Control system, control device, provision device, input terminal, control method, and program

Abstract

This control system is configured so as to execute: acquiring, on the basis of moving body information indicating the position of each of a plurality of moving bodies (700) present in the real world, predicted moving body information indicating the predicted position of each of the moving bodies (700) after the time at which the moving body information was acquired; acquiring the reliability of the predicted moving body information; determining the degree of intervention of a service to be provided to a user (20) on the basis of at least information having a correlation with the degree of intervention; and providing, to the user (20), the service of which the degree of intervention has been determined.

Description

Control system, control device, providing device, input terminal, control method, and program

[0001] This disclosure relates to a control system, a control device, a providing device, an input terminal, a control method, and a program that utilize information 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] The system using a transportation digital twin described in Patent Document 1 provides services based on information from the transportation digital twin. Possible services provided by a system using a transportation digital twin include providing information to vehicle users and controlling vehicle operation. These services include those automatically performed by the system at the appropriate time. Examples of such services include notifications to communication devices carried by users and driving assistance control for vehicles driven by the users. Services that assist users in this way may be provided by the system intervening in the user's actions. It is expected that the frequency and content of service intervention desired by users will vary from user to user.

[0005] A control system according to one aspect of the present disclosure is configured to acquire, based on mobile object information indicating the position of each of a plurality of mobile objects existing in the real world, predicted mobile object information indicating a predicted position of each of the mobile objects after the time the mobile object information is acquired. The control system is configured to acquire a reliability of the predicted object information. The control system is configured to determine a degree of intervention in a service to be provided to a user based on information correlated with at least the degree of intervention. The control system is configured to provide the user with the service for which the degree of intervention has been determined.

[0006] A control device according to one aspect of the present disclosure includes a processing circuit. The processing circuit of the control device is configured to acquire, based on mobile object information indicating the position of each of a plurality of mobile objects existing in the real world, predicted mobile object information indicating a predicted position of each of the mobile objects after a time when the mobile object information is acquired. The processing circuit of the control device is configured to acquire a reliability of the predicted mobile object information. The processing circuit of the control device is configured to determine a degree of intervention in a service to be provided to a user.

[0007] A providing device according to one aspect of the present disclosure includes a processing circuit. The processing circuit of the providing device is configured to acquire, based on mobile object information indicating the position of each of a plurality of mobile objects existing in the real world, predicted mobile object information indicating a predicted position of the mobile object after a time when the mobile object information is acquired. The processing circuit of the providing device is configured to acquire a reliability of the predicted mobile object information. The processing circuit of the providing device is configured to determine a degree of intervention in a service to be provided to a user.

[0008] An input terminal according to one aspect of the present disclosure is an input terminal included in a control system. The input terminal includes a processing circuit and a communication device. The processing circuit of the input terminal is configured to determine a level of intervention of the service for the user based on information correlated with the level of intervention input by the user. The communication device of the input terminal is configured to transmit information indicating the determined level of intervention to the providing device.

[0009] A providing device according to one aspect of the present disclosure is a providing device included in a control system. The providing device includes a processing circuit and a communication device. The communication device of the providing device is configured to acquire information indicating a degree of intervention. The processing circuit of the providing device is configured to adjust a degree of intervention of the service for the user based on the acquired information indicating the degree of intervention.

[0010] A control method according to one aspect of the present disclosure includes acquiring, based on mobile object information indicating the position of each of a plurality of mobile objects existing in the real world, predicted mobile object information indicating a predicted position of each of the mobile objects after a time when the mobile object information is acquired. The control method also includes acquiring a reliability of the predicted mobile object information. The control method also includes determining a degree of intervention in a service to be provided to a user based on information including at least information correlated with the degree of intervention.

[0011] According to one aspect of the present disclosure, there is provided a program executed by a processing circuit of a control device of a control system, the program being configured to cause the processing circuit to acquire information correlated with a degree of intervention of the service desired by a user, and to adjust the degree of intervention of the service for the user based on the acquired information correlated with the degree of intervention.

[0012] FIG. 1 is a schematic diagram showing the configuration of a control system of a first embodiment. FIG. 2 is a schematic diagram showing the configuration of a vehicle that is a provider device in the control system of FIG. 1. FIG. 3 is a sequence diagram showing communication between a control device and a provider device in the control system of FIG. 1. FIG. 4 is a flowchart showing the flow of processing performed by the control device in the control system of FIG. 1. FIG. 5 is a diagram showing predicted mobile object information calculated by the control device of FIG. 1. FIG. 6 is a diagram showing an example of a correspondence table between the size of the presence range of a mobile object and individual reliability stored in a storage device of the control device in the control system of FIG. 1. FIG. 7 is a diagram showing the correspondence between the area of ​​the presence range of each mobile object shown in FIG. 5 and individual reliability. FIG. 8 is a flowchart showing the flow of processing performed by the provider device in the control system of FIG. 1. FIG. 9 is a diagram showing an example of a screen displayed by the provider device of FIG. 1 to acquire a requested intervention level. FIG. 10 is a diagram showing the relationship between a requested intervention level acquired from a user and a lower limit value of the predicted reliability of predicted mobile object information used for a service in the control system of FIG. 1. FIG. 11 is a diagram showing an example of a correspondence table between a requested intervention level acquired by the provider device of FIG. 1 and the content of a service provided to a user by the provider device. FIG. 12 is a flowchart showing the flow of processing executed by a control device in a control system of a first modified example of the first embodiment. FIG. 13 is a sequence diagram showing a mode of communication executed by a control device and a providing device in a control system of a second modified example of the first embodiment. FIG. 14 is a flowchart showing the flow of processing executed by a control device in the control system of FIG. 13. FIG. 15 is a flowchart showing the flow of processing executed by a providing device in the control system of FIG. 13. FIG. 16 is a sequence diagram showing a mode of communication executed by a control device and a providing device in a control system of the second embodiment. FIG. 17 is a flowchart showing the flow of processing executed by a control device in the control system of FIG. 16. FIG. 18 is a flowchart showing the flow of processing executed by a providing device in the control system of FIG. 16. FIG. 19 is a diagram showing an example of a screen displayed by the providing device of FIG. 16 to acquire a requested reliability.FIG. 20 is a diagram showing an example of a matrix used by the control device in the control system of FIG. 16 to calculate an adjustment coefficient based on requested reliability and predicted reliability. FIG. 21 is a diagram showing an example of a matrix used by the control device in the control system of FIG. 16 to determine a service to be provided based on requested reliability and predicted reliability. FIG. 22 is a sequence diagram showing a mode of communication performed by the control device and the providing device in a control system of a modified example of the second embodiment. FIG. 23 is a flowchart showing the flow of processing performed by the control device in the control system of FIG. 22. FIG. 24 is a flowchart showing the flow of processing performed by the providing device in the control system of FIG. 22. FIG. 25 is a schematic diagram showing the configuration of a control system of the third embodiment. FIG. 26 is a sequence diagram showing a mode of communication performed by the control device, the providing device, and the input terminal in the control system of FIG. 25. FIG. 27 is a flowchart showing the flow of processing performed by the control terminal in the control system of FIG. 25. FIG. 28 is a flowchart showing the flow of processing performed by the input terminal in the control system of FIG. 25. FIG. 29 is a flowchart showing the flow of processing performed by the providing device in the control system of FIG. 25. FIG. 30 is a sequence diagram showing a mode of communication performed by a control device, a providing device, and an input terminal in a control system of a first modified example of the third embodiment. FIG. 31 is a flowchart showing the flow of processing performed by the providing device in the control system of FIG. 30. FIG. 32 is a flowchart showing the flow of processing performed by the input terminal in the control system of FIG. 30. FIG. 33 is a sequence diagram showing a mode of communication performed by a control device, a providing device, and an input terminal in a control system of a second modified example of the third embodiment. FIG. 34 is a flowchart showing the flow of processing performed by the control device in the control system of FIG. 33. FIG. 35 is a flowchart showing the flow of processing performed by the providing device in the control system of FIG. 33. FIG. 36 is a flowchart showing the flow of processing performed by the input terminal in the control system of FIG. 33. FIG. 37 is a sequence diagram showing a mode of communication performed by a control device and a providing device in a control system of a first modified example common to the first to third embodiments.Fig. 38 is a flowchart showing the flow of processing executed by a control device in the control system of Fig. 37. Fig. 39 is a flowchart showing the flow of processing executed by a providing device in the control system of Fig. 37. Fig. 40 is a diagram showing the correspondence between the type of mobile body information acquired by a control system of a second modified example common to the first to third embodiments and the individual reliability of each piece of mobile body information. Fig. 41 is a diagram showing an example of a confirmation screen displayed by a providing device of a third modified example common to the first to third embodiments.

[0013] First Embodiment Hereinafter, a first embodiment of a control system 10 that uses information that reproduces a real-world traffic environment in a virtual space will be described with reference to FIGS. 1 to 11. FIG.

[0014] 1, the control system 10 includes a control device 100, an external communication network 400, and a providing device 200. The control device 100 and the providing device 200 are connected to each other via the external communication network 400 so as to be able to communicate with each other.

[0015] The control device 100 includes a first processing circuit 101, a first storage device 102, and a first communication device 103. Programs are stored in the first storage device 102. The first processing circuit 101 executes the programs stored in the first storage device 102 to perform various processes. The first processing circuit 101 includes one or more processors. The control device 100 is connected to an external communication network 400 via the first communication device 103.

[0016] The providing device 200 includes a second processing circuit 201, a second storage device 202, and a second communication device 203. A program is stored in the second storage device 202. The second processing circuit 201 executes the program stored in the second storage device 202 to perform various processes. The second processing circuit 201 includes one or more processors. The providing device 200 is connected to an external communication network 400 via the second communication device 203.

[0017] Each of the first processing circuit 101 and the second processing circuit 201 may include one or more dedicated hardware circuits, such as an application specific integrated circuit (ASIC), that perform at least some of the various processes. Alternatively, each of the first processing circuit 101 and the second processing circuit 201 may include a combination of one or more processors and one or more dedicated hardware circuits. Each of the first storage device 102 and the second storage device 202 includes memory, such as RAM and ROM, and memory, i.e., computer-readable medium, includes any available medium that can be accessed by a general-purpose or special-purpose computer.

[0018] The providing device 200 provides a service to a user 20 of the providing device 200 based on information acquired via an external communication network 400. The control device 100 acquires information on a plurality of moving bodies 700 in the real world in order to reproduce a traffic environment in the real world in a virtual space. The plurality of moving bodies 700 are objects that move in the real world.

[0019] The multiple moving bodies 700 include multiple vehicles 500. The vehicles 500 include motorcycles. Each vehicle 500 is equipped with multiple on-board sensors 510. Specific examples of the on-board sensors 510 will be described later. Each vehicle 500 transmits and acquires information via the external communication network 400. For example, the vehicle 500 can transmit information acquired by the on-board sensors 510 to the control device 100. For example, the vehicle 500 can provide a service to the user 20 of the vehicle 500 based on the information transmitted from the control device 100. In other words, the vehicle 500 can function as the providing device 200.

[0020] The moving object 700 also includes a plurality of pedestrians 600 and bicycles. The moving object 700 also includes animals. The information processing terminal 800 is, for example, a smartphone carried by the pedestrian 600. The information processing terminal 800 also includes a wearable terminal and a tablet terminal. The wearable terminal includes, for example, a ring-type terminal worn on the wrist and a necklace-type terminal worn around the neck.

[0021] The road sensors 900 are a plurality of sensors installed on a road. For example, the road sensors 900 include a plurality of road cameras 910 and a plurality of traffic lights 920. The information processing terminal 800 and the road sensors 900 collect a plurality of pieces of mobile object information indicating the positions and behaviors of a plurality of mobile objects 700 at a plurality of times.

[0022] The control device 100 periodically acquires mobile object information indicating the positions and behaviors of multiple mobile objects 700 from multiple vehicles 500, multiple information processing terminals 800, and multiple road sensors 900 via the first communication device 103, in association with time. The times at which the control device 100 acquires each piece of mobile object information may be different. The control device 100 stores the acquired mobile object information indicating the positions and behaviors of the multiple mobile objects 700 in the first storage device 102, in association with the times at which each piece of mobile object information was acquired.

[0023] The first processing circuit 101 of the control device 100 calculates predicted moving object information based on the moving object information stored in the first storage device 102. The method of calculating the predicted moving object information will be described later.

[0024] <Regarding Mobile Object Information Collected by Control Device 100> The following describes mobile object information indicating the position and behavior of the mobile object 700, which is collected by the control device 100 and stored in the first storage device 102. The mobile object information collected by the control device 100 and stored in the first storage device 102 includes, for example, vehicle information such as the VIN (Vehicle Identification Number) of the vehicle 500, and information on the vehicle speed, traveling direction, traveling trajectory, and position of the vehicle 500.

[0025] The mobile object information collected by the control device 100 and stored in the first storage device 102 includes mobile object information indicating the position and behavior of a mobile object 700 other than a vehicle 500. The mobile object information indicating the position and behavior of a mobile object 700 other than a vehicle 500 is, for example, mobile object information indicating the position and behavior of a pedestrian 600 or a bicycle.

[0026] The road sensor 900 collects information related to changes in the state of the traffic infrastructure around the road sensor 900. The information related to changes in the state of the traffic infrastructure is, for example, information related to changes in the state of a traffic light 920. The information related to changes in the state of the traffic light 920 is, for example, the timing when the traffic light 920 switches to green and the duration for which the traffic light 920 is green.

[0027] The road sensor 900 recognizes the vehicle 500 around the road sensor 900. For example, the road sensor 900 transmits information about the vehicle 500 that appears in an image captured by the road camera 910 to the control device 100.

[0028] <When vehicle 500 functions as providing device 200> Vehicle 500 functions as providing device 200. When vehicle 500 functions as providing device 200, vehicle 500 transmits information to control device 100 via external communication network 400. Vehicle 500 acquires information from control device 100 via external communication network 400. Vehicle 500 provides a service to user 20 of vehicle 500 based on the acquired information.

[0029] 2 , the vehicle 500 includes an on-board processing circuit 501, an on-board storage device 502, an on-board communication device 503, a plurality of on-board sensors 510, and a plurality of on-board devices 520. The on-board processing circuit 501 is the second processing circuit 201 in the providing device 200. The on-board storage device 502 is the second storage device 202 in the providing device 200. The on-board communication device 503 is the second communication device 203 in the providing device 200.

[0030] The vehicle 500 includes, as on-board sensors 510, a vehicle speed sensor 510_1, an accelerator sensor 510_2, a brake sensor 510_3, and an acceleration sensor 510_4. The acceleration sensor 510_4 is, for example, an IMU (Inertial Measurement Unit). In addition, the vehicle 500 includes, as on-board sensors 510, a sonar 510_5, a position information acquisition system 510_6, a steering sensor 510_7, and an exterior camera 510_8. The vehicle 500 includes, as on-board devices 520, a brake system 520_1, a steering system 520_2, a turn signal 520_3, a speaker 520_4, and a display 520_5.

[0031] The sonar 510_5 mounted on the vehicle 500 can collect information on the distance to other moving bodies 700 located around the vehicle 500. The vehicle 500 may also be equipped with a LiDAR (Light Detection And Ranging) as a sensor that collects information on the distance to other moving bodies 700 located around the vehicle 500, similar to the sonar 510_5. The LiDAR can also collect information on the distance to other moving bodies 700 located around the vehicle 500.

[0032] The position information acquisition system 510_6 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.

[0033] The vehicle 500 includes an in-vehicle network 530. As shown in Fig. 2 , an in-vehicle processing circuit 501, an in-vehicle storage device 502, an in-vehicle communication device 503, a plurality of in-vehicle sensors 510, and a plurality of in-vehicle devices 520 included in the vehicle 500 are connected to one another by the in-vehicle network 530. The in-vehicle processing circuit 501 controls the in-vehicle storage device 502, the in-vehicle communication device 503, the plurality of in-vehicle sensors 510, and the plurality of in-vehicle devices 520 included in the vehicle 500 via the in-vehicle network 530. In other words, the in-vehicle processing circuit 501 is an ECU (Electronic Control Unit) in the vehicle 500.

[0034] The display 520_5 of the vehicle 500 displays information for the user 20 of the vehicle 500. The display 520_5 displays services to be provided to the user 20 of the vehicle 500. The display 520_5 of the vehicle 500 functions as an input unit through which the user 20 of the vehicle 500 inputs information.

[0035] The vehicle 500 transmits information to the control device 100 via the in-vehicle communication device 503 and the external communication network 400. For example, the vehicle 500 can transmit information that a user 20 of the vehicle 500 inputs to a display 520_5 of the vehicle 500 to the control device 100. For example, the vehicle 500 can transmit to the control device 100 location information of the vehicle 500 that the vehicle 500 has acquired using a location information acquisition system 510_6.

[0036] 2, the control device 100 transmits information to the vehicle 500, which is the providing device 200, via the external communication network 400. The vehicle 500, which has acquired the information transmitted from the control device 100, provides a service to the user 20 of the vehicle 500 based on the information.

[0037] For example, the on-board processing circuit 501 of the vehicle 500 can slow down or stop the vehicle 500 by controlling the brake system 520_1 of the vehicle 500 based on the acquired information. For example, the on-board processing circuit 501 of the vehicle 500 can perform steering control of the vehicle 500 by controlling the steering system 520_2 of the vehicle 500 based on the acquired information. The on-board processing circuit 501 may also control the turn signal 520_3 in addition to the steering control. For example, the on-board processing circuit 501 of the vehicle 500 can issue a vehicle approaching warning to the user 20 of the vehicle 500 from the speaker 520_4 of the vehicle 500 based on the acquired information. For example, the on-board processing circuit 501 of the vehicle 500 can display a vehicle approaching notification or traffic information on the display 520_5 of the vehicle 500 based on the acquired information.

[0038] <Regarding Adjustment of the Degree of Service Intervention> It is assumed that the frequency and content of service intervention desired by each user 20 will differ for each user 20. The control system 10 provides each user 20 with a service adjusted based on the desires of each user 20 by the method described below.

[0039] FIG. 3 shows a mode of communication between the control device 100 and the providing device 200 of the control system 10 in the first embodiment. In the example of FIG. 3, the providing device 200 acquires a requested intervention level from the user 20. The requested intervention level is information that is input to the providing device 200 by the user 20 and that correlates with the degree of intervention in the service. The providing device 200 transmits the requested intervention level to the control device 100. The control device 100 generates a control signal based on predicted mobile object information. The control signal is a signal that indicates the content of the service that the providing device 200 will provide to the user 20. The control device 100 adjusts the control signal based on the acquired requested intervention level. The control device 100 transmits the control signal to the providing device 200. The providing device 200 provides the service to the user 20 based on the acquired control signal.

[0040] The control signal reflects the requested intervention level input by the user 20 to the providing device 200. Therefore, the requested intervention level of the user 20 is also reflected in the service that the providing device 200 provides to the user 20 based on the control signal.

[0041] 4 to 11, the flow of processing executed by the control device 100 and the flow of processing executed by the providing device 200 will be described in more detail. <Regarding Calculation of Predicted Mobile Object Information and Predicted Reliability by the Control Device 100> FIG. 4 is a flowchart showing the flow of a series of processing executed by the control device 100 in the control system 10. A control program that causes the first processing circuit 101 to execute this series of processing is stored in the first storage device 102 of the control device 100. The control device 100 executes the series of processing shown in FIG. 4 in accordance with the control program stored in the first storage device 102.

[0042] As shown in Figure 4, when this series of processes begins, the control device 100, in the processing of step S100, acquires, via the first communication device 103, multiple pieces of mobile object information indicating the positions and behaviors of multiple mobile objects 700 existing in the real world, in association with the time at which the mobile object information was acquired.

[0043] A plurality of pieces of mobile object information indicating the positions and behaviors of a plurality of mobile objects 700 existing in the real world are collected, for example, by on-board sensors 510 of a plurality of vehicles 500. The control device 100 acquires this mobile object information at predetermined intervals. The mobile object information acquired by the control device 100 is stored in the first storage device 102. After the control device 100 acquires the plurality of pieces of mobile object information indicating the positions and behaviors of the plurality of mobile objects 700, the process proceeds to step S101.

[0044] In the processing of step S101, the first processing circuit 101 of the control device 100 calculates the presence range 30 of the moving body 700 based on the moving body information stored in the first storage device 102. A detailed description of the presence range 30 will be given later. After calculating the presence range 30 of the moving body 700, the first processing circuit 101 calculates predicted moving body information that reproduces the positions and behaviors of multiple moving bodies 700 in a virtual space. The predicted moving body information indicates the predicted position and predicted behavior of the moving body 700 after the time the moving body information is acquired. The predicted moving body information is updated by the first processing circuit 101 at predetermined intervals. This predicted moving body information includes information on the presence range 30 of the moving body 700.

[0045] The predicted moving object information and the presence range 30 will be described with reference to FIG. 5 . FIG. 5 is an example of predicted moving object information calculated by the control device 100. FIG. 5 shows vehicles 500_1, 500_2, 500_3, and 500_4 as examples of multiple moving objects 700. FIG. 5 also shows presence ranges 30_1, 30_2, 30_3, and 30_4 as examples of the presence ranges 30 of the moving objects 700. The presence range 30_1 is the presence range 30 of the vehicle 500_1. The presence range 30_2 is the presence range 30 of the vehicle 500_2. The presence range 30_3 is the presence range 30 of the vehicle 500_3. The presence range 30_4 is the presence range 30 of the vehicle 500_4.

[0046] The presence range 30 is a range within which the probability that the moving body 700 exists is a predetermined probability. In the first embodiment, the presence range 30_1, the presence range 30_2, the presence range 30_3, and the presence range 30_4 are ranges within which the probability that each moving body 700 exists is 80%.

[0047] <Factors that determine the size of the presence range 30> As shown in Figure 5, when the presence range 30 is set so that the probability that a moving body 700 exists within the presence range 30 is a predetermined probability, the size of the presence range 30 changes depending on the measurement uncertainty included in the multiple pieces of moving body information acquired by the control device 100.

[0048] For example, the position information of the mobile object 700 acquired by the position information acquisition system 510_6 includes an error resulting from the accuracy of the method for measuring the position information. For example, the position information of the mobile object 700 measured by GNSS includes an error of 10 to 20 meters. The position information of the mobile object 700 measured by RTK includes an error of about several centimeters. The presence range 30 calculated by the control device 100 based on mobile object information obtained by a measurement method with a small error will be narrower than the presence range 30 calculated by the control device 100 based on mobile object information obtained by a measurement method with a large error.

[0049] The speed of the vehicle 500 to be measured affects the uncertainty of the measurement. For example, if the speed of the vehicle 500 to be measured is high, the presence range 30 in which the vehicle 500 is estimated to be present at a certain time may be wide. If the speed of the vehicle 500 to be measured varies greatly, the presence range 30 in which the vehicle 500 is estimated to be present at a certain time may also be wide.

[0050] Parameters related to changes in the state of the traffic infrastructure around the vehicle 500 being measured affect the uncertainty of the presence range 30 of the vehicle 500. Parameters related to changes in the state of the traffic infrastructure include, for example, the timing at which the traffic light 920 changes to green and the duration for which the traffic light 920 is green. When the traffic light 920 changes to green, the vehicle 500 starts moving. Therefore, when the traffic light 920 changes to green, the presence range 30 of the vehicle 500 becomes wider.

[0051] When multiple moving bodies 700 are present around the vehicle 500 to be measured, the movements of the other moving bodies 700 located around the vehicle 500 to be measured may affect the movement of the vehicle 500 to be measured. Therefore, the control device 100 widens the presence range 30 of the vehicle 500 to be measured in accordance with the number of other moving bodies 700 located around the vehicle 500 to be measured.

[0052] The communication status of the vehicle 500 to be measured affects the uncertainty of the presence range 30 of the vehicle 500. The communication status is, for example, whether or not communication between the vehicle 500 and the control device 100 is stable. If communication between the vehicle 500 and the control device 100 is unstable, the control device 100 may not be able to accurately acquire moving body information of the vehicle 500 from the vehicle 500. Therefore, the more unstable the communication with the vehicle 500, the wider the presence range 30 of the vehicle 500 is set by the control device 100.

[0053] After the control device 100 calculates the predicted moving object information and the existence range 30, the process proceeds to step S102. In the process of step S102, the control device 100 calculates the prediction reliability based on the existence range 30.

[0054] <Method for determining predicted reliability based on the size of the existence range 30> Fig. 6 is a table showing the correspondence relationship between the size of the existence range 30 of the moving body 700 and the individual reliability of the moving body 700. The individual reliability is an index that indicates the likelihood of accuracy of the position of the moving body 700. The larger the individual reliability value, the higher the accuracy of the position. The narrower the existence range 30 of the moving body 700, the higher the accuracy of the position of the moving body 700. Therefore, the control device 100 assigns a larger individual reliability value to a moving body 700 with higher position accuracy.

[0055] As shown in FIG. 6 , the control device 100 classifies the individual reliability of each moving object 700 into three levels based on the size of the presence range 30 of each moving object 700. When each moving object 700 and its presence range 30 are viewed from the same vertical height, if the area of ​​the presence range 30 is 200% or more of the area of ​​the moving object 700, the control device 100 sets the individual reliability of the moving object to "Level 1." Similarly, if the area of ​​the presence range 30 is less than 200% but greater than or equal to 150% of the area of ​​the moving object 700, the control device 100 sets the individual reliability of the moving object 700 to "Level 2." Similarly, if the area of ​​the presence range 30 is less than 150% of the area of ​​the moving object 700, the control device 100 sets the individual reliability of the moving object 700 to "Level 3." Of the three levels of individual reliability, "Level 3" indicates the highest positional accuracy. Of the three individual reliability levels, "Level 1" indicates the lowest position accuracy.

[0056] As shown in FIG. 7 , the area of ​​the presence range 30_1 of the vehicle 500_1 is 250% of the area of ​​the vehicle 500_1. The area of ​​the presence range 30_2 of the vehicle 500_2 is 300% of the area of ​​the vehicle 500_2. The area of ​​the presence range 30_3 of the vehicle 500_3 is 120% of the area of ​​the vehicle 500_3. The area of ​​the presence range 30_4 of the vehicle 500_4 is 170% of the area of ​​the vehicle 500_4. Therefore, the individual reliability of the vehicle 500_1 is "Level 1". The individual reliability of the vehicle 500_2 is "Level 1". The individual reliability of the vehicle 500_3 is "Level 3". The individual reliability of the vehicle 500_4 is "Level 2".

[0057] The control device 100 sets the arithmetic mean of the individual reliability values ​​of each moving object 700 included in the predicted moving object information as the predicted reliability value of the predicted moving object information. The individual reliability of vehicle 500_1 is "Level 1," the individual reliability of vehicle 500_2 is "Level 1," the individual reliability of vehicle 500_3 is "Level 3," and the individual reliability of vehicle 500_4 is "Level 2." Therefore, the individual reliability value of vehicle 500_1 is "1," the individual reliability value of vehicle 500_2 is "1," the individual reliability value of vehicle 500_3 is "3," and the individual reliability value of vehicle 500_4 is "2." As a result, the arithmetic mean of the individual reliability values ​​of each moving object 700 included in the predicted moving object information is "2." That is, the predicted reliability of the predicted moving object information shown in FIG. 5 is "Level 2."

[0058] 4, after the control device 100 calculates the prediction reliability in step S102, the process proceeds to step S103. In step S103, the control device 100 acquires the required intervention level from the providing device 200.

[0059] Here, the flow of processing executed by the providing device 200 to acquire the requested intervention level will be described with reference to Fig. 8. <Regarding Acquisition of Requested Intervention Level by the Providing Device 200> Fig. 8 is a flowchart showing the flow of a series of processing executed by the providing device 200 in the control system 10. A control program that causes the second processing circuit 201 to execute this series of processing is stored in the second storage device 202 of the providing device 200. The providing device 200 executes the series of processing shown in Fig. 8 in accordance with the control program stored in the second storage device 202.

[0060] 8 , when this series of processes starts, in the process of step S200, the providing device 200 acquires a requested intervention level from the user 20 of the providing device 200. In the first embodiment, the vehicle 500, which is the providing device 200, displays an image on the display 520_5 of the vehicle 500 to acquire the requested intervention level from the user 20.

[0061] 9 is an example of an image displayed on the display 520_5 for acquiring the requested degree of intervention. The user 20 selects the degree of intervention requested from the control system 10. Following the guidance displayed on the display 520_5, the user 20 selects one of "low," "medium," or "high" for "the degree of intervention desired in the service to be provided."

[0062] The control system 10 sets the requested degree of intervention in three levels: "Level 1," "Level 2," and "Level 3." If the user 20 selects "Low" as the "Degree of intervention desired in the service to be provided," the providing device 200 determines the requested degree of intervention of the user 20 to be "Level 1." If the user 20 selects "Medium" as the "Degree of intervention desired in the service to be provided," the providing device 200 determines the requested degree of intervention of the user 20 to be "Level 2." If the user 20 selects "High" as the "Degree of intervention desired in the service to be provided," the providing device 200 determines the requested degree of intervention of the user 20 to be "Level 3."

[0063] A user 20 who selects "small" as the "desired degree of intervention in the service to be provided" is a user 20 who desires the control system 10 to intervene in the service to the smallest extent. A user 20 who selects "medium" as the "desired degree of intervention in the service to be provided" is a user 20 who desires the control system 10 to intervene in the service to the medium extent. A user 20 who selects "large" as the "desired degree of intervention in the service to be provided" is a user 20 who desires the control system 10 to intervene in the service to the largest extent.

[0064] A user 20 with a high level of requested intervention is a user 20 who actively accepts the services provided by the control system 10. A user 20 with a low level of requested intervention is a user 20 who does not particularly desire intervention by the services provided by the control system 10.

[0065] After the providing device 200 acquires the requested intervention level of the user 20, the process proceeds to step S201. As shown in Fig. 8 , in the process of step S201, the providing device 200 transmits the requested intervention level acquired from the user 20 to the control device 100 via the external communication line network 400.

[0066] When the providing device 200 executes the process of step S201 and transmits the requested degree of intervention, the process proceeds to step S103 shown in Fig. 4. <Regarding the degree of adjustment of the control signal based on the prediction reliability and the requested degree of intervention> As shown in Fig. 4, in the process of step S103, the control device 100 acquires the requested degree of intervention from the providing device 200 via the external communication network 400. After the control device 100 acquires the requested degree of intervention, the process proceeds to step S104.

[0067] In the process of step S104, the control device 100 determines the degree of adjustment of the control signal based on the prediction reliability and the requested intervention level. Fig. 10 shows a method in which the control device 100 determines the degree of adjustment of the control signal based on the prediction reliability and the requested intervention level. Fig. 10 is a graph in which the horizontal axis represents the requested intervention level and the vertical axis represents the lower limit value of the prediction reliability of the predicted mobile object information that can be used to provide a service.

[0068] 10 , when the requested intervention level acquired by the control device 100 from the providing device 200 is “Level 3,” the lower limit of the prediction reliability of the predicted mobile object information that the control device 100 can use to provide a service to the user 20 is “Level 1.” That is, in the first embodiment, when the requested intervention level acquired by the control device 100 is “Level 3,” the control device 100 can use all of the predicted mobile object information to provide a service to the user 20. When the requested intervention level acquired by the control device 100 is “Level 2,” the lower limit of the prediction reliability of the predicted mobile object information that the control device 100 can use to provide a service to the user 20 is “Level 2.” That is, when the requested intervention level acquired by the control device 100 is “Level 2,” the control device 100 does not provide the user 20 with a service based on predicted mobile object information whose prediction reliability is “Level 1.” When the requested intervention level acquired by the control device 100 is “Level 1,” the lower limit of the prediction reliability of the predicted mobile object information that the control device 100 can use to provide a service to the user 20 is “Level 3.” That is, when the requested intervention level acquired by the control device 100 is "Level 1", the control device 100 provides the service to the user 20 based only on predicted mobile object information whose prediction reliability is "Level 3".

[0069] That is, the lower the level of intervention required by the user 20, the less predictive mobile object information the control device 100 can use to provide services. This allows the control device 100 to determine the level of adjustment so that the lower the level of intervention required by the user 20, the less frequently the control device 100 provides services to that user 20. After the control device 100 determines the level of adjustment, the process proceeds to step S105.

[0070] In step S105, the control device 100 reflects the above adjustment in the control signal. That is, the control device 100 adjusts the control signal to be transmitted to the providing device 200 of the user 20 based on the prediction reliability of the predicted mobile object information and the requested intervention level acquired from the user 20. For example, when the acquired requested intervention level is "Level 1," the control device 100 adjusts the control signal so that the providing device 200 provides a service to the user 20 based only on predicted mobile object information whose prediction reliability is "Level 3." After the control device 100 adjusts the control signal, the process proceeds to step S106.

[0071] In step S106, the control device 100 transmits a control signal to the provision device 200 of the user 20. After the control device 100 transmits the control signal to the provision device 200, the process proceeds to step S202 in FIG.

[0072] 8, the providing device 200 acquires a control signal from the control device 100 via the external communication network 400. After the providing device 200 acquires the control signal, the process proceeds to step S203.

[0073] In step S203, the providing device 200 provides a service to the user 20 of the providing device 200 based on the control signal adjusted according to the prediction reliability of the predicted mobile object information and the degree of intervention requested by the user 20.

[0074] In the first embodiment, the greater the degree of intervention requested by the user 20, the more frequently the providing device 200 provides services to the user 20. As described above, the services provided by the providing device 200 to the user 20 include steering control of the vehicle 500, and warning of approaching vehicles, notification of approaching vehicles, display of traffic information, and the like to the user 20 via the speaker 520_4 and the display 520_5.

[0075] <Operation of the Present Embodiment> It is assumed that the degree of service intervention that the user 20 finds comfortable varies from user to user. The control system 10 acquires information that correlates with the degree of service intervention desired by the user 20. The control system 10 adjusts the degree of service intervention provided to the user 20 based on the information.

[0076] <Effects of the Present Embodiment> (1) The control system 10 can provide services that are adjusted based on the desires of each user 20 .

[0077] (2) The control device 100 of the control system 10 acquires a requested intervention level, which is the level of intervention corresponding to a choice selected by the user 20 from among multiple choices, as information correlated with the level of intervention. The control device 100 adjusts the level of intervention of the service of the providing device 200 for the user 20, according to the acquired requested intervention level. The control system 10 can acquire the requested intervention level by having the user 20 select a level of intervention from among multiple choices. This allows the control system 10 to adjust the level of intervention of the service to the level of intervention desired by the user 20, based on the requested intervention level.

[0078] (3) The providing device 200 of the control system 10 is a vehicle 500 driven by a user 20. Therefore, the control system 10 can be applied to a control system 10 that provides a service using predicted moving object information to the user 20 driving the vehicle 500.

[0079] (4) The control system 10 sets a lower level of intervention for the service provided to the user 20 as the level of intervention requested by the user 20 decreases. This allows the control system 10 to adjust the level of intervention for the service in accordance with the level of intervention requested.

[0080] (5) The control system 10 calculates a prediction reliability indicating the accuracy of the predicted mobile object information. The control system 10 adjusts the degree of service intervention based on the requested intervention degree and the prediction reliability.

[0081] If the control system 10 frequently provides information based on unreliable information or performs interventions such as driving control based on unreliable information to a user 20 who does not particularly desire interventions in services based on mobile object information, the user 20's trust in services using mobile object information will be damaged. On the other hand, if the control system 10 infrequently provides information or performs interventions such as driving control to a user 20 who desires interventions in services based on mobile object information, the user 20's expectations for services using mobile object information will be betrayed. As a result, the user 20's trust in the services provided by the control system 10 will be damaged.

[0082] In contrast, the control system 10 adjusts the degree of intervention for a service by using the reliability of the predicted mobile object information used to provide the service in addition to the requested intervention level. Therefore, the control system 10 can adjust the degree of intervention for a service by taking into account the reliability of the service to be provided. Ultimately, the control system 10 can provide a service that meets the expectations of the user 20.

[0083] (6) The control system 10 adjusts the degree of intervention in services so that the services that can be provided vary depending on the level of intervention requested by the user 20, by limiting the predicted mobile object information used to provide services to predicted mobile object information whose prediction reliability is equal to or greater than a lower limit. The control system 10 sets the lower limit higher as the level of intervention requested is lower, and sets the lower limit lower as the level of intervention requested is higher.

[0084] If the control system 10 frequently provides information based on unreliable information or performs interventions such as driving control based on unreliable information to a user 20 who does not particularly desire service interventions based on the predicted mobile object information, the user 20's trust in services using the predicted mobile object information will be damaged. On the other hand, if the control system 10 infrequently provides information or performs interventions such as driving control to a user 20 who desires service interventions based on the predicted mobile object information, the user 20's expectations for services using the predicted mobile object information will be betrayed. In other words, the control system 10 will damage the user 20's trust in the services.

[0085] The control system 10 reflects the requested degree of intervention and the predicted reliability in the service, thereby enabling the control system 10 to provide a service with an appropriate degree of intervention based on information with appropriate accuracy in accordance with the degree of intervention desired by the user 20.

[0086] (7) The control device 100 includes a first processing circuit 101 and a first communication device 103. The first processing circuit 101 of the control device 100 calculates predicted moving object information after the time when the moving object information is acquired, based on moving object information indicating the positions of multiple moving objects 700 existing in the real world. The first communication device 103 of the control device 100 communicates with the providing device 200. As a result, the control device 100 enables the providing device 200 to provide a service to the user 20 of the providing device 200 based on the predicted moving object information. The service assists the user 20 of the providing device 200. The first processing circuit 101 of the control device 100 acquires information correlated with a degree of service intervention desired by the user 20 of the providing device 200. The first processing circuit 101 of the control device 100 adjusts the degree of service intervention for the user 20 of the providing device 200, based on the acquired information correlated with the degree of intervention.

[0087] This allows the control device 100 of the control system 10 to provide services adjusted based on the wishes of each user 20. (8) A program is applied to the control device 100 of the control system 10. The control device 100 includes a first processing circuit 101 and a first communication device 103. The first processing circuit 101 of the control device 100 calculates predicted moving object information after the time at which the moving object information is acquired, based on moving object information indicating the positions of multiple moving objects 700 existing in the real world. The first communication device 103 of the control device 100 communicates with the providing device 200, thereby enabling the providing device 200 to provide a service based on the predicted moving object information to the user 20 of the providing device 200. The service assists the user 20 of the providing device 200. The program causes the first processing circuit 101 of the control device 100 to acquire information correlated with the degree of service intervention desired by the user 20 of the providing device 200. The program causes the control device 100 to adjust the degree of intervention of the service provided by the providing device 200 for the user 20 based on the acquired information correlated with the degree of intervention.

[0088] As a result, the program can cause the control device 100 of the control system 10 to provide a service adjusted based on the desires of each user 20. (9) The control system 10 includes the control device 100 and the providing device 200. The control method executed by the control system 10 includes a step (step S101) in which the control device 100 calculates predicted mobile object information after the time when the mobile object information is acquired, based on mobile object information indicating the positions of multiple mobile objects 700 existing in the real world. The control method also includes a step (step S203) in which the control device 100 communicates with the providing device 200 to provide a service based on the predicted mobile object information to the user 20 of the providing device 200. The service assists the user 20 of the providing device 200. The control method also includes a step (step S200) in which the control system 10 acquires information correlated with the degree of service intervention desired by the user 20 of the providing device 200. The control method further includes a step of adjusting the degree of intervention of the service provided by the providing device 200 to the user 20 based on the acquired information correlated with the degree of intervention (step S104).

[0089] By executing this control method, the control system 10 can provide services adjusted based on the desires of each user 20. <Modifications of the First Embodiment> The first embodiment can be implemented with the following modifications. The first embodiment and the following modifications can be implemented in combination with each other to the extent that there is no technical contradiction.

[0090] The providing device 200 does not need to have the user 20 input the requested intervention level if it can provide a service with an appropriate level of intervention based on information of appropriate accuracy in accordance with the level of intervention desired by the user 20. For example, the providing device 200 of the control system 10 may acquire information on the user 20's responses to a questionnaire consisting of multiple questions as information correlated with the level of intervention. In this case, the providing device 200 calculates the requested intervention level indicating the level of intervention requested by the user 20 in the service based on the acquired response information. The control system 10 adjusts the level of intervention of the service provided by the providing device 200 for the user 20 in accordance with the acquired requested intervention level. By having the user 20 respond to the questionnaire, the control system 10 can calculate the requested intervention level that corresponds to the level of intervention desired by the user 20. The control system 10 can adjust the level of intervention of the service to the level of intervention desired by the user 20 based on the calculated requested intervention level.

[0091] The timing at which the control device 100 acquires the requested intervention degree may be before determining the degree of adjustment of the control signal to be transmitted to the providing device 200. For example, the control device 100 may acquire the requested intervention degree from the providing device 200 before acquiring the mobile object information. For example, the control device 100 may acquire the requested intervention degree from the providing device 200 before calculating the predicted mobile object information.

[0092] The image that the providing device 200 displays to acquire the requested intervention level from the user 20 is not limited to the image shown in Fig. 9. For example, the providing device 200 may display on the display 520_5 an image that allows the requested intervention level to be changed by moving a slider left or right.

[0093] The providing device 200 of the control system 10 may be an information processing terminal 800. As a result, the configuration of the first embodiment can be applied to the control system 10 that provides a service using predicted moving object information to the user 20 who is using the information processing terminal 800.

[0094] The control system 10 may provide fewer types of services to a user 20 as the level of requested intervention acquired from the user 20 decreases. As shown in FIG. 11 , the providing device 200 provides only information to a user 20 whose requested intervention level is “Level 1” via the display 520_5 of the vehicle 500 owned by the user 20. The providing device 200 provides the above-mentioned information to a user 20 whose requested intervention level is “Level 2” and a vehicle approach warning via the speaker 520_4 and the display 520_5 of the vehicle 500 owned by the user 20. The providing device 200 provides the above-mentioned information to a user 20 whose requested intervention level is “Level 3” and a vehicle approach warning, and steering control via the steering system 520_2 of the vehicle 500 owned by the user 20. This allows the control system 10 to adjust the level of intervention in the service provided to the user 20 in accordance with the user's requested intervention level.

[0095] - The control device 100 of the control system 10 does not need to calculate the predicted reliability if it can provide services with an appropriate degree of intervention based on information of appropriate accuracy in accordance with the degree of intervention desired by the user 20.

[0096] <Regarding the control system 10 of the first modified example of the first embodiment> Fig. 12 is a flowchart showing the flow of a series of processes executed by the control device 100 in the control system 10 of the first modified example of the first embodiment. In this series of processes, the control device 100 does not calculate prediction reliability. A control program that causes the first processing circuit 101 to execute this series of processes is stored in the first storage device 102 of the control device 100. The control device 100 executes the series of processes shown in Fig. 12 in accordance with the control program stored in the first storage device 102.

[0097] In step S110, the control device 100 acquires mobile object information. After the control device 100 acquires the mobile object information, the process proceeds to step S111. In step S111, the control device 100 calculates predicted mobile object information based on the acquired mobile object information. After the control device 100 calculates the predicted mobile object information, the process proceeds to step S112.

[0098] In step S112, the control device 100 acquires the requested intervention level from the providing device 200. Here, the providing device 200 executes a series of processes shown in FIG. 8 . That is, in the process of step S200, the providing device 200 acquires the requested intervention level from the user 20. After the providing device 200 acquires the requested intervention level from the user 20, the process proceeds to step S201. In step S201, the providing device 200 transmits the requested intervention level acquired in step S200 to the control device 100. After the control device 100 acquires the requested intervention level from the providing device 200, the process proceeds to step S113.

[0099] In step S113, the control device 100 determines the degree of adjustment of the control signal based on the requested degree of intervention. For example, as shown in FIG. 11 , when the acquired requested degree of intervention is “Level 1,” the control device 100 determines the degree of adjustment of the control signal so that the providing device 200 only provides information to the user 20 who input the requested degree of intervention into the providing device 200. When the acquired requested degree of intervention is “Level 2,” the control device 100 determines the degree of adjustment of the control signal so that the providing device 200 provides information and a vehicle approach warning to the user 20 who input the requested degree of intervention into the providing device 200. When the requested degree of intervention is “Level 3,” the providing device 200 determines the degree of adjustment of the control signal so that the providing device 200 provides information, a vehicle approach warning, and steering control to the user 20 who input the requested degree of intervention into the providing device 200. After the control device 100 determines the degree of adjustment of the control signal, the process proceeds to step S114.

[0100] In step S114, the control device 100 reflects the adjustment in the control signal. After the control device 100 reflects the adjustment in the control signal, the process proceeds to step S115. In step S115, the control device 100 outputs the control signal reflecting the adjustment to the providing device 200. As shown in FIG. 8 , in step S202, the providing device 200 acquires the control signal from the control device 100. After the providing device 200 acquires the control signal from the control device 100, the process proceeds to step S203.

[0101] In step S203, based on the acquired control signal, the providing device 200 provides a service to the user 20 of the providing device 200. By performing this series of processes, the control system 10 of the first modification of the first embodiment can provide a service to the user 20 based on the requested intervention degree without calculating the predicted reliability.

[0102] <Regarding the control system 10 in the second modified example of the first embodiment> In the control system 10 of the first embodiment, the providing device 200 may determine the degree of adjustment of the control signal. Fig. 13 shows communication between the control device 100 and the providing device 200 of the control system 10 in the second modified example of the first embodiment.

[0103] In the example of FIG. 13 , the providing device 200 acquires a requested intervention level from the user 20. The providing device 200 determines the degree of adjustment of the control signal based on the requested intervention level. The providing device 200 transmits the degree of adjustment to the control device 100. The control device 100 adjusts the control signal based on the acquired degree of adjustment. The control device 100 transmits the adjusted control signal to the providing device 200. The providing device 200 provides a service to the user 20 based on the acquired control signal.

[0104] The control signal reflects the requested intervention level input by the user 20 to the providing device 200. Therefore, the requested intervention level of the user 20 is also reflected in the service provided to the user 20 by the providing device 200 based on the control signal.

[0105] The process flow executed by the control device 100 and the process flow executed by the providing device 200 will be described in more detail below with reference to FIGS. 14 and 15 . FIG. 14 is a flowchart showing the process flow executed by the control device 100 in the control system 10 of a second modified example of the first embodiment. In this process, the control device 100 does not calculate prediction reliability. In addition, the control device 100 does not determine the degree of adjustment of the control signal. A control program that causes the first processing circuit 101 to execute this process is stored in the first storage device 102 of the control device 100. The control device 100 executes the process shown in FIG. 14 in accordance with the control program stored in the first storage device 102.

[0106] In step S120, the control device 100 acquires mobile object information. After the control device 100 acquires the mobile object information, the process proceeds to step S121. In step S121, the control device 100 calculates predicted mobile object information based on the acquired mobile object information. After the control device 100 calculates the predicted mobile object information, the process proceeds to step S122.

[0107] In step S122, the control device 100 acquires the degree of adjustment of the control signal from the providing device 200. Here, the providing device 200 executes a series of processes shown in Fig. 15. That is, in the process of step S210, the providing device 200 acquires the requested intervention degree from the user 20. After the providing device 200 acquires the requested intervention degree from the user 20, the process proceeds to step S211.

[0108] In step S211, the providing device 200 determines the degree of adjustment of the control signal based on the requested intervention level, similar to step S113 executed by the control device 100 in the first modification of the first embodiment. After the providing device 200 determines the degree of adjustment of the control signal, the process proceeds to step S212.

[0109] In step S212, the device 200 transmits the degree of adjustment of the control signal determined in step S211 to the control device 100. After the control device 100 acquires the degree of adjustment from the providing device 200 in the process of step S122 shown in FIG. 14 , the process proceeds to step S123.

[0110] In step S123, the control device 100 reflects the adjustment in the control signal. After the control device 100 reflects the adjustment in the control signal, the process proceeds to step S124. In step S124, the control device 100 outputs the control signal reflecting the adjustment to the providing device 200. As shown in FIG. 15 , in step S213, the providing device 200 acquires the control signal from the control device 100. After the providing device 200 acquires the control signal from the control device 100, the process proceeds to step S214.

[0111] In step S214, the providing device 200 provides a service to the user 20 of the providing device 200 based on the acquired control signal. By performing this series of processes, the control system 10 of the second modification of the first embodiment can provide a service to the user 20 without the control device 100 having to determine the degree of adjustment of the control signal.

[0112] Second Embodiment Next, a second embodiment will be described with reference to FIGS. 16 to 19. The second embodiment will be described focusing on the differences from the first embodiment. In the second embodiment, the control system 10 provides a service to a user 20 based on the reliability requested by the user 20. The reliability requested is information indicating the accuracy requested by the user 20 for a service provided by the control system 10. The reliability requested is information that is input by the user 20 to the providing device 200 and that correlates with the degree of intervention in the service.

[0113] Fig. 16 shows communication between the control device 100 and the providing device 200 of the control system 10 in the second embodiment. In Fig. 16, the providing device 200 acquires a requested reliability from the user 20. The providing device 200 transmits the requested reliability to the control device 100. The control device 100 adjusts a control signal based on the acquired requested reliability. The control device 100 transmits the control signal to the providing device 200. The providing device 200 provides a service to the user 20 based on the acquired control signal.

[0114] The control signal reflects the requested reliability input by the user 20 to the providing device 200. Therefore, the requested reliability of the user 20 is also reflected in the service that the providing device 200 provides to the user 20 based on the control signal.

[0115] The flow of processing executed by the control device 100 and the flow of processing executed by the providing device 200 will be described in more detail below with reference to Figures 17 to 19. Figure 17 is a flowchart showing the flow of a series of processing executed by the control device 100 in the control system 10 of the second embodiment. A control program that causes the first processing circuit 101 to execute this series of processing is stored in the first storage device 102 of the control device 100. The control device 100 executes the series of processing shown in Figure 17 in accordance with this control program stored in the first storage device 102.

[0116] 17 , when this series of processes starts, the control device 100 acquires, in step S130, a plurality of pieces of mobile object information indicating the positions and behaviors of a plurality of mobile objects 700 existing in the real world in association with the time at which the mobile object information was acquired, as in the first embodiment. After the control device 100 acquires the plurality of pieces of mobile object information indicating the positions and behaviors of the plurality of mobile objects 700, the process proceeds to step S131.

[0117] In the process of step S131 , the first processing circuit 101 of the control device 100 calculates the existence range 30 of the moving object 700 based on the moving object information stored in the first storage device 102 .

[0118] After calculating the existence range 30 of the moving object 700, the first processing circuit 101 calculates predicted moving object information that reproduces the positions and behaviors of the multiple moving objects 700 in a virtual space. The predicted moving object information is updated at predetermined intervals by the first processing circuit 101. This predicted moving object information includes information on the existence range 30 of the moving object 700.

[0119] After the control device 100 calculates the predicted moving object information and the existence range 30, the process proceeds to step S132. In the process of step S132, the control device 100 calculates the prediction reliability of the predicted moving object information based on the existence range 30, similar to step S102 shown in FIG.

[0120] After the control device 100 calculates the predicted reliability in step S132, the process proceeds to step S133. In step S133, the control device 100 acquires the requested reliability from the providing device 200.

[0121] Here, the flow of processing executed by the providing device 200 to acquire a requested reliability will be described with reference to Fig. 18. <Regarding Acquisition of Requested Reliability by the Providing Device 200> Fig. 18 is a flowchart showing the flow of a series of processing executed by the providing device 200 in the control system 10. A control program that causes the second processing circuit 201 to execute this series of processing is stored in the second storage device 202 of the providing device 200. The providing device 200 executes the series of processing shown in Fig. 18 in accordance with this control program stored in the second storage device 202.

[0122] 18 , when this series of processes starts, in the process of step S220, the providing device 200 acquires a requested reliability from the user 20 of the providing device 200. In the second embodiment, the vehicle 500, which is the providing device 200, displays an image on the display 520_5 of the vehicle 500 to acquire a requested reliability from the user 20.

[0123] 19 is an example of an image displayed on the display 520_5 for obtaining a required reliability. The user 20 selects the desired accuracy of the information that is acceptable for use in providing a service. The user 20 follows the instructions displayed on the display 520_5 to select one of "low," "medium," or "high" for "the accuracy of the information that is acceptable for use in providing a service." The control system 10 sets the required reliability in three levels: "Level 1," "Level 2," and "Level 3."

[0124] If the user 20 selects "low" as the "accuracy of information that is acceptable to be used for providing a service," the providing device 200 determines the requested reliability of the user 20 to be "level 1." If the user 20 selects "medium" as the "accuracy of information that is acceptable to be used for providing a service," the providing device 200 determines the requested reliability of the user 20 to be "level 2." If the user 20 selects "high" as the "accuracy of information that is acceptable to be used for providing a service," the providing device 200 determines the requested reliability of the user 20 to be "level 3."

[0125] A user 20 who selects "low" as the "accuracy of information that is acceptable to be used to provide a service" is a user 20 who desires the lowest accuracy in the information that the control system 10 uses to provide a service. A user 20 who selects "medium" as the "accuracy of information that is acceptable to be used to provide a service" is a user 20 who desires a medium level of accuracy in the information that the control system 10 uses to provide a service. A user 20 who selects "high" as the "accuracy of information that is acceptable to be used to provide a service" is a user 20 who desires the highest level of accuracy in the information that the control system 10 uses to provide a service. In other words, a user 20 with a high level of requested reliability is a user 20 who desires a high level of accuracy in the information that the control system 10 is willing to use to provide a service. A user 20 with a low level of requested reliability is a user 20 who desires a low level of accuracy in the information that the control system 10 is willing to use to provide a service.

[0126] After the providing device 200 acquires the requested reliability of the user 20, the process proceeds to step S221. As shown in Fig. 18 , in the process of step S221, the providing device 200 transmits the requested reliability acquired from the user 20 to the control device 100 via the external communication line network 400. After the providing device 200 executes the process of step S221 and transmits the requested reliability, the process proceeds to step S133 shown in Fig. 17 .

[0127] <Regarding the Degree of Adjustment of Control Signal Based on Predicted Reliability and Required Reliability> As shown in FIG. 17, after the control device 100 acquires the required reliability from the providing device 200 in step S133, the process proceeds to step S134.

[0128] In the process of step S134, the control device 100 determines the degree of adjustment of the control signal based on the predicted reliability and the required reliability. The control device 100 calculates, as the degree of adjustment, an adjustment coefficient Q, which is the quotient obtained by dividing the numerical value of the predicted reliability by the numerical value of the required reliability. For example, when the predicted reliability is "Level 2" and the required reliability is "Level 2," the numerical value of the predicted reliability is "2," the numerical value of the required reliability is "2," and the adjustment coefficient Q is "1." When the predicted reliability is "Level 1" and the required reliability is "Level 2," the numerical value of the predicted reliability is "1," the numerical value of the required reliability is "2," and the adjustment coefficient Q is "0.5."

[0129] When the adjustment coefficient Q is greater than "1," the control device 100 treats the adjustment coefficient Q as "1." For example, when the prediction reliability is "Level 3" and the required reliability is "Level 1," the prediction reliability value is "3," the required reliability value is "1," and the adjustment coefficient Q is the maximum value of "1." Therefore, in the second embodiment, the adjustment coefficient Q calculated by the above calculation is greater than "0" and is equal to or less than "1." After the control device 100 determines the adjustment coefficient Q, which is the degree of adjustment, the process proceeds to step S135.

[0130] In step S135, the control device 100 adjusts the control signal based on the adjustment coefficient Q. If the adjustment coefficient Q is 1, the control signal has a default output. If the adjustment coefficient Q is less than 1, the output of the control signal is reduced according to the adjustment coefficient Q. After the control device 100 adjusts the control signal based on the adjustment coefficient Q, the process proceeds to step S136.

[0131] In step S136, the control device 100 transmits a control signal to the provision device 200 of the user 20. After the control device 100 transmits the control signal to the provision device 200, the process proceeds to step S222 in FIG.

[0132] 18, the providing device 200 acquires a control signal from the control device 100 via the external communication network 400. After the providing device 200 acquires the control signal, the process proceeds to step S223.

[0133] In step S223, the providing device 200 provides a service to the user 20 of the providing device 200 based on the control signal adjusted based on the predicted reliability of the predicted mobile object information and the requested reliability of the user 20.

[0134] In the second embodiment, the control signal acquired by the providing device 200 is adjusted by the adjustment coefficient Q. The smaller the adjustment coefficient Q, the smaller the output of the service provided by the providing device 200 to the user 20 becomes.

[0135] For example, the smaller the adjustment coefficient Q, the less frequently the providing device 200 displays a warning to the user 20 via the display 520_5. For example, the smaller the adjustment coefficient Q, the more frequently the providing device 200 increases the transparency of a pop-up display for a service that notifies by pop-up display on the display 520_5. For example, the smaller the adjustment coefficient Q, the more frequently the providing device 200 decreases the volume of the notification for a service that notifies by voice. For example, the smaller the adjustment coefficient Q, the more frequently the providing device 200 decreases the volume of the alarm notification to the user 20 via the speaker 520_4. For example, the smaller the adjustment coefficient Q, the less frequently the providing device 200 provides a service to the user 20. By the providing device 200 reducing the output of the service as described above, the degree to which the control system 10 intervenes with the user 20 can be reduced.

[0136] It is also possible to lower the degree of intervention by reducing the amount of assistance provided by driving assistance in the vehicle 500. The on-board processing circuit 501 realizes driving assistance in the vehicle 500 by controlling the brake system 520_1 and the steering system 520_2. When the output of a control signal decreases in the vehicle 500, which is the providing device 200, the on-board processing circuit 501 reduces the amount of assistance provided by the driving assistance provided by the brake system 520_1 and the steering system 520_2. This reduces the degree of intervention of the control system 10 in the driving of the user 20.

[0137] <Operation of Second Embodiment> If the control system 10 frequently intervenes based on low-accuracy information for a user 20 who requests highly reliable services, the user 20 may develop a distrust for services using predictive mobile object information. On the other hand, if the control system 10 uniformly provides services to the user 20 based only on highly accurate information, opportunities to provide the service may decrease. As a result, the control system 10 may disappoint the user 20 regarding services using predictive mobile object information.

[0138] <Effects of the Second Embodiment> (1) The control system 10 described above can adjust the degree of service intervention depending on the required reliability, and therefore can provide services adjusted based on the wishes of each user 20.

[0139] (2) The control system 10 sets a lower level of service intervention for the user 20 as the requested reliability of the user 20 increases. That is, the control system 10 can adjust the level of service intervention according to the requested reliability of the user 20. This allows the control system 10 to provide services adjusted based on the wishes of each user 20.

[0140] (3) The control system 10 calculates a prediction reliability indicating the accuracy of the predicted mobile object information. The control system 10 adjusts the degree of service intervention for the user 20 based on the reliability required by the user 20 and the prediction reliability. This allows the control system 10 to provide a service that matches the accuracy required by the user 20.

[0141] <Modifications of Second Embodiment> The second embodiment described above can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility.

[0142] If the providing device 200 can provide a service based on predicted mobile object information with the accuracy desired by the user 20, the providing device 200 does not need to have the user 20 input the request reliability. For example, the providing device 200 of the control system 10 may acquire information on the user 20's answers to a questionnaire consisting of multiple questions. In this case, the providing device 200 calculates the request reliability of the user 20 based on the acquired answer information. The control system 10 adjusts the degree of intervention of the providing device 200 in the service for the user 20 according to the acquired request reliability. By having the user 20 answer the questionnaire, the control system 10 can calculate the request reliability of the user 20. The control system 10 can provide a service based on the calculated request reliability.

[0143] The control device 100 may calculate the adjustment coefficient Q based on a matrix diagram of required reliability and predicted reliability, as shown in FIG. 20 . In this case, when the prediction reliability is “Level 1” and the requested reliability is “Level 1,” the control device 100 outputs the adjustment coefficient Q as “1.” When the prediction reliability is “Level 1” and the requested reliability is “Level 2,” the control device 100 outputs the adjustment coefficient Q as “0.25.” When the prediction reliability is “Level 1” and the requested reliability is “Level 3,” the control device 100 outputs the adjustment coefficient Q as “0.01.” When the prediction reliability is “Level 2” and the requested reliability is “Level 1,” the control device 100 outputs the adjustment coefficient Q as “1.” When the prediction reliability is “Level 2” and the requested reliability is “Level 2,” the control device 100 outputs the adjustment coefficient Q as “1.” When the prediction reliability is "Level 2" and the required reliability is "Level 3," the control device 100 outputs the adjustment coefficient Q as "0.01." When the prediction reliability is "Level 3" and the required reliability is "Level 1," the control device 100 outputs the adjustment coefficient Q as "1." When the prediction reliability is "Level 3" and the required reliability is "Level 2," the control device 100 outputs the adjustment coefficient Q as "1." When the prediction reliability is "Level 3" and the required reliability is "Level 3," the control device 100 outputs the adjustment coefficient Q as "1." This reduces the degree of intervention for services whose reliability does not meet the reliability required by the user 20. Therefore, the above-described control system 10 can prevent the user 20 from losing trust in services that use predicted mobile object information due to the provision of low-reliability services.

[0144] Instead of outputting the adjustment coefficient Q, the control device 100 may change the service to be provided to the user 20 by comparing the requested reliability value with the predicted reliability value, as shown in FIG. 21 . In this case, when the predicted reliability is “Level 1” and the requested reliability is “Level 1,” the control device 100 transmits a control signal to the providing device 200 to cause the providing device 200 to provide information. When the predicted reliability is “Level 1” and the requested reliability is “Level 2,” the control device 100 does not transmit a control signal to the providing device 200. When the predicted reliability is “Level 1” and the requested reliability is “Level 3,” the control device 100 does not transmit a control signal to the providing device 200. When the predicted reliability is “Level 2” and the requested reliability is “Level 1,” the control device 100 transmits a control signal to the providing device 200 to cause the providing device 200 to provide information and issue a vehicle approach warning. When the predicted reliability is “Level 2” and the requested reliability is “Level 2,” the control device 100 transmits a control signal to the providing device 200 to provide information and issue a vehicle approach warning. The control device 100 does not transmit a control signal to the providing device 200 when the prediction reliability is "Level 2" and the required reliability is "Level 3." The control device 100 transmits a control signal to the providing device 200 to provide information, issue a vehicle approach warning, and perform steering control when the prediction reliability is "Level 3" and the required reliability is "Level 1." The control device 100 transmits a control signal to the providing device 200 to provide information, issue a vehicle approach warning, and perform steering control when the prediction reliability is "Level 3" and the required reliability is "Level 2." The control device 100 transmits a control signal to the providing device 200 to provide information, issue a vehicle approach warning, and perform steering control when the prediction reliability is "Level 3" and the required reliability is "Level 3."

[0145] The control system 10 may stop providing the user 20 with a service that uses predicted mobile object information whose prediction reliability is lower than the reliability required by the user 20. For example, in the graph shown in FIG. 10 , the requested reliability may be used instead of the requested intervention level on the horizontal axis. This causes the providing device 200 to stop providing a service that uses predicted mobile object information whose prediction reliability is lower than the requested reliability. Therefore, the control system 10 described above can prevent the user 20 from losing trust in a service that uses predicted mobile object information due to the provision of a service with low reliability.

[0146] <Regarding the control system 10 of the modified example of the second embodiment> In the control system 10 of the second embodiment, the providing device 200 may adjust a control signal. In the control system 10 of the second embodiment, the providing device 200 may generate a control signal. Fig. 22 shows communication between the control device 100 and the providing device 200 in the control system 10 of the modified example of the second embodiment.

[0147] 22, the providing device 200 acquires a requested reliability from the user 20. The providing device 200 transmits a request for predicted mobile object information and the predicted reliability of the predicted mobile object information to the control device 100.

[0148] The control device 100, which has received a request for predicted mobile object information and predicted reliability from the providing device 200, transmits the predicted mobile object information and predicted reliability to the providing device 200. The providing device 200 adjusts a control signal based on the predicted mobile object information, predicted reliability, and requested reliability. The providing device 200 provides a service to the user 20 based on the adjusted control signal.

[0149] The control signal reflects the requested reliability input by the user 20 to the providing device 200. Therefore, the requested reliability of the user 20 is also reflected in the service that the providing device 200 provides to the user 20 based on the control signal.

[0150] The flow of processing executed by the control device 100 and the flow of processing executed by the providing device 200 will be described in more detail below with reference to Figures 23 and 24. Figure 23 is a flowchart showing the flow of a series of processing executed by the control device 100 in the control system 10 of a modified example of the second embodiment. A control program that causes the first processing circuit 101 to execute this series of processing is stored in the first storage device 102 of the control device 100. The control device 100 executes the series of processing shown in Figure 23 in accordance with this control program stored in the first storage device 102.

[0151] 23 , when this series of processes starts, the control device 100 acquires, in step S140, a plurality of pieces of mobile object information indicating the positions and behaviors of a plurality of mobile objects 700 existing in the real world in association with the time at which the mobile object information was acquired, as in the second embodiment. After the control device 100 acquires the plurality of pieces of mobile object information indicating the positions and behaviors of the plurality of mobile objects 700, the process proceeds to step S141.

[0152] In the processing of step S141, the control device 100 calculates predicted moving object information. The predicted moving object information is updated at predetermined intervals by the first processing circuit 101. This predicted moving object information includes information on the presence range 30 of the moving object 700. After the control device 100 calculates the predicted moving object information and the presence range 30, the processing proceeds to step S142.

[0153] In the process of step S142, similarly to step S102 shown in Fig. 4, the control device 100 calculates the prediction reliability of the predicted moving object information based on the existence range 30. After the prediction reliability is calculated in step S142, the process proceeds to step S143.

[0154] In step S143, the control device 100 acquires a request for predicted mobile object information and predicted reliability from the providing device 200. Here, with reference to Fig. 24 , a flow of processing executed by the providing device 200 to transmit a request for predicted mobile object information and predicted reliability to the control device 100 will be described.

[0155] 24 is a flowchart showing the flow of a series of processes executed by the providing device 200 in the control system 10. A control program for causing the second processing circuit 201 to execute this series of processes is stored in the second storage device 202 of the providing device 200. The providing device 200 executes the series of processes shown in FIG. 24 in accordance with this control program stored in the second storage device 202.

[0156] 24, when this series of processes starts, in the process of step S230, the providing device 200 acquires a requested reliability from the user 20 of the providing device 200. After the providing device 200 acquires the requested reliability of the user 20, the process proceeds to step S231.

[0157] In the processing of step S231, the providing device 200 transmits a request for predicted moving object information and predicted reliability to the control device 100. When the providing device 200 executes the processing of step S231 and transmits the request for predicted moving object information and predicted reliability, the processing proceeds to step S143 shown in FIG.

[0158] 23 , after the control device 100 acquires a request for predicted mobile object information and predicted reliability from the providing device 200 in step S143, the process proceeds to step S144. In the process of step S144, the control device 100 transmits the predicted mobile object information and the predicted reliability of the predicted mobile object information to the providing device 200 of the user 20. In step S144, after the control device 100 transmits the predicted mobile object information and the predicted reliability of the predicted mobile object information to the providing device 200, the process proceeds to step S232 in FIG.

[0159] 24 , in step S232, the providing device 200 acquires the predicted mobile object information and the prediction reliability of the predicted mobile object information from the control device 100 via the external communication network 400. After the providing device 200 acquires the predicted mobile object information and the prediction reliability of the predicted mobile object information, the processing proceeds to step S233.

[0160] In step S233, the providing device 200 generates a control signal based on the predicted moving object information. After the providing device 200 generates the control signal, the process proceeds to step S234. In step S234, the providing device 200 calculates an adjustment coefficient Q based on the predicted reliability of the predicted moving object information used to generate the control signal and the required reliability. That is, the providing device 200 determines the degree of adjustment of the control signal. After the providing device 200 determines the degree of adjustment, the process proceeds to step S235.

[0161] In step S235, the providing device 200 reflects the adjustment in the control signal based on the adjustment coefficient Q. After the control device 100 adjusts the control signal based on the adjustment coefficient Q, the process proceeds to step S236.

[0162] In step S236, the providing device 200 provides the service to the user 20 of the providing device 200 based on the control signal adjusted based on the predicted reliability of the predicted mobile object information and the requested reliability of the user 20.

[0163] By executing this series of processes, the control system 10 in the modified example of the second embodiment can provide services to the user 20 by the providing device 200 acquiring predicted mobile object information and adjusting the control signal.

[0164] A providing device 200 according to a modified example of the second embodiment includes a second processing circuit 201 and a second communication device 203. The providing device 200 communicates with the control device 100 via the second communication device 203 to acquire predicted moving object information after the time at which the moving object information is acquired. The predicted moving object information is calculated by the control device 100 based on moving object information indicating the positions of multiple moving objects 700 present in the real world. The second processing circuit 201 of the providing device 200 provides a service based on the predicted moving object information to a user 20 of the providing device 200. The service assists the user 20. The second processing circuit 201 of the providing device 200 acquires information correlated with a degree of service intervention desired by the user 20 of the providing device 200. The providing device 200 adjusts the degree of service intervention for the user 20 of the providing device 200 based on the acquired information correlated with the degree of intervention.

[0165] This allows the providing device 200 to provide a service adjusted based on the wishes of the user 20 of the providing device. The program of the providing device 200 causes the second communication device 203 of the providing device 200 to communicate with the control device 100. This causes the program of the providing device 200 to acquire predicted moving object information after the time when the moving object information is acquired, calculated by the control device 100 based on moving object information indicating the positions of multiple moving objects 700 that exist in the real world. The program of the providing device 200 causes the second processing circuit 201 of the providing device 200 to provide a service based on the predicted moving object information to the user 20 of the providing device 200. The service is intended to assist the user 20 of the providing device 200.

[0166] The program of the providing device 200 causes the second communication device 203 to acquire information correlated with the degree of intervention of a service desired by the user 20 of the providing device 200. The program of the providing device 200 causes the second processing circuit 201 to adjust the degree of intervention of a service for the user 20 of the providing device 200 based on the acquired information correlated with the degree of intervention.

[0167] As a result, the program of the providing device 200 can cause the providing device 200 to provide a service adjusted based on the desires of the user 20 of the providing device 200 .

[0168] Third Embodiment Next, a third embodiment will be described with reference to Figs. 25 to 29. The third embodiment will be described focusing on the differences from the first and second embodiments. In the third embodiment, the control system 10 includes an input terminal 300 in addition to a control device 100, a providing device 200, and an external communication network 400.

[0169] <Regarding the Input Terminal 300> As shown in Fig. 25, the input terminal 300 includes a third processing circuit 301, a third storage device 302, and a third communication device 303. Programs are stored in the third storage device 302. The third processing circuit 301 executes the programs stored in the third storage device 302 to perform various processes. The third processing circuit 301 includes a processor. The input terminal 300 is connected to an external communication network 400 via the third communication device 303.

[0170] For example, a portable information processing terminal 800 owned by a user 20 functions as the input terminal 300 in the control system 10. For example, a personal computer functions as the input terminal 300 in the control system 10. For example, an information terminal mounted on a vehicle 500 functions as the input terminal 300 in the control system 10.

[0171] <Provision of Services by Control System 10 Having Input Terminal 300> FIG. 26 shows communication between the control device 100, the providing device 200, and the input terminal 300 of the control system 10 in the third embodiment.

[0172] In the example of Fig. 26, the input terminal 300 acquires a requested reliability from the user 20. The input terminal 300 transmits the requested reliability to the control device 100. The control device 100 adjusts a control signal based on the acquired requested reliability. The control device 100 transmits the control signal to the providing device 200. The providing device 200 provides a service to the user 20 based on the acquired control signal.

[0173] The control signal reflects the requested reliability that the user 20 inputs to the input terminal 300. Therefore, the requested reliability of the user 20 is also reflected in the service that the providing device 200 provides to the user 20 based on the control signal.

[0174] Hereinafter, the process flow executed by the control device 100, the process flow executed by the providing device 200, and the process flow executed by the input terminal 300 will be described in more detail with reference to FIGS. 27 to 29.

[0175] 27 is a flowchart showing the flow of a series of processes executed by the control device 100 in the control system 10 of the third embodiment. A control program for causing the first processing circuit 101 to execute this series of processes is stored in the first storage device 102 of the control device 100. The control device 100 executes the series of processes shown in FIG. 27 in accordance with this control program stored in the first storage device 102.

[0176] 27 , when this series of processes starts, the control device 100 acquires, in step S150, a plurality of pieces of mobile object information indicating the positions and behaviors of a plurality of mobile objects 700 existing in the real world in association with the time at which the mobile object information was acquired, as in the first embodiment. After the control device 100 acquires the plurality of pieces of mobile object information indicating the positions and behaviors of the plurality of mobile objects 700, the process proceeds to step S151.

[0177] In the process of step S151 , the first processing circuit 101 of the control device 100 calculates the existence range 30 of the moving object 700 based on the moving object information stored in the first storage device 102 .

[0178] After calculating the existence range 30 of the moving object 700, the first processing circuit 101 calculates predicted moving object information that reproduces the positions and behaviors of the multiple moving objects 700 in a virtual space. The predicted moving object information is updated at predetermined intervals by the first processing circuit 101. This predicted moving object information includes information on the existence range 30 of the moving object 700.

[0179] After the control device 100 calculates the predicted moving object information and the existence range 30, the process proceeds to step S152. In the process of step S152, the control device 100 calculates the prediction reliability of the predicted moving object information based on the existence range 30, similar to step S102 shown in FIG.

[0180] After the control device 100 calculates the predicted reliability in step S152, the process proceeds to step S153. In step S153, the control device 100 acquires a requested reliability from the input terminal 300.

[0181] 28 is a flowchart showing the flow of a series of processes executed by the input terminal 300 in the control system 10 of the third embodiment. A control program for causing the third processing circuit 301 to execute this series of processes is stored in the third storage device 302 of the input terminal 300. The input terminal 300 executes the series of processes shown in FIG. 28 in accordance with this control program stored in the third storage device 302.

[0182] 28 , when this series of processes starts, the input terminal 300 acquires a requested reliability from the user 20 of the input terminal 300 in the process of step S300, similar to the providing device 200 in the second embodiment. After the input terminal 300 acquires the requested reliability of the user 20, the process proceeds to step S301.

[0183] In the process of step S301, the input terminal 300 transmits the requested reliability acquired from the user 20 to the control device 100 via the external communication network 400. When the input terminal 300 executes the process of step S301 and transmits the requested reliability, the process proceeds to step S153 shown in FIG.

[0184] After the control device 100 acquires the required reliability from the input terminal 300 in step S153, the process proceeds to step S154. In the process of step S154, the control device 100 determines the degree of adjustment of the control signal based on the predicted reliability and the required reliability, as in the second embodiment. After the control device 100 determines the adjustment coefficient Q, which is the degree of adjustment, the process proceeds to step S155.

[0185] In step S155, the control device 100 adjusts the control signal based on the adjustment coefficient Q. After the control device 100 adjusts the control signal based on the adjustment coefficient Q, the process proceeds to step S156.

[0186] In step S156, the control device 100 transmits a control signal to the provision device 200 owned by the user 20. After the control device 100 transmits the control signal to the provision device 200, the process proceeds to step S240 in FIG.

[0187] 29, the providing device 200 acquires a control signal from the control device 100 via the external communication network 400. After the providing device 200 acquires the control signal, the process proceeds to step S241.

[0188] In step S241, the providing device 200 provides a service to the user 20 based on a control signal adjusted based on the predicted reliability of the predicted mobile object information and the requested reliability of the user 20.

[0189] <Operation of Third Embodiment> In a control system 10 including a control device 100, a providing device 200, and an input terminal 300, the providing device 200 provides to the user 20 a service that reflects the requested reliability obtained by the input terminal 300 from the user 20.

[0190] <Effects of the third embodiment> (1) The control system 10 can adjust the degree of intervention in the service provided to the user 20 based on information correlated with the degree of intervention input by the user 20 into the input terminal 300.

[0191] (2) In the third embodiment, a service is provided assuming that the input terminal 300 is a smartphone owned by the user 20 and the providing device 200 is a vehicle 500 owned by the user 20. In this case, the user 20 can select the degree of intervention of the service desired by the user 20 via the smartphone without directly operating the vehicle 500.

[0192] (3) Before using the vehicle 500, the user 20 can transmit information from the input terminal 300 to the control device 100 so that services can be provided according to the user 20's wishes. As a result, the user 20 can drive the vehicle 500 while receiving services with a degree of intervention according to the user 20's requests, immediately after starting to operate the vehicle 500.

[0193] <Modifications of the Third Embodiment> The third embodiment can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of no technical contradiction.

[0194] The input terminal 300 may communicate with the providing device 200 without going through the external communication network 400. For example, the communication mode between the third communication device 303 of the input terminal 300 and the second communication device 203 of the providing device 200 may be short-range wireless communication such as Wi-Fi (registered trademark) or Bluetooth (registered trademark). For example, the communication mode between the third communication device 303 of the input terminal 300 and the second communication device 203 of the providing device 200 may be a wired connection.

[0195] The input terminal 300 may acquire a requested intervention degree from the user 20 instead of the requested reliability. The input terminal 300 may calculate the requested intervention degree based on information correlated with the degree of intervention acquired from the user 20.

[0196] The input terminal 300 may calculate the request reliability based on information correlated with the degree of intervention obtained from the user 20. <Regarding the control system 10 in the first modified example of the third embodiment> In the control system 10 of the third embodiment, the input terminal 300 may transmit the request reliability to the providing device 200. Fig. 30 shows communication between the control device 100, the providing device 200, and the input terminal 300 of the control system 10 in the first modified example of the third embodiment.

[0197] In the example of FIG. 30 , the input terminal 300 acquires a requested reliability from the user 20. The input terminal 300 transmits the requested reliability to the providing device 200. The providing device 200 transmits a service request to the control device 100. The service request is a request to the control device 100 for a control signal so that the providing device 200 can provide a service to the user 20. The control device 100, which has acquired the service request, generates a control signal based on the predicted mobile object information and the predicted reliability. The control device 100 transmits the control signal to the providing device 200.

[0198] The providing device 200 adjusts the control signal based on the control signal acquired from the control device and the requested reliability acquired from the input terminal, and provides the service to the user 20 based on the adjusted control signal.

[0199] The control signal reflects the requested reliability that the user 20 inputs to the input terminal 300. Therefore, the requested reliability of the user 20 is also reflected in the service that the providing device 200 provides to the user 20 based on the control signal.

[0200] Below, with reference to Figures 23, 31 and 32, the processing flow performed by the control device 100, the processing flow performed by the providing device 200, and the processing flow performed by the input terminal 300 will be explained in more detail.

[0201] 23 , when this series of processes starts, the control device 100 acquires, in step S140, a plurality of pieces of mobile object information indicating the positions and behaviors of a plurality of mobile objects 700 existing in the real world in association with the time at which the mobile object information was acquired, as in the second embodiment. After the control device 100 acquires the plurality of pieces of mobile object information indicating the positions and behaviors of the plurality of mobile objects 700, the process proceeds to step S141.

[0202] In the processing of step S141, the control device 100 calculates predicted moving object information. The predicted moving object information is updated at predetermined intervals by the first processing circuit 101. This predicted moving object information includes information on the presence range 30 of the moving object 700. After the control device 100 calculates the predicted moving object information and the presence range 30, the processing proceeds to step S142.

[0203] In the process of step S142, similarly to step S102 shown in Fig. 4, the control device 100 calculates the prediction reliability of the predicted moving object information based on the existence range 30. After the prediction reliability is calculated in step S142, the process proceeds to step S143.

[0204] In step S143, the control device 100 acquires a service request from the providing device 200. Here, the flow of processing executed by the providing device 200 to transmit a service request to the control device 100 will be described with reference to Fig. 31 .

[0205] 31 is a flowchart showing the flow of a series of processes executed by the providing device 200 in the control system 10. A control program for causing the second processing circuit 201 to execute this series of processes is stored in the second storage device 202 of the providing device 200. The providing device 200 executes the series of processes shown in FIG. 31 in accordance with this control program stored in the second storage device 202.

[0206] 31 , when this series of processes starts, in the process of step S250, the providing device 200 acquires a requested reliability from the input terminal 300. Here, with reference to FIG. 32 , the flow of processes executed by the input terminal 300 to transmit a requested reliability to the providing device 200 will be described.

[0207] 32 is a flowchart showing the flow of a series of processes executed by the input terminal 300 in the control system 10. A control program for causing the third processing circuit 301 to execute this series of processes is stored in the third storage device 302 of the input terminal 300. The input terminal 300 executes the series of processes shown in FIG. 32 in accordance with this control program stored in the third storage device 302.

[0208] 32, when this series of processes starts, in the process of step S310, the input terminal 300 acquires a requested reliability from the user 20 of the input terminal 300. After the input terminal 300 acquires the requested reliability of the user 20, the process proceeds to step S311.

[0209] In the process of step S311, the input terminal 300 transmits the requested reliability acquired from the user 20 to the providing device 200 via the external communication network 400. When the input terminal 300 executes the process of step S311 and transmits the requested reliability, the process proceeds to step S250 shown in FIG.

[0210] 31 , in the process of step S250, the providing device 200 acquires the requested reliability of the user 20 from the input terminal 300, and then the process proceeds to step S251. In the process of step S251, the providing device 200 transmits a service request to the control device 100, as in the modified example of the second embodiment. After the providing device 200 executes the process of step S251 and transmits the service request, the process proceeds to step S143 shown in FIG.

[0211] 23 , after the control device 100 acquires a service request from the providing device 200 in step S143, the process proceeds to step S144. In the process of step S144, the control device 100 transmits a control signal to the providing device 200 of the user 20. In addition, the control device 100 transmits the predicted reliability used in generating the control signal to the providing device 200 of the user 20. After the control device 100 transmits the control signal and the predicted reliability to the providing device 200 in step S144, the process proceeds to step S252 in FIG.

[0212] 31, the providing device 200 acquires a control signal and a predicted reliability from the control device 100. After the providing device 200 acquires the control signal and the predicted reliability, the process proceeds to step S253.

[0213] In step S253, the providing device 200 determines an adjustment coefficient Q, which is the degree of adjustment of the control signal, based on the predicted reliability acquired from the control device 100 and the requested reliability acquired from the user 20. After the control device 100 determines the adjustment coefficient Q, which is the degree of adjustment, the process proceeds to step S254.

[0214] In step S254, the providing device 200 adjusts the control signal based on the adjustment coefficient Q. After the control device 100 adjusts the control signal based on the adjustment coefficient Q, the process proceeds to step S235.

[0215] In step S255, the providing device 200 provides a service to the user 20 of the providing device 200 based on the control signal adjusted based on the predicted reliability of the predicted mobile object information and the requested reliability of the user 20.

[0216] By executing this series of processes, the control system 10 in the first modification of the third embodiment can provide the user 20 with a service based on the reliability required by the user 20 .

[0217] <Second Modification of Third Embodiment> In the control system 10 of the third embodiment, the input terminal 300 may determine the degree of adjustment of the control signal. Fig. 33 shows communication between the control device 100, the providing device 200, and the input terminal 300 of the control system 10 in the second modification of the third embodiment.

[0218] In the example of FIG. 33 , the input terminal 300 acquires a requested degree of intervention from the user 20. The input terminal 300 determines the degree of adjustment of the control signal based on the requested degree of intervention. The input terminal 300 transmits the degree of adjustment to the providing device 200. The providing device 200 transmits a service request to the control device 100. Having acquired the service request, the control device 100 generates a control signal based on predicted mobile object information and prediction reliability. The control device 100 transmits the control signal to the providing device 200. The providing device 200 adjusts the control signal based on the control signal acquired from the control device 100 and the degree of adjustment of the control signal acquired from the input terminal. The providing device 200 provides a service to the user 20 based on the adjusted control signal.

[0219] The control signal reflects the requested degree of intervention that the user 20 inputs to the input terminal 300. Therefore, the requested degree of intervention of the user 20 is also reflected in the service that the providing device 200 provides to the user 20 based on the control signal.

[0220] Hereinafter, the process flow executed by the control device 100, the process flow executed by the providing device 200, and the process flow executed by the input terminal 300 will be described in more detail with reference to FIGS.

[0221] FIG. 34 is a flowchart showing the flow of a series of processes executed by the control device 100 in the control system 10 of the second modified example of the third embodiment. In this series of processes, the control device 100 does not calculate prediction reliability. In addition, the control device 100 does not determine the degree of adjustment of the control signal. A control program that causes the first processing circuit 101 to execute this series of processes is stored in the first storage device 102 of the control device 100. The control device 100 executes the series of processes shown in FIG. 34 in accordance with this control program stored in the first storage device 102.

[0222] In step S160, the control device 100 acquires mobile object information. After the control device 100 acquires the mobile object information, the process proceeds to step S161. In step S161, the control device 100 calculates predicted mobile object information based on the acquired mobile object information. After the control device 100 calculates the predicted mobile object information, the process proceeds to step S162.

[0223] In step S162, the control device 100 acquires a service request from the providing device 200. Here, the providing device 200 executes a series of processes shown in FIG. 35 . That is, in the process of step S260, the providing device 200 acquires the degree of adjustment of the control signal from the input terminal 300. Here, the input terminal 300 executes a series of processes shown in FIG. 36 . That is, in the process of step S320, the input terminal 300 acquires a requested intervention level from the user 20. After the input terminal 300 acquires the requested intervention level from the user 20, the process proceeds to step S321.

[0224] In step S321, the input terminal 300 determines the degree of adjustment of the control signal based on the requested intervention level, similar to step S113 executed by the control device 100 in the first modification of the first embodiment. After the input terminal 300 determines the degree of adjustment of the control signal, the process proceeds to step S322.

[0225] In step S322, the input terminal 300 transmits the degree of adjustment of the control signal determined in step S321 to the providing device 200. After the providing device 200 acquires the degree of adjustment from the input terminal 300, the processing proceeds to step S260 shown in FIG.

[0226] 35 , in the process of step S260, the providing device 200 acquires the degree of adjustment of the control signal from the input terminal 300, and then the process proceeds to step S261. In the process of step S261, the providing device 200 transmits a service request to the control device 100, as in the modified example of the second embodiment. After the providing device 200 executes the process of step S261 and transmits the service request, the process proceeds to step S162 shown in FIG.

[0227] 34, after the control device 100 acquires a service request from the providing device 200 in step S162, the process proceeds to step S163. In the process of step S163, the control device 100 transmits a control signal to the providing device 200. After the control device 100 transmits the control signal to the providing device 200 in step S163, the process proceeds to step S262 in FIG.

[0228] 35, the providing device 200 acquires a control signal from the control device 100. After the providing device 200 acquires the control signal, the process proceeds to step S263.

[0229] In step S263, the providing device 200 reflects the degree of adjustment acquired from the input terminal 300 in the control signal. Then, the process proceeds to step S264. In step S264, the providing device 200 provides a service to the user 20 based on the control signal that has been adjusted according to the reliability required by the user 20.

[0230] By executing this series of processes, the control system 10 in the second modification of the third embodiment can provide the user 20 with a service based on the reliability required by the user 20 .

[0231] The input terminal 300 includes a third processing circuit 301 and a third communication device 303. The third processing circuit 301 of the input terminal 300 determines the degree of service intervention of the providing device 200 for the user 20, based on information correlated with the degree of service intervention input by the user 20. The third communication device 303 of the input terminal 300 transmits information indicating the degree of intervention determined by the third processing circuit 301 of the input terminal 300 to the providing device 200.

[0232] As a result, the input terminal 300 can achieve the same effect as the control device 100 of the first embodiment by working in cooperation with the providing device 200 that adjusts the degree of service intervention based on the received information.

[0233] The providing device 200 receives, via the second communication device 203, information indicating the degree of intervention determined by the input terminal 300. The second processing circuit 201 adjusts the degree of intervention of the service for the user 20 based on the received information indicating the degree of intervention.

[0234] As a result, the providing device 200 can achieve the same effect as the control device 100 of the first embodiment by working in collaboration with the input terminal 300, which determines the degree of service intervention from information indicating the degree of service intervention desired by the user 20 of the providing device 200.

[0235] <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.

[0236] The control device 100 of the control system 10 may calculate the required intervention level. Fig. 37 shows communication between the control device 100 of the control system 10 and the providing device 200 in a modified example common to the first and second embodiments.

[0237] In the example of FIG. 37 , the providing device 200 acquires information correlated with the degree of service intervention from the user 20. The information correlated with the degree of service intervention is, for example, the result of a questionnaire consisting of multiple questions targeted at the user 20. The providing device 200 transmits the information correlated with the degree of service intervention to the control device 100. The control device 100 calculates a requested intervention level based on the acquired information correlated with the intervention of the service. The control device 100 determines the degree of adjustment of the control signal based on the requested intervention level. The control device 100 transmits the control signal and the determined degree of adjustment of the control signal to the providing device 200. The information transmitted by the control device 100 to the providing device 200 indicates the degree of service intervention. The providing device 200 adjusts the control signal based on the acquired degree of adjustment of the control signal. The providing device 200 provides a service to the user 20 based on the adjusted control signal. That is, the providing device 200 adjusts the degree of service intervention for the user 20 based on the information indicating the degree of intervention.

[0238] The control signal reflects information that correlates with the degree of intervention in the service and that is input by the user 20 to the providing device 200. Therefore, the service that the providing device 200 provides to the user 20 based on the control signal also reflects the information that correlates with the degree of intervention in the service and that is input by the user 20.

[0239] The flow of processing executed by the control device 100 and the flow of processing executed by the providing device 200 will be described in more detail below with reference to Figures 38 and 39. Figure 38 is a flowchart showing the flow of a series of processing executed by the control device 100 in the control system 10 of a modified example. A control program that causes the first processing circuit 101 to execute this series of processing is stored in the first storage device 102 of the control device 100. The control device 100 executes the series of processing shown in Figure 38 in accordance with this control program stored in the first storage device 102.

[0240] In step S170, the control device 100 acquires mobile object information. After the control device 100 acquires the mobile object information, the process proceeds to step S171. In step S171, the control device 100 calculates predicted mobile object information based on the acquired mobile object information. After the control device 100 calculates the predicted mobile object information, the process proceeds to step S172.

[0241] In step S172, the control device 100 calculates the prediction reliability of the predicted mobile object information. After the control device 100 calculates the prediction reliability, the process proceeds to step S173. In step S173, the control device 100 acquires information correlated with the degree of service intervention from the providing device 200.

[0242] Here, the flow of processing executed by the providing device 200 to acquire information correlated with the degree of service intervention will be described with reference to Fig. 39. Fig. 39 is a flowchart showing the flow of a series of processing executed by the providing device 200 in the control system 10 of the modified example. A control program that causes the second processing circuit 201 to execute this series of processing is stored in the second storage device 202 of the providing device 200. The providing device 200 executes the series of processing shown in Fig. 39 in accordance with this control program stored in the second storage device 202.

[0243] 39 , when this series of processes starts, in the process of step S270, the providing device 200 acquires information correlated with the degree of intervention from the user 20 of the providing device 200. The information correlated with the degree of intervention is, for example, information on the answers of the user 20 to a questionnaire consisting of multiple questions.

[0244] After the providing device 200 acquires the information correlated with the degree of intervention from the user 20, the process proceeds to step S271. In the process of step S271, the providing device 200 transmits the information correlated with the degree of intervention to the control device 100.

[0245] When the providing device 200 executes the process of step S271 and transmits the information correlated with the degree of intervention, the process proceeds to step S173 shown in Fig. 38. As shown in Fig. 38, in the process of step S173, the control device 100 acquires the information correlated with the degree of intervention from the providing device 200. After the control device 100 acquires the information correlated with the degree of intervention, the process proceeds to step S174.

[0246] In step S174, the control device 100 calculates, based on information correlated with the degree of intervention, the degree of intervention requested by the user 20. After the control device 100 calculates the degree of intervention requested by the user 20, the process proceeds to step S175.

[0247] In the process of step S175, the control device 100 determines the degree of adjustment of the control signal based on the prediction reliability and the requested intervention degree. That is, the control device 100 determines the degree of intervention of the service of the providing device 200 for the user 20. After the control device 100 determines the degree of adjustment, the process proceeds to step S176.

[0248] In step S176, the control device 100 transmits a control signal and the degree of adjustment to the providing device 200 of the user 20. After the control device 100 transmits the control signal and the degree of adjustment to the providing device 200, the process proceeds to step S272 in FIG.

[0249] In step S272, the providing device 200 acquires a control signal and a degree of adjustment from the control device 100. After the providing device 200 acquires the control signal and the degree of adjustment, the process proceeds to step S273.

[0250] In step S273, the providing device 200 reflects the degree of adjustment in the control signal. After the providing device 200 adjusts the control signal based on the degree of adjustment, the process proceeds to step S274.

[0251] In step S274, the providing device 200 provides the user 20 of the providing device 200 with a service based on the control signal adjusted based on the prediction reliability of the predicted mobile object information and the degree of intervention requested by the user 20.

[0252] The control device 100 of the control system 10 of this modified example calculates the requested intervention level, thereby being able to provide a service to the user 20 with the level of intervention desired by the user 20. The control device 100 of this modified example includes a first processing circuit 101 and a first communication device 103. The first processing circuit 101 of the control device 100 determines the level of intervention of a service for the user 20 of the providing device 200 based on information correlating with the level of intervention of a service desired by the user 20 of the providing device 200. The first communication device 103 of the control device 100 transmits information indicating the level of intervention determined by the first processing circuit 101 to the providing device 200.

[0253] The control device 100 of this modified example can achieve the same effects as the control device 100 of the first embodiment by working in cooperation with the providing device 200 that adjusts the degree of service intervention based on the received information.

[0254] The providing device 200 of this modified example includes a second processing circuit 201 and a second communication device 203. The second communication device 203 of the providing device 200 receives information indicating the degree of intervention determined by the control device 100. The second processing circuit 201 of the providing device 200 adjusts the degree of intervention of the service for the user 20 based on the received information indicating the degree of intervention.

[0255] The provision device 200 of this modified example can achieve the same effect as the control device 100 of the first embodiment by working in collaboration with the control device 100 that determines the degree of service intervention from information indicating the degree of service intervention desired by the user 20.

[0256] The program of the control device 100 of this modified example causes the first processing circuit 101 of the control device 100 to determine the degree of intervention of the service from the providing device 200 for the user 20, based on information correlating with the degree of intervention of the service desired by the user 20. The program of this modified example causes the first communication device 103 of the control device 100 to transmit information indicating the determined degree of intervention to the providing device 200.

[0257] The program of the control device 100 in this modified example can achieve the same effect as the program of the control device 100 in the first embodiment by working in cooperation with the program of the providing device 200, which causes the providing device 200 to adjust the degree of service intervention based on the received information.

[0258] The program of the providing device 200 of the modified example causes the second processing circuit 201 of the providing device 200 to receive information indicating the degree of intervention determined by the control device 100, using the second communication device 203. The program of the providing device 200 of the modified example causes the second processing circuit 201 of the providing device 200 to adjust the degree of intervention of the service for the user 20, based on the received information indicating the degree of intervention.

[0259] The program of the provision device 200 in this modified example can achieve the same effect as the program of the control device 100 in the first embodiment by working in cooperation with the program of the control device 100, which causes the control device 100 to determine the degree of service intervention from information indicating the degree of service intervention desired by the user 20.

[0260] In the above modified example, the control device 100 may calculate the requested reliability based on information obtained from the user 20 and correlating with the degree of intervention desired by the user 20. The services provided by the control system 10 to the user 20 via the vehicle 500, which is the providing device 200, can be applied to various advanced safety technologies. Examples of advanced safety technologies include PCS (Pre-crash Safety), ACC (Adaptive Cruise Control), LKA (Lane Keeping Assist), and LCA (Lane Change Assist).

[0261] The method for calculating the individual reliability is not limited to the method described in the first embodiment. FIG. 40 shows an example of the correspondence between the mobile object information acquired by the control system 10 and the individual reliability of each data. For example, the control system 10 may assign an individual reliability to the mobile object information based on the presence probability of the mobile object 700. The presence probability is the probability that the mobile object 700 exists within the presence range 30. When assigning an individual reliability to the mobile object information based on the presence probability, the control system 10 sets the presence range 30 of each mobile object 700 to the same predetermined size. In FIG. 40 , the control system 10 sets the individual reliability of a mobile object 700 with a presence probability of less than 50% to "Level 1," the individual reliability of a mobile object 700 with a presence probability of 50% or more but less than 95% to "Level 2," and the individual reliability of a mobile object 700 with a presence probability of 95% or more to "Level 3."

[0262] For example, the control system 10 may assign an individual reliability to each moving body 700 based on the time elapsed since the last update of the moving body information. The longer the time since the update of the moving body information, the lower the likelihood of accuracy of the position of the moving body 700. In FIG. 40 , the control system 10 sets the individual reliability of a moving body 700 for which 5 seconds or more have passed since the update of the moving body information to "Level 1." The control system 10 sets the individual reliability of a moving body 700 for which 0.5 seconds or more have passed since the update of the moving body information and the elapsed time since the update is less than 5 seconds to "Level 2." The control system 10 sets the individual reliability of a moving body 700 for which less than 0.5 seconds have passed since the update of the moving body information to "Level 3."

[0263] For example, the control system 10 may assign an individual reliability to each moving body 700 depending on the sensor that acquired the moving body information. That is, the control system 10 may assign a higher level of individual reliability to a moving body 700 whose moving body information was acquired using a sensor that can acquire more accurate moving body information. In FIG. 40 , the control system 10 sets the individual reliability of a moving body 700 whose moving body information was acquired using only GNSS to "Level 1." The control system 10 sets the individual reliability of a moving body 700 whose moving body information was acquired using a combination of GNSS, LiDAR, and sonar to "Level 2." The control system 10 sets the individual reliability of a moving body 700 whose moving body information was acquired using a combination of RTK, LiDAR, and sonar to "Level 3."

[0264] In the control system 10, the method for calculating the prediction reliability is not limited to the arithmetic mean of the individual reliability values ​​assigned to each moving object 700. For example, the control system 10 may set the prediction reliability of the predicted moving object information to the minimum value of the individual reliability values ​​in the predicted moving object information. For example, the control system 10 may set the prediction reliability of the predicted moving object information to the mode value of the individual reliability values ​​in the predicted moving object information.

[0265] In the control system 10, the vehicle 500 may have the function of the control device 100. In the control system 10, the vehicle 500 may have the function of the providing device 200. In the control system 10, the vehicle 500 may have the function of the control device 100 and the function of the providing device 200.

[0266] The information correlated with the degree of service intervention is not limited to the results of a questionnaire consisting of multiple questions targeted at the user 20. For example, the providing device 200 may treat information statistically derived from the usage status of the in-vehicle functions of the user 20 as information correlated with the degree of service intervention. The usage status of the in-vehicle functions is, for example, information on the frequency with which the user 20 of the vehicle 500 uses the advanced safety functions installed in the vehicle 500.

[0267] If the user 20 selects "high" on the screen shown in FIG. 19 as the accuracy of the information that is permitted to be used to provide a service, the control system 10 selects information with high accuracy from the acquired information. As a result, there is a possibility that a delay will occur in the service that the control system 10 provides to the user 20. Therefore, the control system 10 may display a confirmation screen to the user 20 who selected "high" as the accuracy of the information that is permitted to be used to provide a service. For example, the control system 10 displays a confirmation screen such as that shown in FIG. 41 on the display 520_5. If the user 20 selects "yes," the control system 10 provides the user 20 with a service based on the information with high accuracy. If the user 20 selects "no," the control system 10 again displays the example screen display shown in FIG. 19 on the display 520_5.

Claims

1. A control system configured to perform the following: based on mobile object information indicating the position of each of multiple mobile objects existing in the real world, obtain predicted mobile object information indicating the predicted position of each of the mobile objects after the time the mobile object information is obtained; obtain the reliability of the predicted mobile object information; determine the degree of intervention in a service to be provided to a user based on information correlated with at least the degree of intervention; and provide the service for which the degree of intervention has been determined to the user.

2. The control system of claim 1, configured to acquire a requested intervention level, which is the level of intervention corresponding to the option selected by the user from among multiple options, as information correlated with the level of intervention, and to adjust the level of intervention of the service for the user in accordance with the acquired requested intervention level.

3. The control system of claim 1, configured to acquire a requested reliability, which is information indicating the accuracy required by the user of the service as information correlated with the degree of intervention and is the reliability corresponding to the option selected by the user from a plurality of options, and to adjust the degree of intervention of the service for the user in accordance with the acquired requested reliability.

4. The control system of claim 1, configured to provide the coordinated service in a vehicle driven by the user.

5. The control system according to claim 1, wherein the control system is configured to provide the adjusted service at an information processing terminal used by the user.

6. The control system of claim 1, further comprising an input terminal configured to allow the user to input information correlated with the degree of intervention, and configured to acquire the information correlated with the degree of intervention from the input terminal.

7. The control system of claim 2, further comprising an input terminal configured to allow the user to input information correlated with the degree of intervention, the input terminal configured to calculate the required degree of intervention.

8. The control system according to claim 2, wherein the control system is configured to set a lower level of intervention for the service as the requested level of intervention becomes lower.

9. The control system according to claim 3, wherein the control system is configured to set a lower degree of intervention of the service as the requested reliability increases.

10. The control system of claim 2, configured to calculate a prediction reliability indicating the accuracy of the predicted mobile object information, and adjust the degree of intervention of the service based on the requested intervention degree and the prediction reliability.

11. The control system according to claim 3, configured to calculate a prediction reliability indicating the accuracy of the predicted mobile object information, and adjust the degree of intervention of the service based on the requested reliability and the prediction reliability.

12. The control system described in claim 10 is configured to adjust the degree of intervention in the service so that the services that can be provided vary according to the user's requested degree of intervention by limiting the predicted mobile object information used to provide the service to predicted mobile object information whose prediction reliability is equal to or greater than a lower limit value, and to set the lower limit value higher the lower the requested degree of intervention, and lower the lower limit value higher the requested degree of intervention.

13. The control system of claim 11, configured to compare the predicted reliability with the required reliability, and adjust the degree of intervention of the service by stopping provision of the service using the predicted mobile object information having the predicted reliability less than the required reliability.

14. The control system according to claim 11, configured to compare the predicted reliability with the required reliability, and set a low level of intervention for the service that uses the predicted mobile object information having the predicted reliability lower than the required reliability.

15. The control system according to claim 1, wherein the service is a service that provides the user with information about the moving objects present in the vicinity of the vehicle being driven by the user.

16. The control system according to claim 4, wherein the service is a service for performing steering control of the vehicle based on information about the moving body.

17. A control device having a processing circuit, wherein the processing circuit is configured to perform the following: based on mobile object information indicating the position of each of a plurality of mobile objects existing in the real world, obtain predicted mobile object information indicating the predicted position of each of the mobile objects after the time the mobile object information is obtained; obtain the reliability of the predicted mobile object information; and determine the degree of intervention in services to be provided to the user.

18. A provision device having a processing circuit, the processing circuit being configured to perform the following: based on mobile object information indicating the position of each of a plurality of mobile objects existing in the real world, obtain predicted mobile object information indicating the predicted position of each of the mobile objects after the time the mobile object information is obtained; obtain the reliability of the predicted mobile object information; and determine the degree of intervention in the service to be provided to the user.

19. The control device according to claim 17, which is provided in the control system of claim 1, comprising a processing circuit and a communication device, wherein the processing circuit is configured to determine the degree of intervention of the service for the user based on information correlated with the degree of intervention of the service desired by the user, and the communication device is configured to transmit information indicating the determined degree of intervention to a providing device.

20. A providing device included in the control system of claim 1, the providing device comprising a processing circuit and a communication device, the communication device configured to acquire information indicating the degree of intervention, and the processing circuit configured to adjust the degree of intervention of the service for the user based on the acquired information indicating the degree of intervention.

21. An input terminal provided in the control system of claim 6 or 7, the input terminal comprising a processing circuit and a communication device, the processing circuit configured to determine a degree of intervention of the service for the user based on information correlated with the degree of intervention input by the user, and the communication device configured to transmit information indicating the determined degree of intervention to a providing device.

22. A providing device included in the control system of claim 6 or claim 7, the providing device comprising a processing circuit and a communication device, the input terminal configured to determine the degree of intervention of the service based on information correlated with the degree of intervention, the communication device configured to acquire information indicating the degree of intervention determined by the input terminal, and the processing circuit configured to adjust the degree of intervention of the service for the user based on the acquired information indicating the degree of intervention.

23. A control method comprising: acquiring, based on mobile object information indicating the position of each of a plurality of mobile objects existing in the real world, predicted mobile object information indicating the predicted position of each of the mobile objects after the time the mobile object information is acquired; acquiring the reliability of the predicted mobile object information; and determining the degree of intervention in services to be provided to a user based on information including at least information correlated with the degree of intervention.

24. A program executed by a processing circuit of a control device, configured to cause the processing circuit to: acquire information correlated with the degree of service intervention desired by a user; and adjust the degree of service intervention for the user based on the acquired information correlated with the degree of intervention.

25. A program executed by a processing circuit of a provider device, configured to cause the processing circuit to: acquire information correlated with the degree of intervention of a service desired by a user; and adjust the degree of intervention of the service for the user based on the acquired information correlated with the degree of intervention.

26. A program configured to cause the processing circuit of the control device described in claim 19 to execute the following: determine the degree of intervention of the service provided by the providing device for the user based on information correlated with the degree of intervention of the service desired by the user; and transmit information indicating the determined degree of intervention to the providing device using the communication device.

27. A program configured to cause the processing circuit of the provider device described in claim 20 to execute the following: using the communication device, obtain information indicating the degree of intervention determined by the control device of the control system; and adjusting the degree of intervention of the service for the user based on the obtained information indicating the degree of intervention.

28. A program configured to cause the processing circuit of the input terminal described in claim 21 to execute the following: determine the degree of intervention of the service for the user of the providing device based on information correlated with the degree of intervention input by the user; and transmit information indicating the determined degree of intervention to the providing device using the communication device.

29. A program configured to cause the processing circuit of the providing device described in claim 22 to execute the following: using the communication device, obtain information indicating the degree of intervention determined by the input terminal; and adjusting the degree of intervention of the service for the user based on the obtained information indicating the degree of intervention.

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