 31 as the presence range 30 of the moving body 600.

[0094] The processing device 110 does not need to acquire the measurement uncertainty for each measurement result regarding the information indicating the position or behavior of the moving object 600. In this case, for example, a coefficient for reflecting the uncertainty of the information indicating the position or behavior is set in advance for each measurement method. The processing device 110 calculates the existence 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.

[0095] When calculating the probability that the moving object 600 is present within the presence range 30 of the moving object 600, the processing device 110 does not need to take into account the measurement uncertainty for each measurement result of the information indicating the position or behavior of the moving object 600. In this case, for example, a coefficient for reflecting the uncertainty of the information indicating the position or behavior of the moving object 600 is set in advance for each measurement method.

[0096] The processing device 110 may not need to expand the presence range 30 over time from when the presence range 30 is calculated until the next calculation of the presence range 30 is completed and the presence range 30 is updated. For example, the processing device 110 may take into account the time until the next update of the presence range 30 and display on the display device a presence range 30 that has been expanded in advance from the time of calculation of the presence range 30 until the time immediately before the next update of the presence range 30. In other words, in this case, a presence range 30 that is expanded more than the calculated presence range 30 is always displayed on the display device.

[0097] The processing device 110 does not have to display the presence ranges 30 on the display device so that the probability that the moving body 600 exists in the presence range 30 is the same for all displayed presence ranges 30. For example, the presence ranges 30 may be displayed so that for one presence range 30, the probability that the moving body 600 exists in that presence range 30 is 60%, and for another presence range 30, the probability that the moving body 600 exists in that presence range 30 is 80%.

[0098] The processing device 110 may display the presence range 30 in a manner that gradually changes the color of the presence range 30 in accordance with the probability that the vehicle 400 is present within the presence range 30. For example, the processing device 110 may display the presence range 30 in a manner that the color of the presence range 30 becomes darker as the probability of the presence of the vehicle 400 increases.

[0099] The processing device 110 does not have to display the presence range 30 in a circular shape on the display device. For example, the processing device 110 may display the presence range 30 on the display device in an elliptical shape that matches the lane on which the vehicle 400 is traveling. For example, the processing device 110 may display, as the presence range 30, a range that excludes portions of the presence range 30 calculated as a circle where it is known from map information that the moving object 600 cannot be present. For example, the processing device 110 may display the presence range 30 on the display device in a shape that takes into account buildings and the like around the vehicle 400.

[0100] The processing device 110 may acquire information regarding the length, height, and width of the vehicle 400. In this case, the processing device 110 may calculate the presence range 30 taking into account the length, height, and width of the vehicle 400.

[0101] Second Embodiment Next, a second embodiment will be described with reference to Fig. 3 and Fig. 12 to Fig. 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 transportation digital twin system 10.

[0102] As shown in FIG. 3 , the processing device 110 of the control device 100 controls the vehicle 400 by transmitting information to devices provided in the vehicle 400 via the external communication network 300 and the in-vehicle communication device 410 .

[0103] For example, the processing device 110 can transmit information to a brake system 430 of the vehicle 400 to slow down or stop the vehicle 400. The processing device 110 can transmit information to a steering system 432 of the vehicle 400 to control the steering of the vehicle 400.

[0104] <Control of vehicle 30 by processing device 110 according to the size of the vehicle's 400 presence range 30> The processing device 110 changes the content of control over the vehicle 400 to be controlled according to the size of the vehicle's 400 presence range 30 in the traffic digital twin 20.

[0105] 12 shows the flow of a series of processes related to the control of the vehicle 400 executed by the processing device 110. A control program that causes the processing device 110 to execute this series of processes is stored in the storage device 120 of the control device 100. This series of processes is repeatedly executed by the processing device 110 of the control device 100 in accordance with the control program stored in the storage device 120.

[0106] When this series of processes starts, the processing device 110 calculates the presence range 30 of the control-target vehicle 400 in the process of step S300, as in the first embodiment. That is, in the process of step S300, the processing device 110 executes the series of processes shown in FIG. 4 to calculate the presence range 30 of the control-target vehicle 400. Next, in the process of step S310, the processing device 110 determines whether or not control of the control-target vehicle 400 is necessary. A case in which the processing device 110 determines that control of the control-target vehicle 400 is necessary (step S310: YES) is, for example, a case in which the presence range 30_9 of the control-target vehicle 400_9 at least partially overlaps with the presence range 30_10 of another vehicle 400_10, as shown in FIG. 13 .

[0107] 12 , if the processing device 110 determines that control of the vehicle 400 to be controlled is necessary (step S310: YES), the process proceeds to step S320. In the process of step S320, the processing device 110 controls the vehicle 400 in accordance with the size of the range 30 within which the vehicle 400 to be controlled is located.

[0108] 14 , the widths of the presence range 30_11 of the vehicle 400_11, the presence range 30_12 of the vehicle 400_12, and the presence range 30_13 of the vehicle 400_13 are all set so that the probability that the vehicle 400 is present within the presence range 30 is 80%. If the probability that the vehicle 400 is present within the presence range 30 is the same, the narrower the presence range 30, the more accurately the processing device 110 can grasp the position and behavior of the vehicle 400 to be controlled. Therefore, if the probability that the vehicle 400 is present within the presence range 30 is the same, the narrower the presence range 30, the more the processing device 110 can implement control on the vehicle 400 to be controlled that involves a greater degree of involvement in the traveling of the vehicle 400.

[0109] 14 , the widest presence range 30 is presence range 30_13. For vehicle 400_13 that is estimated to be present within presence range 30_13, which is the widest presence range 30, processing device 110 can implement control that has a small degree of involvement in the traveling of vehicle 400. Control that has a small degree of involvement in the traveling of vehicle 400 includes, for example, issuing a warning to the driver via display 434 or speaker 435 shown in FIG.

[0110] Of the three presence ranges 30 shown in Fig. 14, the narrowest presence range 30 is presence range 30_11. For a vehicle 400_11 that is estimated to be present within presence range 30_11, which is the narrowest presence range 30, the processing device 110 can implement control that has a large degree of involvement in the traveling of the vehicle 400. Control that has a large degree of involvement in the traveling of the vehicle 400 includes, for example, steering control via the steering system 432 of the vehicle 400 shown in Fig. 3. The processing device 110 may control the blinkers 433 in addition to the steering control.

[0111] 14 , the presence range 30 with a medium size is the presence range 30_12. For the vehicle 400_12 that is estimated to be present within the presence range 30_12, which is the medium presence range 30, the processing device 110 can implement control with a medium degree of involvement in the traveling of the vehicle 400. Control with a medium degree of involvement in the traveling of the vehicle 400 includes, for example, decelerating and stopping the vehicle 400 via the brake system 430 of the vehicle 400 shown in FIG.

[0112] 12 , after the processing device 110 has performed control according to the size of the range 30 of existence of the vehicle 400, the processing device 110 ends the control of the controlled vehicle 400. If the processing device 110 determines that control of the controlled vehicle 400 is not necessary (step S310: NO), the processing device 110 ends this series of processes without executing the process of step S320.

[0113] <Operation of Second Embodiment> The processing device 110 in the control device 100 controls the vehicle 400 to be controlled based on the size of the existence range 30 of the vehicle 400 to be controlled. In other words, the processing device 110 controls each vehicle 400 on the traffic digital twin 20, taking into account the existence range 30, which is a range in which the vehicle 400 is estimated to be present, that exceeds the size of the actual vehicle 400.

[0114] <Effects of the second embodiment> (1) The processing device 110 of the control device 100 of the second embodiment can safely control the vehicle 400 to be controlled even if the position of each moving body 600 reproduced in the traffic digital twin 20 cannot be identified to a single point.

[0115] (2) In the control device 100 of the second embodiment, the processing device 110 calculates the presence range 30 of the moving body 600 so that the probability that the moving body 600 is present within the presence range 30 is a predetermined value. The processing device 110 controls the vehicle 400 to be controlled when the presence range 30 of the vehicle 400 to be controlled and the presence range 30 of another moving body 600 at least partially overlap.

[0116] The processing device 110 determines the size of the presence range 30 of multiple vehicles 400, including the vehicle 400 to be controlled, based on certain criteria. Therefore, the control device 100 can handle the information indicated by each presence range 30 in the traffic digital twin 20 under a common concept. This allows the control device 100 to calculate a presence range 30 that is easy to use when controlling the vehicles 400.

[0117] (3) In the control device 100 of the second embodiment, the processing device 110 changes the content of control for the controlled vehicle 400 depending on the width of the presence range 30 of the controlled vehicle 400. In the traffic digital twin 20, the width of the presence range 30 calculated so that the probability that the vehicle 400 exists within the presence range 30 is a predetermined value varies depending on the accuracy of the position and behavior of the vehicle 400 estimated by the control device 100. A wide calculated presence range 30 means that the accuracy of the position and behavior of the vehicle 400 estimated by the control device 100 is low. The control that can be executed by the processing device 110 also includes control that cannot be implemented unless the position and behavior of the controlled vehicle 400 can be accurately grasped, such as steering control. The processing device 110 changes the content of control for the controlled vehicle 400 depending on the width of the presence range 30. This allows the processing device 110 to execute control depending on the accuracy of the estimation of the position and behavior of the controlled vehicle 400.

[0118] (4) The control method executed by the control device 100 of the second embodiment includes a step (step S100) in which the processing device 110 acquires, via the communication device 130, a plurality of pieces of data indicating the position and behavior of a moving object 600 existing in the real world, collected at a plurality of times by a plurality of sensors, in association with the time at which each piece of data was acquired. The control method executed by the control device 100 also includes a step (step S110) in which the processing device 110 calculates a presence range 30 in the transportation digital twin 20, which is a range within which the moving object 600 is estimated to exist. The control method executed by the control device 100 also includes a step (step S120) in which the processing device 110 constructs, in a virtual space, a transportation digital twin 20 that reproduces the positions and behaviors of a plurality of moving objects 600, based on a plurality of time-synchronized pieces of data. The control method executed by the control device 100 also includes a step (step S320) in which the processing device 110 controls the vehicle 400 via the communication device 130 based on the presence range 30 in the transportation digital twin 20.

[0119] By executing this control method, the control device 100 controls the vehicle 400 to be controlled based on the existence range 30 of the moving body 600. In other words, by executing this control method, the control device 100 controls the vehicle 400 to be controlled, taking into account the range in which the moving body 600 is estimated to exist, beyond the actual size of the moving body 600, for each moving body 600 on the traffic digital twin 20. By executing this control method, the control device 100 can safely control the vehicle 400.

[0120] (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, via the communication device 130, multiple pieces of data indicating the positions and behaviors of multiple moving objects 600 present in the real world, collected at multiple times by multiple sensors, in association with the time at which each piece of data was acquired. The control program causes the processing device 110 to construct a transportation digital twin 20 that reproduces the positions and behaviors of the multiple moving objects 600 in a virtual space based on the multiple pieces of time-synchronized data. The control program causes the processing device 110 to calculate a presence range 30, which is a range within which the moving objects 600 are estimated to exist, in the transportation digital twin 20. The control program causes the processing device 110 to control a target vehicle 400 via the communication device 130 based on the presence ranges 30 of the multiple moving objects 600. The processing device 110 of the control device 100 controls the target vehicle 400 based on the presence ranges 30 of the moving objects 600. In other words, the control program causes the control device 100 to control the vehicle 400 to be controlled, taking into account the range in which the moving body 600 is estimated to exist, beyond the actual size of the moving body 600, for each moving body 600 on the traffic digital twin 20.

[0121] That is, the control program enables the control device 100 to safely control the vehicle 400. <Modifications of the Second Embodiment> The second embodiment described above can be modified as follows: The second embodiment and the following modifications can be combined and implemented within the scope of no technical contradiction.

[0122] The processing device 110 can change the content of control for the vehicle 400 to be controlled, depending on the probability that the vehicle 400 is present within the presence range 30. Modification examples will be described with reference to Figures 3, 13, 15 and 16.

[0123] 15 shows the flow of a series of processes related to the control of the vehicle 400 executed by the processing device 110. A control program that causes the processing device 110 to execute this series of processes is stored in the storage device 120 of the control device 100. This series of processes is repeatedly executed by the processing device 110 in accordance with the control program stored in the storage device 120.

[0124] 15 , when this series of processes starts, the processing device 110 calculates the presence range 30 of the control-target vehicle 400 in the process of step S400, similar to the process of step S300 in the second embodiment. Next, the processing device 110 determines whether or not control of the control-target vehicle 400 is necessary in the process of step S410. The processing device 110 determines that control of the control-target vehicle 400 is necessary (step S410: YES) when, for example, the presence range 30_9 of the control-target vehicle 400_9 at least partially overlaps with the presence range 30_10 of another vehicle 400_10, as shown in FIG.

[0125] If the processing device 110 determines that the target vehicle 400 needs to be controlled (step S410: YES), the process proceeds to step S420. In the process of step S420, the processing device 110 controls the target vehicle 400 according to the probability that the vehicle 400 is present within the presence range 30.

[0126] 16 shows an example in which the control device 100 displays a presence range 30 of a certain size in the traffic digital twin 20. As shown in Fig. 16, in this case, the presence range 30_14 of vehicle 400_14, the presence range 30_15 of vehicle 400_15, and the presence range 30_16 of vehicle 400_16 are all the same size. In this case, the control device 100 calculates the presence probability of each moving body 600 in the presence range 30.

[0127] For example, in the example shown in FIG. 16 , the probability that vehicle 400_14 exists within presence range 30_14 is 60%. That is, the probability that vehicle 400_14 exists in presence range 30_14 is 60%. The probability that vehicle 400_15 exists within presence range 30_15 is 80%. That is, the probability that vehicle 400_15 exists in presence range 30_15 is 80%. The probability that vehicle 400_16 exists within presence range 30_16 is 95%. That is, the probability that vehicle 400_16 exists in presence range 30_16 is 95%.

[0128] When the size of the presence range 30 is the same, the higher the probability that the vehicle 400 is present within the presence range 30, the more accurately the processing device 110 can grasp the position and behavior of the control target vehicle 400. Therefore, the higher the probability that the vehicle 400 is present within the presence range 30, the more the processing device 110 can implement control on the control target vehicle 400 that involves a greater degree of involvement in the driving of the vehicle 400.

[0129] For example, when the probability of the vehicle 400_14 being present in the presence range 30_14 is 60%, the processing device 110 can implement control with a low degree of involvement in the driving of the vehicle 400_14. Control with a low degree of involvement in the driving of the vehicle 400 includes, for example, issuing a warning to the driver via the display 434 or the speaker 435 shown in FIG.

[0130] For example, when the presence probability of the vehicle 400_15 in the presence range 30_15 is 80%, the processing device 110 can perform control with a medium degree of involvement in the traveling of the vehicle 400_15. Control with a medium degree of involvement in the traveling of the vehicle 400 includes, for example, decelerating and stopping the vehicle 400 via the brake system 430 of the vehicle 400 shown in FIG.

[0131] When the probability of the vehicle 400_16 being present in the presence range 30_16 is 95%, the processing device 110 can implement control that has a large degree of involvement in the traveling of the vehicle 400_16. Control that has a large degree of involvement in the traveling of the vehicle 400 includes, for example, steering control via the steering system 432 of the vehicle 400 shown in Fig. 3. The processing device 110 may control the blinker 433 in addition to the steering control.

[0132] 15 , after the processing device 110 performs control according to the probability that the vehicle 400 is present within the existence range 30, the processing device 110 ends the control of the controlled vehicle 400. If the processing device 110 determines that control of the controlled vehicle 400 is not necessary (step S410: NO), the processing device 110 ends the control of the controlled vehicle 400.

[0133] - The control device 100 may change the content of control for the vehicle 400 to be controlled depending on the distance L between the presence range 30 of another moving body 600 that at least partially overlaps with the presence range 30 of the vehicle 400 to be controlled and the center Cent of the presence range 30 of the vehicle 400 to be controlled.

[0134] In this case, the processing device 110 changes the content of the control for the vehicle 400 to be controlled, depending on the distance L between the existence range 30 of the other moving body 600 and the center Cent of the existence range 30 of the vehicle 400 to be controlled. This modification example will be described with reference to Figures 3 and 17 to 20.

[0135] 17 shows the flow of a series of processes related to the control of the vehicle 400 executed by the processing device 110. A control program that causes the processing device 110 to execute this series of processes is stored in the storage device 120 of the control device 100. This series of processes is repeatedly executed by the processing device 110 in accordance with the control program stored in the storage device 120.

[0136] 17 , when this series of processes starts, the processing device 110 calculates the presence range 30 of the vehicle 400 to be controlled in step S500, similar to the process of step S300 in the second embodiment. Subsequently, the processing device 110 determines whether or not control of the vehicle 400 to be controlled is necessary in step S510. The processing device 110 determines that control of the vehicle 400 to be controlled is necessary (step S510: YES) when, for example, the presence range 30_17 of the vehicle 400_17 to be controlled at least partially overlaps with the presence range 30_18 of another vehicle 400_18, as shown in FIG.

[0137] If the processing device 110 determines that control of the target vehicle 400 is necessary (step S510: YES), the process proceeds to step S520. In the process of step S520, the processing device 110 controls the target vehicle 400 in accordance with the distance L between the presence range 30 of the other moving body 600 and the center Cent of the presence range 30 of the target vehicle 400.

[0138] The closer the presence range 30 of the other moving body 600 is to the center Cent of the presence range 30 of the control target vehicle 400, the higher the probability that the control target vehicle 400 is present at that location. The higher the probability that the control target vehicle 400 is present, the more accurately the processing device 110 can grasp the position and behavior of the control target vehicle 400. Therefore, the closer the presence range 30 of the other moving body 600 is to the center Cent of the presence range 30 of the control target vehicle 400, the more the processing device 110 can implement control on the control target vehicle 400 that involves a greater degree of involvement in the driving of the vehicle 400.

[0139] 18 illustrates a case where the distance L between the presence range 30_18 of the other vehicle 400_18 and the center Cent of the presence range 30_17 of the controlled vehicle 400_17 is greater than a predetermined medium distance L_2 and less than a predetermined long distance L_1. In this case, the processing device 110 can implement control with a low degree of involvement in the driving of the controlled vehicle 400_18. Control with a low degree of involvement in the driving of the vehicle 400 includes, for example, issuing a warning to the driver via the display 434 or speaker 435 shown in FIG. 3.

[0140] 19 illustrates a case where the distance L between the presence range 30_18 of the other vehicle 400_18 and the center Cent of the presence range 30_17 of the controlled vehicle 400_17 is greater than a predetermined short distance L_3 and within a predetermined medium distance L_2. In this case, the processing device 110 can perform control on the controlled vehicle 400_17 with a medium degree of involvement in the driving of the controlled vehicle 400. Control with a medium degree of involvement in the driving of the vehicle 400 includes, for example, decelerating and stopping the vehicle 400 via the brake system 430 of the vehicle 400 shown in FIG.

[0141] 20 shows a case where the distance L between the presence range 30_18 of the other vehicle 400_18 and the center Cent of the presence range 30_17 of the controlled vehicle 400_17 is within a predetermined short distance L_3. In this case, the processing device 110 can perform control on the controlled vehicle 400_17 with a high degree of involvement in the driving of the controlled vehicle 400. Control with a high degree of involvement in the driving of the vehicle 400 includes, for example, steering control via the steering system 432 of the vehicle 400 shown in FIG.

[0142] If the processing device 110 determines that control of the target vehicle 400 is not necessary (step S510: NO), the processing device 110 ends the processing. After the processing device 110 performs control according to the distance L between the presence range 30 of the other moving body 600 and the center Cent of the presence range 30 of the target vehicle 400, the processing device 110 ends the processing.

[0143] The closer to the center Cent of the existence range 30 of the vehicle 400 to be controlled, the higher the probability that the vehicle 400 to be controlled is present at that location. The processing device 110 can execute control according to the accuracy of the estimation of the position and behavior of the vehicle 400 to be controlled.

[0144] The control of the vehicle 400 executed by the processing device 110 can be applied to various advanced safety technologies, such as PCS (Pre-crash Safety), ACC (Adaptive Cruise Control), LKA (Lane Keeping Assist), and LCA (Lane Change Assist).

[0145] <Other Modifications> Other common modifiable elements of the above-described embodiments include the following: The following modifications can be implemented in combination with each other within the scope of technical compatibility.

[0146] The processing device 110 of the control device 100 does not have to display the presence ranges 30 of the multiple moving bodies 600 in the traffic digital twin 20 on the display device. In other words, the processing device 110 may control the multiple vehicles 400 in the real world based on the presence ranges 30 of the multiple moving bodies 600 via the communication device 130, without displaying on the display device. In this case, the processing device 110 executes the series of processes described with reference to FIG. 4 , excluding the process of S130.

[0147] <Supplementary Notes> The technical ideas that can be understood from the above-described embodiments and modified examples will be described below. [Supplementary Note 1] A control device including: an acquisition unit configured to acquire data indicating the positions of a plurality of moving objects that exist in the real world; and a display control unit configured to cause a display device to display a presence range, which is a range within which each of the moving objects is estimated to exist, in a virtual space that reproduces the positions of the plurality of moving objects and is constructed based on the data acquired by the acquisition unit.

[0148] [Supplementary Note 2] The control device according to [Supplementary Note 1], wherein the acquisition unit is configured to acquire the data collected by a plurality of sensors. [Supplementary Note 3] The control device according to [Supplementary Note 1] or [Supplementary Note 2], wherein the acquisition unit is configured to acquire the data in association with information on the time when the data was acquired.

[0149] [Appendix 4] A control device described in any one of [Appendix 1] to [Appendix 3], further comprising a calculation unit configured to calculate the existence range of the moving bodies based on the accuracy of the positions of the multiple moving bodies indicated by the data, and the display control unit configured to display the existence range calculated by the calculation unit on the display device.

[0150] [Supplementary Note 5] The control device described in [Supplementary Note 4], wherein the calculation unit is configured to calculate the existence range so that the probability that the moving object to be displayed exists within the existence range becomes a predetermined value.

[0151] [Appendix 6] A control device as described in [Appendix 4] or [Appendix 5], wherein the display control unit is configured to expand the size of the existence range as time passes from the calculation by the calculation unit until the next calculation of the existence range is completed, and display the expanded size of the existence range on the display device.

[0152] [Appendix 7] A control device described in any one of [Appendix 1] to [Appendix 6], wherein the acquisition unit is configured to acquire at least data indicating the position of the mobile body itself collected by a sensor possessed by the mobile body.

[0153] [Appendix 8] A control device described in any one of [Appendix 1] to [Appendix 6], wherein the acquisition unit is configured to acquire at least data from the mobile body indicating the positions of one or more other mobile bodies present in the vicinity of the mobile body, collected by a sensor possessed by the mobile body.

[0154] [Appendix 9] A control device comprising: an acquisition unit configured to acquire data indicating the positions of multiple moving bodies existing in the real world; a calculation unit configured to calculate an existence range, which is a range within which each of the moving bodies is estimated to exist, in a virtual space that reproduces the positions of the multiple moving bodies and is constructed based on the data acquired by the acquisition unit; and a control unit configured to control a vehicle existing in the real world based on the existence range calculated by the calculation unit.

[0155] [Appendix 10] The control device described in [Appendix 9], wherein the calculation unit is configured to calculate the presence range of the moving body so that the probability that the moving body exists within the presence range becomes a predetermined value, and the control unit is configured to change the content of the control when the presence range of the vehicle to be controlled and the presence range of another moving body at least partially overlap.

[0156] [Appendix 11] The control device described in [Appendix 9] or [Appendix 10], wherein the control unit is configured to change the content of the control for the vehicle to be controlled depending on the width of the range of existence of the vehicle to be controlled.

[0157] [Appendix 12] A control device described in any one of [Appendix 9] to [Appendix 11], wherein the control unit is configured to change the content of control over the vehicle to be controlled depending on the probability that the vehicle to be controlled is present within the presence range of the vehicle to be controlled in the virtual space when the presence range of the vehicle to be controlled and the presence range of another moving body at least partially overlap.

[0158] [Appendix 13] The control device described in any one of [Appendix 9] to [Appendix 12], wherein the control unit is configured to expand the size of the presence range over time from the calculation by the calculation unit until the next calculation of the presence range is completed, and to control the vehicle based on the expanded presence range.

[0159] After the acquisition unit calculates the presence range based on the data indicating the position and behavior of the moving object, the moving object may move in the real world until the next calculation of the presence range is completed. Until new data is acquired, the calculation unit cannot grasp the behavior of the moving object. Therefore, the presence range calculated by the calculation unit becomes more uncertain as time passes since the calculation.

[0160] Therefore, the control unit increases the size of the presence range as time passes since the calculation of the presence range, thereby enabling the control device to control the vehicle in a way that reflects the fact that the presence range becomes increasingly uncertain as time passes since the calculation.

[0161] [Appendix 14] A control device described in any one of [Appendix 9] to [Appendix 13], wherein the acquisition unit is configured to acquire at least data indicating the position of the moving body itself collected by a sensor possessed by the moving body, and the calculation unit is configured to calculate the presence range of the vehicle from at least the data indicating the position of the moving body itself.

[0162] [Appendix 15] A control device described in any one of [Appendix 9] to [Appendix 13], wherein the acquisition unit is configured to acquire at least data from the moving body indicating the positions of other moving bodies present in the vicinity of the moving body collected by a sensor possessed by the moving body, and the calculation unit is configured to calculate the presence range of the vehicle from data indicating the positions of at least other moving bodies present in the vicinity of the moving body.

[0163] The control unit can control vehicles taking into account the range of vehicles that are not in communication with the traffic digital twin control device, as well as the range of pedestrians, etc. This allows the control device to control vehicles taking into account the range of mobile objects that are not in direct communication with the traffic digital twin.

[0164] [Appendix 16] A control device described in any one of [Appendix 9] to [Appendix 15], wherein the calculation unit is configured to calculate the presence range of the moving body so that the probability that the moving body exists within the presence range becomes a predetermined value, and the control unit is configured to control the vehicle to be controlled when the presence range of the vehicle to be controlled at least partially overlaps with the presence range of another moving body.

[0165] [Appendix 17] A control device described in any one of [Appendix 9] to [Appendix 15], wherein the calculation unit is configured to calculate the existence range of the moving body so that the probability that the moving body exists within the existence range becomes a predetermined value, and the control unit is configured to control the vehicle to be controlled when the existence range of the vehicle to be controlled comes into contact with the existence range of another moving body.

[0166] When the range of the vehicle to be controlled is narrow, if the range of the vehicle to be controlled and the range of the other moving body overlap at least partially, it is possible that the vehicle and the other moving body may come into contact in the real world. Therefore, the control unit controls the vehicle to be controlled before the range of the vehicle to be controlled and the range of the other moving body overlap. This allows the control device to safely control the vehicle to be controlled.

[0167] [Appendix 18] A control device described in any one of [Appendix 9] to [Appendix 15], wherein the calculation unit is configured to calculate the existence range of the moving body so that the probability that the moving body exists within the existence range becomes a predetermined value, and the control unit is configured to control the vehicle to be controlled when the distance between the outer periphery of the existence range of the vehicle to be controlled and the outer periphery of the existence range of another moving body becomes less than a predetermined distance.

[0168] When the range of the vehicle to be controlled is extremely narrow, it is conceivable that the vehicle and the moving body will collide in the real world when the range of the vehicle to be controlled comes into contact with the range of the other moving body. Therefore, the control unit controls the vehicle to be controlled before the range of the vehicle to be controlled comes into contact with the range of the other moving body. This allows the control device to control the vehicle to be controlled more safely.

[0169] [Appendix 19] A control device described in any one of [Appendix 9] to [Appendix 18], wherein the control unit is configured to change the content of control over the vehicle to be controlled depending on the probability that the vehicle to be controlled is present within the range of the vehicle to be controlled.

[0170] [Appendix 20] A control device described in any one of [Appendix 9] to [Appendix 18], wherein the control unit is configured to change the control content for the vehicle to be controlled depending on the distance between the existence range of the other moving body and the center of the existence range of the vehicle to be controlled.

[0171] [Appendix 21] The control device described in any one of [Appendix 9] to [Appendix 20], wherein the control unit is configured to control the vehicle to be controlled to a greater extent to be involved in the driving of the vehicle, the narrower the range of existence of the vehicle to be controlled, and to control the vehicle to a lesser extent to be involved in the driving of the vehicle, the wider the range of existence of the vehicle to be controlled.

[0172] [Appendix 22] The control device described in any one of [Appendix 9] to [Appendix 20], wherein the control unit is configured to perform control on the vehicle to be controlled that involves a greater degree of involvement in the vehicle's driving, the higher the probability that the vehicle to be controlled is within the range of the vehicle to be controlled.

[0173] [Appendix 23] A control device described in any one of [Appendix 9] to [Appendix 20], wherein the control unit is configured to perform control on the vehicle to be controlled with a greater degree of involvement in the vehicle's driving, the closer the distance between the existence range of the other moving body and the center of the existence range of the vehicle to be controlled is.

[0174] [Appendix 24] The control device described in any one of [Appendix 21] to [Appendix 23], wherein the control unit is configured to issue a warning to the driver of the vehicle to be controlled as a control that has a small degree of involvement in the vehicle's driving.

[0175] [Appendix 25] The control device described in any one of [Appendix 21] to [Appendix 23], wherein the control unit is configured to decelerate the vehicle to be controlled as control with a medium degree of involvement in the vehicle's driving.

[0176] [Appendix 26] The control device described in any one of [Appendix 21] to [Appendix 23], wherein the control unit is configured to stop the vehicle to be controlled as a control with a medium degree of involvement in the vehicle's driving.

[0177] [Appendix 27] The control device described in any one of [Appendix 21] to [Appendix 23], wherein the control unit is configured to perform steering control of the controlled object as control that has a large degree of involvement in the vehicle's driving.

[0178] [Appendix 28] A control method including the steps of: an acquisition unit acquiring data indicating the positions of a plurality of moving bodies existing in the real world; a calculation unit calculating an existence range, which is a range within which each of the moving bodies is estimated to exist, in a virtual space that reproduces the positions of the plurality of moving bodies 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.

[0179] [Appendix 29] A control program configured to cause an acquisition unit to acquire data indicating the positions of multiple moving bodies existing in the real world, cause a calculation unit to calculate an existence range, which is a range within which each of the moving bodies is estimated to exist, in a virtual space that reproduces the positions of the multiple moving bodies based on the data acquired by the acquisition unit, and cause a control unit to control a vehicle existing in the real world based on the existence range.

[0180] [Supplementary Note 30] A control device comprising: an acquisition unit configured to acquire data indicating the positions of multiple moving bodies existing in the real world; a calculation unit configured to calculate a presence range, which is a range within which each of the multiple moving bodies is estimated to exist, in a space that reproduces the positions of the multiple moving bodies, constructed based on the data acquired by the acquisition unit; a display control unit configured to display the presence range on a display device; and a control unit configured to control a vehicle existing in the real world based on the presence range.

[0181] [Appendix 31] A control device as described in [Appendix 30], wherein the display control unit is configured to display the existence range on a display device based on the contents described in any one of [Appendix 1] to [Appendix 8], and the control unit is configured to control the vehicle based on the contents described in any one of [Appendix 9] to [Appendix 27].

[0182] [Appendix 32] A control method including the steps of: an acquisition unit acquiring data indicating the positions of a plurality of moving bodies existing in the real world; a calculation unit calculating an existence range, which is a range within which each of the moving bodies is estimated to exist, in a virtual space that reproduces the positions of the plurality of moving bodies, constructed based on the data acquired by the acquisition unit; a display control unit displaying the existence range on a display device; and a control unit controlling a vehicle existing in the real world based on the existence range.

[0183] [Appendix 33] A control program configured to cause an acquisition unit to acquire data indicating the positions of multiple moving bodies existing in the real world, cause a calculation unit to calculate an existence range, which is a range within which each of the moving bodies is estimated to exist, in a virtual space that reproduces the positions of the multiple moving bodies based on the data acquired by the acquisition unit, cause a display control unit to display the existence range on a display device, and cause a control unit to control a vehicle existing in the real world based on the existence range.

Claims

1. A control device comprising: an acquisition unit configured to acquire data indicating the positions of multiple moving objects existing in the real world; and a display control unit configured to cause a display device to display an existence range, which is the range within which each of the moving objects 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.

2. The control device according to claim 1, wherein the acquisition unit is configured to acquire the data collected by a plurality of sensors.

3. The control device according to claim 1, wherein the acquisition unit is configured to acquire the data in association with information about the time when the data was acquired.

4. The control device according to claim 1, further comprising a calculation unit configured to calculate the presence range of the moving bodies based on the position accuracy of the multiple moving bodies indicated by the data, and the display control unit configured to display the presence range calculated by the calculation unit on the display device.

5. The control device according to claim 4, wherein the calculation unit is configured to calculate the existence range so that the probability that the moving object to be displayed exists within the existence range becomes a predetermined value.

6. The control device according to claim 4, wherein, during the period from when the calculation unit calculates the existence range until the next calculation of the existence range is completed, the display control unit is configured to expand the size of the existence range as time passes from the calculation and display it on the display device.

7. The control device according to claim 1, wherein the acquisition unit is configured to acquire at least data indicating the position of the moving object itself collected by a sensor possessed by the moving object from the moving object.

8. The control device according to claim 1, wherein the acquisition unit is configured to acquire at least data from the moving body indicating the positions of one or more other moving bodies present in the vicinity of the moving body, the data being collected by a sensor possessed by the moving body.

9. A control method comprising: a step in which an acquisition unit acquires data indicating the positions of a plurality of moving bodies existing in the real world; and a step in which a display control unit causes a display device to display an existence range, which is a range within which each of the moving bodies is estimated to exist, in a virtual space that reproduces the positions of the plurality of moving bodies and is constructed based on the data acquired by the acquisition unit.

10. A control program configured to cause an acquisition unit to acquire data indicating the positions of multiple moving objects existing in the real world, and to cause a display control unit to display on a display device an existence range, which is the range within which each of the moving objects 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.

11. A control device comprising: an acquisition unit configured to acquire data indicating the positions of a plurality of moving bodies existing in the real world; a calculation unit configured to calculate a presence range, which is a range within which each of the moving bodies is estimated to exist, in a virtual space that reproduces the positions of the plurality of moving bodies and is constructed based on the data acquired by the acquisition unit; and a control unit configured to control a vehicle existing in the real world based on the presence range calculated by the calculation unit.

12. The control device described in claim 11, wherein the calculation unit is configured to calculate the presence range of the moving body so that the probability that the moving body is present within the presence range becomes a predetermined value, and the control unit is configured to control the vehicle to be controlled when the presence range of the vehicle to be controlled at least partially overlaps with the presence range of another moving body.

13. The control device according to claim 12, wherein the control unit is configured to change the content of the control for the vehicle to be controlled depending on the width of the presence range of the vehicle to be controlled.

14. The control device according to claim 11, wherein the control unit is configured to change the content of control over the vehicle to be controlled depending on the probability that the vehicle to be controlled is present within the presence range of the vehicle to be controlled in the virtual space when the presence range of the vehicle to be controlled at least partially overlaps with the presence range of another moving body.

15. The control device according to claim 11, wherein the control unit is configured to change the content of control over the vehicle to be controlled depending on the distance between the presence range of another moving body that at least partially overlaps with the presence range of the vehicle to be controlled and the center of the presence range of the vehicle to be controlled.

16. The control device according to claim 11, wherein the control unit is configured to control the vehicle to be controlled so as to have a greater degree of involvement in the driving of the vehicle as the presence range of the vehicle to be controlled becomes narrower.

17. The control device according to claim 11, wherein the control unit is configured to perform control on the vehicle to be controlled such that the degree of involvement in the driving of the vehicle to be controlled is greater the higher the probability that the vehicle to be controlled is present within the range of the vehicle to be controlled.

18. The control device according to claim 11, wherein the control unit is configured to control the vehicle to be controlled so as to have a greater degree of involvement in the driving of the vehicle, the closer the distance between the presence range of other moving bodies and the center of the presence range of the vehicle to be controlled is.

19. The control device according to any one of claims 16 to 18, wherein the control unit is configured to issue a warning to a driver of the vehicle to be controlled, as a control that has a small degree of involvement in the driving of the vehicle.

20. The control device according to any one of claims 16 to 18, wherein the control unit is configured to decelerate the vehicle to be controlled as control with a medium degree of involvement in the running of the vehicle.

21. The control device according to any one of claims 16 to 18, wherein the control unit is configured to stop the vehicle to be controlled as control with a medium degree of involvement in the running of the vehicle.

22. The control device according to any one of claims 16 to 18, wherein the control unit is configured to perform steering control of the vehicle to be controlled as a control that has a large influence on the running of the vehicle.

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