Information processing device, information processing method, and information processing program

Abstract

An information processing device according to one aspect comprises an image acquisition unit, a setting unit, and a control unit. The image acquisition unit acquires image data from an imaging device. On the basis of the image data, the setting unit sets a region pertaining to a reflector, which is capable of reflecting an electromagnetic wave in a detection range of a distance measurement device, as a non-distance measurement region in which a distance is not measured by the distance measurement device or location information collected by the distance measurement device is not adopted. The control unit executes a control pertaining to non-distance measurement with respect to the distance measurement device in the non-distance measurement region.

Description

Information processing device, information processing method, and information processing program

[0001] The present invention relates to an information processing device, an information processing method, and an information processing program.

[0002] Conventionally, there is a technology that uses a Light Detection and Ranging (LiDAR) to measure the distance to an object and estimate the self-position and the position information of surrounding objects.

[0003] International Publication No. 2021 / 199609 Japanese Patent Application Laid-Open No. 2023-21111

[0004] For example, when detecting position information using a distance measuring device such as LiDAR in a situation where a reflector such as a mirror is present, the laser light may be reflected by the reflector, causing errors in the position information of the object acquired by the distance measuring device such as LiDAR. Specifically, when parking one's vehicle in a mechanical parking lot or in a parking space near a glass window (such as a window at a convenience store), errors may occur in the position information of one's vehicle acquired by the distance measuring device such as LiDAR.

[0005] In one aspect, the present invention aims to provide an information processing device, an information processing method, and an information processing program that execute non-distance measurement related control in a region related to a reflector within the detection range of a distance measuring device.

[0006] In one aspect, the information processing device disclosed herein includes an image acquisition unit, a setting unit, and a control unit. The image acquisition unit acquires image data from an imaging device. The setting unit sets, based on the image data, an area within the detection range of a ranging device that is related to a reflector capable of reflecting electromagnetic waves as a non-ranging area where ranging by the ranging device is not performed or where position information collected by the ranging device is not used. The control unit executes non-ranging-related control over the ranging device in the non-ranging area.

[0007] According to one aspect of the information processing device disclosed in the present application, it is possible to execute control related to non-distance measurement in a non-distance measurement area related to a reflector within the detection range of the distance measuring device. As a result, according to one aspect of the information processing device disclosed in the present application, for example, by not performing distance measurement in the non-distance measurement area or not using position information collected in the non-distance measurement area, it is possible to acquire position information of an object by the distance measuring device with reduced error.

[0008] FIG. 1 is a diagram illustrating an example of an information processing system including an information processing device according to the first embodiment. FIG. 2 is a diagram illustrating an example of a hardware configuration of the information processing device according to the first embodiment. FIG. 3 is a diagram illustrating an example of a functional configuration implemented by a processor installed in the information processing device according to the first embodiment. FIG. 4 is a diagram illustrating an example of a feature point according to the first embodiment. FIG. 5 is a flowchart illustrating an example of a procedure for non-distance measurement processing according to the first embodiment. FIG. 6 is a diagram illustrating an example of a mirror area in image data and a mirror image of the host vehicle reflected in the mirror area while the host vehicle is entering a mechanical parking lot (e.g., a tower parking lot) according to the first embodiment. FIG. 7 is a diagram illustrating an example of a state in which a mirror-finished tanker truck is positioned ahead of the moving object (host vehicle) in the direction of movement according to the first embodiment. FIG. 8 is a diagram illustrating an example of a state in which a moving object is parked backward in a parking space of a store such as a convenience store according to the first embodiment. FIG. 9 is a diagram illustrating an example of a state in which a moving object is parked forward in a parking space of a store such as a convenience store according to a second modification of the first embodiment. FIG. 10 is a diagram showing an example of a forward vehicle not equipped with a reflector and a moving body before changing lanes according to the third embodiment. FIG. 11 is a diagram showing an example of a forward vehicle equipped with a reflector and a moving body before changing lanes according to the third embodiment. FIG. 12 is a diagram showing an example of a distortion of a mirror image of a moving body reflected in a reflector according to a first application example of the third embodiment. FIG. 13 is a diagram showing an example of a case where a mirror image of a moving body reflected in a reflector is cut off in image data ID according to a second application example of the third embodiment. FIG. 14 is a diagram showing an example of a movement situation between a forward vehicle equipped with a reflector and a moving body, and an example of an image of the front of the moving body captured by an imaging device during the movement situation according to a third application example of the third embodiment.

[0009] Hereinafter, with reference to the drawings, embodiments of the information processing device, information processing method, and information processing program disclosed herein will be described in detail. Note that the following embodiments do not limit the disclosed technology. The embodiments can be appropriately combined as long as the processing content is not contradictory. The information processing device, information processing method, and information processing program disclosed herein may also be referred to as a monitoring device, a monitoring method, and a monitoring program, respectively.

[0010] First Embodiment FIG. 1 is a diagram illustrating an example of an information processing system 1 including an information processing device 100 according to this embodiment. The information processing system 1 illustrated in FIG. 1 is mounted on a mobile body 200 such as an automobile. The mobile body 200 on which the information processing system 1 is mounted is a movable object. The mobile body 200 is, for example, a vehicle, a flyable object (a manned airplane, an unmanned airplane (e.g., a UAV (Unmanned Aerial Vehicle) or a drone), a transport robot, a ship, or the like. The mobile body 200 is, for example, a mobile body that moves through human driving operation, or a mobile body that can move automatically (autonomously) without human driving operation.

[0011] The information processing device 100 is not limited to being mounted on the mobile object 200, and may be mounted on a head-mounted display, a smartphone, an action camera, or the like. Furthermore, the various processes and functions realized by the information processing device 100 may be performed by a server on the cloud, or the like, using image information (image data) acquired from the imaging device 19 and object position information acquired by distance measurement using the distance measuring device 20. In this embodiment, a case where the mobile object 200 is a vehicle will be described as an example. Examples of vehicles include a two-wheeled vehicle, a three-wheeled vehicle, and a four-wheeled vehicle. In this embodiment, a case where the vehicle is a four-wheeled vehicle will be described as an example. Various objects, including the mobile object on which the information processing device 100 is mounted, may be equipped with various sensors that detect the position, speed, and the like of the object.

[0012] As shown in Fig. 1, the information processing system 1 includes an information processing device 100, an imaging device 19, and a distance measuring device 20. The imaging device 19 includes multiple image sensors 19A, 19B, 19C, and 19D. In Fig. 1, for ease of understanding, the information processing system 1 is depicted superimposed on an image diagram of a mobile object 200 viewed from above. However, in reality, the information processing device 100 is implemented on a control board or the like mounted on the mobile object 200. As shown in Fig. 1, the distance measuring device 20 is mounted on the mobile object 200.

[0013] The image sensors 19A, 19B, 19C, and 19D are provided, for example, in front of the moving body 200 in the moving direction D, on the left side of the moving body 200 in the moving direction D, on the right side of the moving body 200 in the moving direction D, and at the rear of the moving body 200. The number of image sensors 19A, 19B, 19C, and 19D is not limited to four, and they may be arranged inside the moving body 200, etc.

[0014] Image sensors 19A, 19B, 19C, and 19D and distance measuring device 20 are electrically connected to information processing device 100 as shown in Fig. 1. Note that image sensors 19A, 19B, 19C, and 19D and information processing device 100 are not limited to being electrically directly connected as shown in Fig. 1, and may be connected wirelessly. Also, distance measuring device 20 and information processing device 100 are not limited to being electrically directly connected as shown in Fig. 1, and may be connected wirelessly.

[0015] The image sensors 19A, 19B, 19C, and 19D are realized by, for example, CMOS (Complementary Metal Oxide Semiconductor) image sensors. A CMOS image sensor may also be referred to as a CIS. A CIS corresponds to, for example, an RGB camera. Note that the image sensors 19A, 19B, 19C, and 19D are not limited to CISs and may be realized by other optical cameras.

[0016] The ranging device 20 is realized by, for example, a LiDAR (Light Detection and Ranging) sensor. The ranging device (LiDAR sensor) 20 acquires position information of objects in the vicinity of the moving body 200. Note that the ranging device 20 is not limited to LiDAR, and may be realized by radar, etc. Furthermore, the installation location of the ranging device 20 ahead in the movement direction D of the moving body 200 is not limited to the interior of the moving body 200 shown in FIG. 1 , and may be installed outside the moving body 200. The detection range of ranging by the ranging device 20 is set, for example, by the output of the laser light, the detection accuracy of the laser light, etc. The detection range of ranging by the ranging device 20 may be referred to as a measurement range, a measurement target range, etc.

[0017] 2 is a diagram showing an example of the hardware configuration of the information processing device 100. The information processing device 100 includes, for example, a processor 101, a memory 103, a storage device 105, an I / F (Interface) 107, an input device 109, an output device 111, a communication device 113, and a bus 115.

[0018] The processor 101 is an arithmetic unit such as a CPU (Central Processing Unit) that executes predetermined processing by executing a program stored in a storage medium such as a storage device 105. The memory 103 includes, for example, a RAM (Random Access Memory), which is a volatile memory used as a work area for the processor 101, and a ROM (Read Only Memory), which is a nonvolatile memory that stores programs for starting up the processor 101. The storage device 105 is, for example, a large-capacity, nonvolatile storage device such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive). The I / F 107 includes various interfaces for connecting external devices to the information processing device 100.

[0019] The input device 109 includes various devices (e.g., a keyboard, a touch panel, a pointing device, a microphone, a switch, a button, or a sensor) that accept input from the outside. The output device 111 includes various devices (e.g., a display, a speaker, an indicator) that perform output to the outside. The communication device 113 includes various communication devices for communicating with other devices via a wired or wireless network. The I / F 107 and the output device 111 are connected to, for example, a control circuit that controls the mobile object 200. The bus 115 is connected to each of the above components and transmits, for example, address signals, data signals, and various control signals.

[0020] 3 is a diagram showing an example of a functional configuration realized by the processor 101 mounted on the information processing device 100. As shown in FIGS. 2 and 3, the processor 101 is connected to the imaging device 19 and the distance measuring device 20 via the I / F 107, the input device 109, or the communication device 113. When the moving object 200 is a four-wheeled vehicle, the processor 101 is realized by, for example, an electronic control unit (hereinafter referred to as ECU).

[0021] As shown in FIG. 3 , the processor (ECU) 101 includes an image acquisition unit 11, a setting unit 13, a position information acquisition unit 15, and a control unit 17. The functions performed by the image acquisition unit 11, the setting unit 13, the position information acquisition unit 15, and the control unit 17 are executed by a processing circuit in the processor 101. The control unit 17 outputs the output from the image acquisition unit 11 and the output from the position information acquisition unit 15 to various control circuits mounted on the moving body 200. The output from the image acquisition unit 11 and the output from the position information acquisition unit 15 are used, for example, to estimate the self-position of the moving body 200 and the positions of objects surrounding the moving body 200. Note that this estimation may be performed by the processor 101. The estimation result is used, for example, to control the movement of the moving body 200.

[0022] The image acquisition unit 11 acquires images of the periphery of the moving object 200 from the imaging device 19. Specifically, the image acquisition unit 11 acquires image data from each of the multiple image sensors 19A, 19B, 19C, and 19D. The image acquisition unit 11 may store the acquired image data in the memory 103.

[0023] Based on the image data, the setting unit 13 sets an area related to a reflector in the image data as a non-ranging area. A reflector is an object within the detection range of the ranging device 20 that can reflect electromagnetic waves. The area related to the reflector is an area that is set based on the area of ​​the reflector, and has, for example, a predetermined margin with respect to the area of ​​the reflector. Note that the area related to the reflector may also be an area that indicates the reflector itself. The non-ranging area corresponds, for example, to an area where ranging by the ranging device 20 is not performed, or an area where position information collected by the ranging device 20 is not used. The setting unit 13 outputs the set non-ranging area to the control unit 17.

[0024] For example, the setting unit 13 recognizes, in the image data, a feature point resulting from the reflection of electromagnetic waves by a reflector. That is, the setting unit 13 checks whether or not the image data contains a feature point corresponding to the vehicle (moving body 200). If the presence of a feature point is recognized in the image data, the setting unit 13 determines that an area including the feature point in the image data and surrounding the feature point is a reflector. For example, the setting unit 13 sets an area of ​​a predetermined size including the feature point as a non-ranging area. For the sake of concreteness, the following description will be given assuming that the reflector is a mirror, a metal surface with a mirrored finish, a glass surface, or the like located ahead of the moving direction D of the moving body 200.

[0025] FIG. 4 is a diagram showing an example of the feature point 131. As shown in FIG. 4, the feature point 131 may be, for example, a mirror image 133 of an identification mark indicating the identification of the moving body 200, a face 135 of a driver riding in the moving body 200, or a mirror image 137 of the exterior of the moving body 200. The mirror image 133 of the identification mark shown in FIG. 4 represents the license plate of the own vehicle, which is reflected in a mirror and inverted. The face 135 shown in FIG. 4 represents the mirror image of the face of the driver of the own vehicle, reflected in the mirror, in the windshield and driver's seat of the own vehicle. Furthermore, the mirror image 137 of the exterior of the moving body 200 shown in FIG. 4 corresponds to the mirror image of the exterior of the own vehicle. In this case, the mirror image 137 of the exterior of the own vehicle is recognized as being the own vehicle based on its model, color, etc.

[0026] The feature points 131 are not limited to those described above, and may be recognized as being present by, for example, patterned illumination from a vehicle lamp or a light-emitting unit of a LiDAR. The feature points 131 are recognized by a segmentation process such as semantic segmentation, or a recognition process such as image recognition. The setting unit 13 that performs the recognition process may be referred to as a recognition unit.

[0027] The position information acquisition unit 15 acquires position information of multiple objects around the vehicle from the distance measuring device 20. The position information acquired by the position information acquisition unit 15 includes, for example, the relative distance between the vehicle corresponding to the moving object 200 and other objects excluding the moving object 200, and information on the moving direction D of the other objects. The detection range within which the position information acquisition unit 15 acquires the position information from the distance measuring device 20 is variable. That is, the detection range within which the position information is acquired by the position information acquisition unit 15 can be changed as appropriate in accordance with the control of the distance measuring device 20 by the control unit 18. The position information acquisition unit 15 stores the acquired position information in the memory 103.

[0028] The control unit 17 executes control related to non-distance measurement in the non-distance measurement region. For example, the control unit 17 controls the distance measuring device 20 so as not to perform distance measurement in the non-distance measurement region within the detection range of the distance measuring device 20. Specifically, the control unit 17 controls the distance measuring device 20 so as not to emit laser light in the non-distance measurement region within the detection range.

[0029] Furthermore, instead of controlling the ranging device 20, the control unit 17 may control the position information acquisition unit 15 so as not to adopt position information corresponding to the detection range. Specifically, the control unit 17 controls the position information acquisition unit 15 so as not to acquire, from the ranging device 20, position information corresponding to a non-ranging area among the position information output from the ranging device 20. Alternatively, the control unit 17 controls the position information acquisition unit 15 so as not to output from the position information acquisition unit 15 position information corresponding to a non-ranging area.

[0030] The overall configuration and functions of the information processing system 1 according to this embodiment have been described above. With this configuration, a process for executing control related to non-ranging (hereinafter referred to as non-ranging process) is executed in a non-ranging area within the detection range of the ranging device 20. The procedure of the non-ranging process will be described below.

[0031] FIG. 5 is a flowchart showing an example of the procedure for non-ranging processing. The procedure for non-ranging processing and use cases (utilization examples) will be described using FIGS. 5 to 8 . Hereinafter, for the sake of specificity, the description will be given assuming that the moving body 200 is moving forward (along the moving direction D). At this time, a non-ranging area is set based on image data captured in the moving direction D, and the non-ranging processing is executed. Note that the execution of the non-ranging processing is not limited to the moving direction D, and may be executed using image data from the side or rear of the moving body 200, for example. In other words, as long as the ranging device 20 and the image capturing device 19 are disposed around the moving body 200, the direction in which the non-ranging processing is executed is not limited to the moving direction D, and the non-ranging processing can be executed appropriately for the periphery of the moving body 200.

[0032] (Non-Ranging Process) (Step S1) When the engine of the moving body 200 is started, the non-ranging process is started. Note that the start of the non-ranging process is not limited to the start of the engine of the moving body 200, and may be, for example, the user getting into the moving body 200, unlocking a door of the moving body 200, or operating the moving body 200. Note that the timing of the start of the non-ranging process is not limited to the above. For example, the non-ranging process may be started based on output from odometry using outputs from various sensors mounted on the moving body 200. Specifically, the non-ranging process may be started when the distance, speed, etc. between the moving body 200 and a preceding vehicle output from the odometry falls below a predetermined threshold.

[0033] In response to the start of the non-distance measurement process, the imaging device 19 captures an image. As a result, the image acquisition unit 11 acquires image data from the imaging device 19. Also, in response to the start of the non-distance measurement process, the control unit 17 operates the distance measurement device 20. The distance measurement device 20 measures distance within the detection range. As a result, the position information acquisition unit 15 acquires position information from the distance measurement device 20.

[0034] (Step S2) The setting unit 13 executes a recognition process on the image data for the feature points 131. Specifically, the setting unit 13 executes the recognition process on the image data to search for the feature points 131.

[0035] (Step S3) If the feature point 131 is recognized (detected) in the image data (Yes in step S3), the process proceeds to step S4. If the feature point 131 is not recognized (detected) in the image data (No in step S3), the process proceeds to step S6.

[0036] (Step S4) The setting unit 13 sets the area surrounding the feature point 131 as a non-ranging area, including the feature point 131. FIG. 6 is a diagram showing an example of a mirror area MR in the image data ID and a mirror image 137 of the vehicle 200 reflected in the mirror area MR while the vehicle is entering a mechanical parking lot (e.g., a tower parking lot). In this case, the reflector corresponds to the mirror MR. As shown in FIG. 6, when the setting unit 13 recognizes the mirror image 137 of the vehicle 200 reflected in a mirror using an imaging device 19 such as a camera, the setting unit 13 determines that a mirror exists around the mirror image 137 of the vehicle 200. Whether the moving object 200 reflected in the mirror is the mirror image 137 of the vehicle 200 is recognized based on the presence or absence of a feature point 131 of the vehicle 200, such as the presence or absence of a mirror image of a license plate in the mirror image 137 of the vehicle 200, as described in step S2. The setting unit 13 sets the mirror region MR including the mirror image 137 of the vehicle 200 as a non-range measurement region within the detection range of the distance measuring device 20 .

[0037] (Step S5) The control unit 17 executes control related to non-distance measurement in a non-distance measurement region within the detection range of the distance measurement device 20. For example, the control unit 17 controls the distance measurement device 20 not to perform distance measurement in the non-distance measurement region, i.e., not to emit laser light into the non-distance measurement region. Instead of emitting laser light into the non-distance measurement region, the control unit 17 controls the position information acquisition unit 15 not to acquire position information corresponding to the non-distance measurement region from the distance measurement device 20 or not to output position information corresponding to the non-distance measurement region from the position information acquisition unit 15.

[0038] (Step S6) If the non-distance measurement process has not ended (No in step S6), the processes from step S1 onward are executed. If the non-distance measurement process has ended (Yes in step S6), the flow of this non-distance measurement process ends. The end of the non-distance measurement process is determined, for example, by stopping the engine of the moving body 200, the user getting off the moving body 200, or the boarding door of the moving body 200 being locked.

[0039] The timing of ending the non-distance measurement process is not limited to the above. For example, the non-distance measurement process may be ended based on an output from the odometry. Specifically, the non-distance measurement process may be ended when the distance, speed, or the like between the moving body 200 and a preceding vehicle output from the odometry exceeds a predetermined threshold.

[0040] A use case of the non-ranging process will be described below. As shown in FIG. 6 , the non-ranging process is executed when a mirror MR is installed in the moving direction D of the mobile object 200 when the mobile object 200 enters a mechanical parking lot such as a tower parking lot. This allows the position information of the object to be acquired from the ranging device 20 with reduced error when the mobile object 200 enters the mechanical parking lot. This improves the safety of the user and the mobile object 200 when the mobile object 200 enters the mechanical parking lot.

[0041] FIG. 7 is a diagram illustrating an example of a state in which a mirror-finished tank truck TL is positioned ahead of a moving object (host vehicle) 200 in the direction of movement D. In the example illustrated in FIG. 7 , the tank TNK and mudguards MG of the tank truck TL are mirror-finished. In this case, the reflectors correspond to mirror-finished metal. When the host vehicle 200 is reflected in these reflectors, control related to non-distance measurement is executed. As a result, when the moving object (host vehicle) 200 is positioned behind a tank truck TL having a mirror-finished tank TNK and mudguards MG, object position information can be acquired from the distance measuring device 20 with reduced error. Therefore, when the moving object 200 is positioned behind a mirror-finished vehicle, the safety of the user and the moving object 200 can be improved.

[0042] FIG. 8 is a diagram illustrating an example of a state in which a mobile object 200 is parked backward in a parking space of a store, such as a convenience store. In the example illustrated in FIG. 8 , a glass window WD of the store is located behind a car stop BO of the parking space. In this case, the reflector corresponds to the glass window. In FIG. 8 , the rear of the mobile object 200 is reflected in the glass window WD. When the rear of the host vehicle 200 is reflected in the glass window WD, control related to non-distance measurement is executed. As a result, when the host vehicle 200 is reflected in the glass window WD, object position information can be acquired from the distance measuring device 20 with reduced error. Therefore, regardless of whether the vehicle is parked forward or backward, when the host vehicle 200 is reflected in the glass window WD, the safety of the user and the mobile object 200 can be improved.

[0043] As described above, the information processing device 100 according to the first embodiment acquires image data from the imaging device 19, and based on the acquired image data, sets an area within the detection range of the ranging device 20 that is related to a reflector capable of reflecting electromagnetic waves as a non-ranging area where ranging by the ranging device 20 is not performed or where position information collected by the ranging device 20 is not used, and executes control related to non-ranging on the ranging device 20 in the set non-ranging area. For example, the information processing device 100 according to the first embodiment recognizes, in the acquired image data, a feature point 131 resulting from the reflection of electromagnetic waves by a reflector, and sets a non-ranging area within the detection range of the ranging device 20 based on the recognized feature point 131. Specifically, in the information processing device 100 according to the first embodiment, the ranging device 20 is mounted on the moving object 200, and the recognized feature point 131 includes an identification mark indicating the identification of the moving object 200.

[0044] 6 to 8 , even if a reflector (such as a mirror, a mirror-finished metal, or a glass window) is present ahead of the moving body 200 in the moving direction D, the information processing device 100 of the first embodiment can reduce errors in position information of the object by setting a non-ranging area within the detection range of the ranging device 20. Therefore, the information processing device 100 of the first embodiment can always obtain accurate position information, thereby improving the safety of the user and the moving body 200 as the moving body 200 moves.

[0045] (First Modification) When the moving body 200 moves, the relative positional relationship between the moving body 200 and the reflector mirror surface changes. Therefore, this modification aims to change the range of the non-ranging area or reset the non-ranging area in accordance with the movement of the moving body 200. For example, the setting unit 13 calculates the relative positional relationship between the moving body 200 and the reflector based on the movement of the moving body 200. Next, the setting unit 13 sets the non-ranging area in accordance with the movement of the moving body 200 based on the estimated relative positional relationship.

[0046] Specifically, the setting unit 13 acquires information about the movement of the moving object 200 by odometry. The movement information includes, for example, the speed of the moving object 200 and the movement direction D of the moving object 200. The movement information may be acquired by a movement information acquisition unit separately provided in the processor 101. In addition, the setting unit 13 acquires position information of surrounding objects other than reflectors by LiDAR from the position information acquisition unit 15.

[0047] Next, the setting unit 13 estimates the relative positional relationship between the position of the moving body 200 and the position of the reflector based on information on the movement of the moving body 200 and / or positional information of peripheral objects other than the reflector. The estimation of the relative positional relationship is calculated by geometric calculation using, for example, information on the movement of the moving body 200 and / or positional information of peripheral objects other than the reflector.

[0048] Next, the setting unit 13 changes the range of the non-distance measurement area or resets the non-distance measurement area based on the estimated relative positional relationship. For example, when the distance between the moving body 200 and the reflector decreases, the setting unit 13 expands and sets the non-distance measurement area in accordance with the distance. Also, when the distance between the moving body 200 and the reflector decreases, the setting unit 13 reduces and sets the non-distance measurement area in accordance with the distance.

[0049] For example, as shown in Figures 6 and 8, when the mobile object 200 moves (enters) a mechanical parking lot or parking space, the mobile object 200 approaches a reflector (mirror MR or glass window WD). At this time, the setting unit 13 sets (changes) the non-ranging area to a larger size depending on the distance traveled by the mobile object 200, as the mobile object 200 approaches the reflector. On the other hand, when the mobile object 200 moves (exits) a mechanical parking lot or parking space, the mobile object 200 moves away from the reflector (mirror MR or glass window WD). At this time, the setting unit 13 sets (changes) the non-ranging area to a smaller size depending on the distance traveled by the mobile object 200, as the mobile object 200 moves away from the reflector.

[0050] As described above, the information processing device 100 according to the first modification of the first embodiment calculates the relative positional relationship between the moving body 200 and the reflector based on the movement of the moving body 200, and sets a non-ranging area according to the movement of the moving body 200 based on the estimated relative positional relationship. As a result, the information processing device 100 according to the first modification of the first embodiment can appropriately set a non-ranging area by enlarging or reducing the non-ranging area according to the relative positional relationship between the moving body 200 and the reflector. Other effects are similar to those of the first embodiment, and therefore description thereof will be omitted.

[0051] (Second Modification) This modification is to set a distance from the distance measuring device 20 to a reflector. When the distance measuring device 20 performs distance measurement on a feature point 131 detected by the setting unit 13 in the image data, the distance from the distance measuring device 20 to the feature point 131 reflected on the reflector is twice the distance from the distance measuring device 20 to the reflector. Therefore, in this modification, half of the distance from the distance measuring device 20 to the feature point 131 calculated by the distance measuring device 20 is calculated as the distance from the distance measuring device 20 to the reflector.

[0052] The control unit 17 controls the distance measuring device 20 to measure the distance to the feature point 131. As a result, the distance measuring device 20 irradiates laser light toward the feature point 131 and measures the distance to the feature point 131. The position information acquisition unit 15 acquires the distance from the moving body 200 to the feature point 131 from the distance measuring device 20. The setting unit 13 sets half of the distance acquired from the distance measuring device 20 as the distance from the moving body 200 to the reflector. The distance from the moving body 200 to the reflector is used, for example, to control the movement of the moving body 200.

[0053] FIG. 9 is a diagram showing an example of a state in which the mobile object 200 is parked forward in a parking space of a store such as a convenience store. In the example shown in FIG. 9 , a reflector REFL (e.g., a glass window WD of the store, a mirror in a mechanical parking lot, etc.) is located in front of the parking space's car stop BO. At this time, the front of the mobile object 200 is reflected in the reflector REFL. When the front of the host vehicle 200 is reflected in the reflector REFL, a non-ranging process is executed, and the ranging device 20 performs ranging to the feature point 131. As a result, the ranging device 20 calculates the distance TW from the mobile object 200 to the feature point 131, as shown in FIG. 9 . The setting unit 13 sets half of the distance TW as the distance from the mobile object 200 to the reflector REFL.

[0054] As described above, the information processing device 100 according to the second modified example of the first embodiment controls the distance measuring device 20 to measure the distance to the feature point 131, acquires the distance from the moving body 200 to the feature point 131 from the distance measuring device 20, and sets half of the acquired distance as the distance from the moving body 200 to the reflector REFL. As a result, the information processing device 100 according to the second modified example of the first embodiment can set the distance between the moving body 200 and the reflector, and can more accurately control the movement of the moving body 200. Other effects are similar to those of the first embodiment, and therefore description thereof will be omitted.

[0055] Second Embodiment In this embodiment, when a reflector is fixed to a structure, a non-ranging area is set using the position information of the structure and the type of the structure. The structure may be a store such as a convenience store, a mechanical parking lot, etc. For the sake of concreteness, the following description will be given assuming that the structure is a mechanical parking lot.

[0056] Depending on the type of mechanical parking lot, there are cases where the presence or absence of a reflector is set and the installation position of the reflector is fixed. Therefore, in this embodiment, when the type of mechanical parking lot is recognized, the position information of the corresponding reflector (mirror surface) is acquired and a non-ranging area is set.

[0057] Specifically, the control unit 17 acquires position information of the structure on which the reflector is installed and type information related to the type of the structure via the input device 109 or the communication device 113. The position information of the structure on which the reflector is installed corresponds to, for example, position information of a structure near the current position of the mobile body 200. The position information of the structure on which the reflector is installed is acquired using, for example, map information and / or a Global Positioning System (GPS) and the current position of the mobile body 200.

[0058] For example, if the structure is a mechanical parking lot, the type information regarding the type of the structure is information indicating the type of the mechanical parking lot (manufacturer name, model number, etc.). The control unit 17, for example, compares the location information of the structure with map information to identify the structure listed in the map information, and acquires identification information of the identified structure from the map information. Note that the method for acquiring type information regarding the type of the structure is not limited to the above. For example, the image acquisition unit 11 may acquire identification information attached to the structure by recognizing the structure through image recognition processing of image data.

[0059] The setting unit 13 determines whether a reflector is installed in a structure using position information of the structure on which the reflector is installed and type information related to the type of the structure. Specifically, the setting unit 13 compares a correspondence table of the presence or absence of a reflector and the position of the reflector for each type of structure with the type information acquired using the position information of the structure. As a result, the setting unit 13 identifies the position of the reflector installed in the structure in the augmented data (e.g., position information of the mirror surface) and sets the identified position of the reflector as a non-ranging area. The correspondence table is created in advance and stored in the memory 103.

[0060] If a structure such as a mechanical parking lot has a communication function, the control unit 17 may acquire information on the presence or absence of a reflector for each type of structure and the position of the reflector from the structure via the communication device 113. In this case, the setting unit 13 sets the non-ranging area by reflecting the position of the reflector acquired from the structure (for example, position information of the mirror surface) in the position of the image data.

[0061] As described above, the information processing device 100 according to the second embodiment sets a non-ranging area using position information of a structure on which a reflector is installed and type information relating to the type of the structure. As a result, according to the information processing device 100 according to the second embodiment, when a type of structure (e.g., a mechanical parking lot type) near the mobile object 200 is recognized in the movement direction D of the mobile object 200, position information of the corresponding reflector (position information of the mirror surface) can be obtained and a non-ranging area can be set. Other effects are the same as those of the first embodiment, and therefore description thereof will be omitted.

[0062] Third Embodiment In the third embodiment, the presence or absence of a reflector in image data is determined. For the sake of specificity, it is assumed that the moving body 200 is an automobile, and that a preceding vehicle is moving in the moving direction D ahead of the moving body 200.

[0063] First, a forward vehicle not equipped with a reflector will be described. Fig. 10 is a diagram showing an example of a forward vehicle FV not equipped with a reflector and a moving body 200 before changing lanes. The left diagram BLC in Fig. 10 shows the state of the moving body 200 before changing lanes. The right diagram LC in Fig. 10 shows the state of the moving body 200 during lane change to the right lane. The sector RD attached to the moving body 200 indicates the detection range of the distance measuring device 20.

[0064] When the imaging device 19 captures an image of the forward vehicle FV before the moving object 200 changes lanes, an image before the lane change (hereinafter referred to as a pre-change image) BCIC is obtained, as shown in the left diagram BLC in Fig. 10. The area showing the forward vehicle FV in the pre-change image BCI (hereinafter referred to as a forward vehicle image) FVI is displayed shifted to the right side of the pre-change image BCI, as shown in the left diagram BLC in Fig. 10. This indicates that the forward vehicle FV is located relatively to the right with respect to the moving object 200 and the moving direction D.

[0065] When the imaging device 19 captures an image of the forward vehicle FV while the moving object 200 is changing lanes to the right lane, an image during lane change (hereinafter referred to as an in-change image) CI is obtained, as shown in the right diagram LC of Fig. 10. The forward vehicle image FVI in the in-change image CI is displayed shifted to the left side of the in-change image CI, as shown in the right diagram LC of Fig. 10. This indicates that the forward vehicle FV is located relatively to the left side of the moving object 200 in the direction of travel D.

[0066] Next, a forward vehicle equipped with a reflector will be described. The forward vehicle equipped with a reflector is assumed to be a tanker truck with a mirror finish. Fig. 11 is a diagram showing an example of a forward vehicle RFV equipped with a reflector and a moving object 200 before changing lanes. The left diagram BRLC in Fig. 11 shows the state of the moving object 200 before changing lanes. The right diagram RLC in Fig. 11 shows the state of the moving object 200 during lane change to the right lane.

[0067] When the imaging device 19 captures an image of the forward vehicle RFV before the moving object 200 changes lanes, a pre-change image BCI is obtained, as shown in the left diagram BRLC of Fig. 11 . The area (forward vehicle image) RFVI representing the forward vehicle RFV in the pre-change image BCI is displayed shifted to the right side of the pre-change image BCI, as shown in the left diagram BRLC of Fig. 11 . This indicates that the forward vehicle FV is located relatively to the right of the moving object 200 in the direction of travel D. A mirror image 137 of the moving object (host vehicle) 200 is reflected in the front vehicle image RFVI by a reflector (the mirror-finished portion at the rear of the tank truck). The position of the mirror image 137 of the host vehicle 200 in the pre-change image BCI is located approximately in the center of the pre-change image BCI, as shown in the left diagram BRLC of Fig. 11 .

[0068] When the imaging device 19 captures an image of the forward vehicle RFV while the moving object 200 is changing lanes to the right lane, an in-change image CI is obtained, as shown in the right diagram RLC of FIG. 11 . The forward vehicle image RFVI in the in-change image CI is displayed shifted to the left side of the in-change image CI, as shown in the right diagram RLC of FIG. 11 . This indicates that the forward vehicle RFV is located relatively to the left side with respect to the moving object 200 and the direction of movement D. At this time, a mirror image 137 of the moving object (host vehicle) 200 is reflected in the forward vehicle image RFVI by a reflector (the mirror-finished portion at the rear of the tank truck). The position of the mirror image 137 of the host vehicle 200 in the before-change image BCI is located approximately in the center of the before-change image BCI, as shown in the left diagram BRLC of FIG.

[0069] 10 and 11, the positions of the forward vehicle images (FVI, RFVI) in the image data move depending on the relative positional relationship between the forward vehicles (FV, RFV) and the moving object 200. On the other hand, as shown in Fig. 11, the mirror image 137 of the moving object 200 reflected in the forward vehicle RFVI is located in the center of the image data regardless of the movement of the moving object 200. Therefore, if the position of the object reflected in the center of the image data does not move regardless of the movement of the moving object 200, it means that a reflector is present on the forward vehicle.

[0070] The setting unit 13 determines the presence or absence of a reflector in the image data based on the position of the object captured by the imaging device 19 in the image data and information about the movement of the moving body 200. For the sake of specificity, the imaging direction of the imaging device 19 is assumed to be oriented in the movement direction D as shown in FIGS. 10 and 11 . More specifically, the movement direction D and the central axis of the detection range RD are assumed to coincide. In this case, the objects captured by the imaging device 19 are assumed to include a forward vehicle located in front of the moving body 200.

[0071] The setting unit 13 recognizes the position of an object in the approximate center of the image data by performing a recognition process on the image data. The recognition of the object position also includes the mirror image of the moving body 200 projected onto the reflector. The setting unit 13 acquires information about the movement of the moving body 200 (such as the steering angle related to a change in the movement direction D) via the input device 109 or the communication device 113. The setting unit 13 uses the information about the movement of the moving body 200 and the position of the object to determine whether the position of the object in the center remains stationary regardless of the movement of the moving body 200. If the position of the object in the center remains stationary regardless of the movement of the moving body 200, the setting unit 13 determines that a reflector is present in the image data. On the other hand, if the position of the object in the center does not remain stationary regardless of the movement of the moving body 200, the setting unit 13 determines that a reflector is not present in the image data.

[0072] In the above description, an example has been given in which the mobile object 200 is traveling, but the present embodiment is not limited to this. For example, the setting unit 13 may determine the presence or absence of a reflector, such as a mirror in a parking lot and / or glass in a store, by performing the same process as above.

[0073] As described above, the information processing device 100 according to the third embodiment determines the presence or absence of a reflector in the image data based on the position of the object captured by the imaging device 19 in the image data and information on the movement of the moving object 200. As a result, the information processing device 100 according to the third embodiment can easily determine the presence or absence of a reflector in the image data by determining the movement of an object in the center of the image data acquired at a predetermined frame rate. If it is determined that a reflector is present, the setting unit 13 sets a non-ranging area within the detection range of the ranging device 20, as described in the first embodiment and the like. Other effects are similar to those of the first embodiment and the like, and therefore will not be described further.

[0074] (First Application Example) A first application example of the third embodiment is to determine the presence or absence of a reflector based on changes in size / scale, distortion, etc. of the mirror image 137 of the moving body 200 reflected in the reflector. For example, if the vehicle ahead of the moving body 200 is a tanker truck with a mirror-finished tank, the size and scale of the mirror image 137 of the own vehicle 200 reflected in the convex mirror surface at the rear of the tank may change depending on the position of the own vehicle 200 reflected in the mirror surface. When such a change is detected, the setting unit 13 determines that a reflector is present.

[0075] 12 is a diagram showing an example of distortion of a mirror image 137 of a moving object 200 reflected in a reflector. As shown in Fig. 12, a mirror image 137 of the moving object (host vehicle) 200 is reflected in the forward vehicle image RFVI in the pre-change image BCI due to the reflector. Also, as shown in Fig. 12, a mirror image 137 of the moving object (host vehicle) 200 is reflected in the forward vehicle image RFVI in the during-change image CI due to the reflector, and is stretched (distorted) in the horizontal direction.

[0076] The setting unit 13 determines whether or not a reflector is present in the image data based on the shape of the object captured by the imaging device 19 in the image data. For example, the setting unit 13 determines that a reflector is present in the image data by detecting distortion of the shape of the object in the image data (e.g., distortion of the mirror image 137 along the lateral (left-right) direction). The setting unit 13 may set the distance between the moving object 200 and the preceding vehicle based on the curvature of the convex mirror surface and the distortion of the shape. In this case, the distance is added to the position information output from the distance measuring device 20. The detection of distortion of the shape can be performed by a method such as comparing the mirror image of the moving object 200 stored in advance in the memory 103 with the mirror image 137 in the image data, or by comparing two image data from different frames, and therefore a description thereof will be omitted.

[0077] As described above, the information processing device 100 according to the first application example of the third embodiment determines whether or not a reflector is present in the image data, depending on whether or not distortion of the mirror image 137 in the image data is detected. As a result, the information processing device 100 according to the first application example of the third embodiment can easily determine whether or not a reflector is present in the image data by detecting distortion of an object in the central portion of the image data acquired at a predetermined frame rate. If it is determined that a reflector is present, the setting unit 13 sets a non-ranging area within the detection range of the ranging device 20, as described in the first embodiment, etc. Other effects are similar to those of the first embodiment, etc., and therefore will not be described again.

[0078] (Second Application Example) A second application example of the third embodiment is to set a non-distance measurement area depending on whether or not the mirror image 137 of the moving body 200 reflected in the reflector can be seen in the image data. For the sake of concrete explanation, the following will describe a case where the forward vehicle located in front of the moving body 200 is a tank truck having a mirror-finished tank.

[0079] Fig. 13 is a diagram showing an example of a case where a mirror image 137 of the moving object 200 reflected in a reflector is cut off in the image data ID. The situation shown in Fig. 13 can occur when the relative positional relationship between the forward vehicle RFVI and the moving object 200 is shifted in the left-right direction perpendicular to the moving direction D. That is, as shown in Fig. 13, when the host vehicle 200 is reflected in the edge of the reflector, the mirror image 137 of the host vehicle 200 is cut off.

[0080] When the mirror image 137 of the vehicle 200 is cut off, the setting unit 13 sets the position where the mirror image 137 of the vehicle 200 is cut off as the boundary of the reflector. Next, the setting unit 13 sets a non-distance measurement area using the set boundary. For example, the setting unit 13 sets the non-distance measurement area based on the length of an arc at the end of the mirror image 137 of the moving body 200 that is cut off and the curvature of the arc. At this time, the set non-distance measurement area is circular. The setting of the non-distance measurement area in this application example may be incorporated into the non-distance measurement processing of the first embodiment, etc.

[0081] As described above, the information processing device 100 according to the second application example of the third embodiment sets the position where the mirror image 137 of the moving object 200 is cut off in the image data as the boundary of the reflector, and sets a non-distance measurement area using the set boundary. As a result, according to the information processing device 100 according to the second application example of the third embodiment, when the mirror image 137 of the moving object 200 is cut off in the image data, it is possible to set a non-distance measurement area based on the cut-off edge of the mirror image 137. Other effects are similar to those of the first embodiment, and therefore description thereof will be omitted.

[0082] (Third Application Example) This application example involves setting a non-ranging area by motion estimation using image data. For example, the setting unit 13 performs motion estimation using multiple pieces of image data acquired at different times. The multiple pieces of image data are, for example, two pieces of image data that are adjacent in time series. As a result, the setting unit 13 obtains a motion estimation result that indicates, as vectors, the movement of the positions of multiple objects included in the image data. The motion estimation result corresponds to a vector field that indicates, as vectors, the movement at each of the multiple positions in the image data. The setting of the non-ranging area in this application example may be incorporated into the non-ranging process of the first embodiment, etc.

[0083] 14 is a diagram showing a movement situation ST of the moving body 200 and a forward vehicle RFV equipped with a reflector, and an example of an image FI of the front of the moving body 200 captured by the imaging device 19 in the movement situation ST (hereinafter referred to as a forward image). The movement situation ST in FIG. 14 is a plan view showing the positional relationship between the moving body 200 and the forward vehicle RFV, etc. As shown in the movement situation ST in FIG. 14, the moving body 200 and the forward vehicle RFV are moving along a movement direction D in a lane sandwiched between lane changing lanes (dividing lines) LB.

[0084] 14, a leading vehicle RFV equipped with a reflector is moving in front of the moving body 200 along the moving direction D. Also, as shown in the moving situation ST of FIG. 14, a first structure BU1 is located diagonally forward and to the left of the moving body 200 in the moving direction D. Also, as shown in the moving situation ST of FIG. 14, a second structure BU2 is located to the left of the moving body 200 in the moving direction D.

[0085] The forward image FI in Fig. 14 includes objects captured by the imaging device 19. Specifically, the forward image FI in Fig. 14 shows a mirror surface MS (e.g., a mirror-finished rear surface of a tank and a mirror-finished mudguard) representing a reflector mounted on the forward vehicle RFV, a lane-changing line LB, and a first structure BU1. Also shown within the area of ​​the mirror surface MS in Fig. 14 are a mirror image 137 of the moving object 200 reflected in the mirror surface MS, a mirror image BUMI of the second structure BU2, and a mirror image LBMI of the lane-changing line LB.

[0086] 14 also shows vectors as arrows indicating the movement of the positions of multiple objects due to motion estimation. These vectors indicate the change over time in the positions of the objects captured by the imaging device 19. The forward image FI in FIG. 14 is updated in accordance with the repetition (frame rate) of image data acquisition by the imaging device 19.

[0087] 14, by acquiring the forward image FI over time, the images of objects located outside the area of ​​the mirror surface MS (the lane changing line LB and the first structure BU1) move along vectors indicating directions away from the forward vanishing point FVP in the forward image FI. Meanwhile, the mirror images of objects located within the area of ​​the mirror surface MS (the mirror image 137 of the moving body 200, the mirror image BUMI of the second structure BU2, and the mirror image LBMI of the lane changing line LB) move along vectors pointing toward the rear vanishing point BVP in the forward image FI.

[0088] As shown in Fig. 14, the setting unit 13 calculates the movement direction of an object in the front image FI by, for example, motion estimation using two chronologically adjacent front images. Next, the setting unit 13 determines the presence or absence of a reflector (mirror surface MD) in the front image FI by identifying differences in the tendency of the movement direction in the result of the motion estimation (hereinafter referred to as a motion distribution). The difference in the tendency of the movement direction corresponds to, for example, a difference in the movement direction between inside the mirror surface MS and outside the mirror surface MS in the front image FI, as shown in Fig. 14.

[0089] That is, the setting unit 13 determines whether or not there is a reflector (mirror surface MD) in the forward image FI by determining, in the motion distribution, whether the vector of the object in the forward image FI diverges from the forward vanishing point FVP or converges toward the rear vanishing point BVP, as shown in Figure 14.

[0090] Specifically, if the front image FI does not include a reflector, all vectors of the object in the front image will diverge from the front vanishing point FVP. Therefore, if all vectors of the object in the front image are moving away from the front vanishing point FVP, the setting unit 13 will determine that no reflector is present in the front image. Furthermore, as shown in FIG. 14 , if the front image FI includes a reflector, some vectors of the object in the front image FI will converge to the rear vanishing point BVP. Therefore, if some vectors of the object in the front image FI are converging to the rear vanishing point BVP, the setting unit 13 will determine that a reflector is present in the front image FI.

[0091] Note that processing using the motion distribution is not limited to determining whether or not a reflector is present. For example, the motion distribution may be used to identify the boundary between a reflector and a non-reflector in the forward image FI (hereinafter referred to as a reflection boundary). Specifically, when it is determined that a reflector is present in the forward image FI, the setting unit 13 calculates the difference between two chronologically adjacent motion distributions. Next, the setting unit 13 identifies the distribution of minimum values ​​in the difference between the motion distributions. The setting unit 13 sets a closed curve by connecting positions of adjacent minimum values ​​in the distribution of minimum values. The setting unit 13 sets the closed curve or a curve obtained by smoothing the closed curve as the edge of the non-ranging area, i.e., the reflection boundary.

[0092] The process for setting the reflection boundary described above is merely an example and is not limited thereto. For example, the setting unit 13 sets a predetermined region (e.g., 9 pixels, equivalent to a kernel) smaller than the size of the forward image. Next, the setting unit 13 calculates the sum or divergence of vectors for each vector field included in the predetermined region while moving the predetermined region in the motion distribution (vector field corresponding to the forward image). The setting unit 13 identifies a predetermined region where the calculation result is minimal, and connects the identified predetermined regions. The setting unit 13 sets a closed curve that is not simply connected in the connected region as the end of the non-ranging region, i.e., the reflection boundary.

[0093] As described above, the information processing device 100 according to the third application example of the third embodiment performs motion estimation on image data and sets a non-ranging area based on the results of the motion estimation. This allows the information processing device 100 according to the third application example of the third embodiment to set a boundary between the non-ranging area and the ranging area. Other effects are similar to those of the first embodiment, and therefore will not be described further.

[0094] When the technical idea of ​​the embodiment is realized by an information processing method, the information processing method acquires image data from the imaging device 19, and based on the acquired image data, sets an area within the detection range of the distance measuring device 20 related to a reflector capable of reflecting electromagnetic waves as a non-distance measuring area where distance measuring is not performed by the distance measuring device 20 or where position information collected by the distance measuring device 20 is not used, and executes control related to non-distance measuring in the set non-distance measuring area. The procedure and effect of the non-distance measuring process executed by the information processing method are the same as those in the first embodiment, and therefore description thereof will be omitted.

[0095] When the technical concept of this embodiment is realized as an information processing program, the information processing program causes a computer to acquire image data from the imaging device 19, and based on the acquired image data, set an area within the detection range of the distance measuring device 20 that is associated with a reflector capable of reflecting electromagnetic waves as a non-distance measuring area where distance measuring by the distance measuring device 20 is not performed or location information collected by the distance measuring device 20 is not used, and execute control related to non-distance measuring in the set non-distance measuring area. For example, non-distance measuring processing can also be achieved by installing the information processing program from a non-volatile storage medium into various server devices (processing devices) and expanding the program in memory. In this case, the program that can cause a computer to execute the non-distance measuring processing can also be stored and distributed on a storage medium such as a magnetic disk (e.g., a hard disk), an optical disk (e.g., a CD-ROM or a DVD), or a semiconductor memory. The processing procedures and effects of the information processing program are similar to those of the first embodiment, and therefore will not be described again.

[0096] The information processing device 100, information processing method, information processing program, etc. having such a configuration can execute control related to non-distance measurement in a region related to a reflector within the detection range of the distance measuring device 20. As a result, according to one aspect of the information processing device 100, information processing method, and information processing program disclosed herein, for example, by not performing distance measurement in the non-distance measurement region or not using position information collected in the non-distance measurement region, the distance measuring device 20 can acquire position information of an object with reduced error.

[0097] Although the embodiments and modifications have been described above, the information processing device 100, information processing method, and information processing program disclosed herein are not limited to the above-described embodiments, and the components can be modified and embodied in each implementation stage without departing from the spirit of the invention. Furthermore, various inventions can be created by appropriately combining multiple components disclosed in the above-described embodiments and modifications. For example, some components may be deleted from all of the components shown in the embodiments.

[0098] REFERENCE SIGNS LIST 1 Information processing system 11 Image acquisition unit 13 Setting unit 15 Position information acquisition unit 17 Control unit 19 Imaging device 19A, 19B, 19C, 19D Image sensor 20 Distance measuring device 100 Information processing device 101 Processor 103 Memory 105 Storage device 107 I / F (interface) 109 Input device 111 Output device 113 Communication device 115 Bus 131 Feature point 133 Mirror image of identification mark 135 Driver's face 137 Mirror image of exterior of moving body 200 Moving body

Claims

1. An information processing device comprising: an image acquisition unit that acquires image data from an imaging device; a setting unit that sets, based on the image data, an area within the detection range of a ranging device that is related to a reflector capable of reflecting electromagnetic waves, as a non-ranging area in which ranging is not performed by the ranging device or location information collected by the ranging device is not used; and a control unit that executes non-ranging-related control of the ranging device in the non-ranging area.

2. The information processing device according to claim 1, wherein the setting unit recognizes feature points in the image data that are caused by the reflection of the electromagnetic waves by the reflector, and sets the non-ranging area in the detection range based on the feature points.

3. The information processing device according to claim 2, wherein the distance measuring device is mounted on a moving body, and the feature points include an identification mark indicating the identity of the moving body.

4. The information processing device according to claim 3, wherein the setting unit calculates the relative positional relationship between the moving body and the reflector based on the movement of the moving body, and sets the non-ranging area in accordance with the movement based on the relative positional relationship.

5. An information processing device as described in claim 3 or 4, wherein the control unit controls the distance measuring device to measure the distance to the characteristic point, and further comprises a position information acquisition unit that acquires the distance from the moving body to the characteristic point from the distance measuring device, and the setting unit sets half of the distance as the distance from the moving body to the reflecting body.

6. The information processing device according to claim 1, wherein the setting unit sets the non-ranging area using position information of a structure in which the reflector is installed and type information relating to the type of the structure.

7. The information processing device according to claim 3 or 4, wherein the setting unit determines whether or not the reflector is present in the image data based on the position of the object captured by the imaging device in the image data and information on the movement of the moving object.

8. An information processing method comprising: acquiring image data from an imaging device; setting, based on the image data, an area within the detection range of a ranging device that is related to a reflector capable of reflecting electromagnetic waves as a non-ranging area in which ranging is not performed by the ranging device or location information collected by the ranging device is not used; and executing control related to non-ranging in the non-ranging area.

9. An information processing program that causes a computer to acquire image data from an imaging device, and based on the image data, set an area within the detection range of a ranging device that is related to a reflector capable of reflecting electromagnetic waves as a non-ranging area where ranging is not performed by the ranging device or where position information collected by the ranging device is not used, and execute control related to non-ranging in the non-ranging area.

Images