JP2016192104A - Information processor, processing method for the same, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mechanism capable of calling appropriate attention in accordance with a moving direction of an obstacle and a positional relation between the moving obstacle and another obstacle.SOLUTION: An information processor determines whether an obstacle is present in a moving direction of another obstacle, and if the obstacle is determined to be present in the moving direction of the moving another obstacle, a notification is performed by a first notification method, and if the obstacle is determined not to be present in the moving direction of the moving another obstacle, a notification is performed by a second notification method.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an information processing apparatus, a control method thereof, and a program.

  Conventionally, an obstacle is detected from a vehicle using a device such as a camera / sensor, and the presence of the obstacle is notified, or the brake device is operated according to the distance from the obstacle before colliding with the obstacle. Has been done.

  For example, Patent Document 1 describes a technique in which a relative position between an obstacle and a vehicle is identified, identified by X and Y coordinates, and automatically braked. Patent Document 2 describes that it is determined whether or not the detected obstacle is a pedestrian, and a new position of the pedestrian is estimated from the position of the pedestrian stored for each time series.

JP 7-262499 A JP 2008-21269 A

  For example, there are situations where the degree of danger such as collision with an obstacle is low or high. If only an alert is issued when an obstacle is detected, the driver of the vehicle cannot confirm the degree of the alert being alerted and cannot determine what should be noted. The degree of attention may change depending on the positional relationship between an obstacle and a pedestrian, for example. For example, when there is an obstacle in the traveling direction of the pedestrian, the pedestrian may protrude from the roadway in an attempt to avoid the obstacle.

  An object of the present invention is to provide a mechanism capable of appropriately calling attention according to the moving direction of an obstacle and the positional relationship between the moving obstacle and another obstacle.

  An information processing apparatus according to the present invention is an information processing apparatus including an imaging unit and a recognition unit that recognizes an obstacle imaged by the imaging unit, and has another movement direction in the obstacle recognized by the recognition unit. When the first determination means for determining whether there is an obstacle and the first determination means determine that there is another obstacle in the moving direction of the moving obstacle, a first notification is given. And a notification means for performing a second notification when it is determined that there is no other obstacle in the moving direction of the moving obstacle.

  ADVANTAGE OF THE INVENTION According to this invention, the mechanism which can perform suitable alerting according to the moving direction of an obstruction and the positional relationship of the obstruction and the other obstruction which are moving can be provided.

It is a figure which shows an example of the positional relationship of a vehicle and an obstruction in embodiment of this invention. It is a figure which shows an example of the hardware constitutions of information processing apparatus in embodiment of this invention. It is a figure which shows an example of a function structure of the information processing apparatus in embodiment of this invention. It is a flowchart which shows the flow of the danger notification process in embodiment of this invention. It is a figure which shows an example of the obstruction information in detection in embodiment of this invention. It is a figure which shows an example of the notification on the captured image in embodiment of this invention. It is a figure which shows an example of the notification on the captured image in embodiment of this invention. It is a figure which shows the detailed example of the positional relationship of a vehicle and an obstruction in embodiment of this invention. It is a flowchart which shows the flow of the danger notification process in the 2nd Embodiment of this invention. It is a figure which shows an example of the notification on the captured image in the 2nd Embodiment of this invention.

  Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a diagram illustrating an example of a positional relationship between a vehicle and an obstacle in the embodiment of the present invention.

  A vehicle is provided with a camera device and an information processing device 200 that is indirectly or directly connected to the camera device. The information processing apparatus 200 is, for example, a navigation device (onboard) mounted on the vehicle 100, and includes a display screen that displays a captured image captured by the camera device acquired from the camera device.

In the information processing apparatus 200, when the obstacle detected from the captured image is a pedestrian (moving obstacle), there is another obstacle such as a utility pole in the moving direction (traveling direction) of the obstacle. In this case, the driver is informed of the danger of the pedestrian jumping out of the road to avoid the obstacle, and the danger is notified. Details of the positional relationship between the vehicle and the obstacle will be described later with reference to FIG.
The above is the description of FIG.

  Next, an example of the hardware configuration of the information processing apparatus in the embodiment of the present invention will be described with reference to FIG. FIG. 2 is a diagram illustrating an example of a hardware configuration of the information processing apparatus in the embodiment of the present invention.

  In FIG. 2, reference numeral 201 denotes a CPU that comprehensively controls each device and controller connected to the system bus 204. Further, the ROM 202 or the external memory 211 is necessary to realize a BIOS (Basic Input / Output System) or an operating system program (hereinafter referred to as an OS), which is a control program of the CPU 201, or a function executed by each server or each PC. Various programs to be described later are stored.

  A RAM 203 functions as a main memory, work area, and the like for the CPU 201. The CPU 201 implements various operations by loading a program or the like necessary for execution of processing from the ROM 202 or the external memory 211 into the RAM 203 and executing the loaded program.

  An input controller 205 controls input from a keyboard (KB) 209 or a pointing device such as a mouse (not shown). A video controller 206 controls display on a display (display unit) such as a CRT display (CRT) 210. In FIG. 2, although described as CRT 210, the display device is not limited to the CRT, but may be another display device such as a liquid crystal display. These are used by the administrator as needed.

  In addition, when the CRT 210 has a touch panel function, the CRT 210 also functions as an input device, and the touch operation information detected by the touch panel function (received by the display) is transmitted to the input controller as input information. That is, the input controller 205 performs input control from the CRT 210.

  A memory controller 207 is connected to the hard disk (HD), flexible disk (FD), or PCMCIA card slot for storing a boot program, various applications, font data, user files, editing files, various data, etc. via an adapter. The access to the external memory 211 such as a compact flash (registered trademark) memory is controlled.

  A communication I / F controller 208 is connected to and communicates with an external device via a network (for example, the LAN 101 shown in FIG. 1), and executes communication control processing on the network. For example, communication using TCP / IP is possible.

  Note that the CPU 201 enables display on the CRT 210 by executing outline font rasterization processing on a display information area in the RAM 203, for example. In addition, the CPU 201 enables a user instruction with a mouse cursor (not shown) on the CRT 210.

  Various programs to be described later for realizing the present invention are recorded in the external memory 211 and executed by the CPU 201 by being loaded into the RAM 203 as necessary. Furthermore, definition files and various information tables used when executing the program are also stored in the external memory 211, and a detailed description thereof will be described later.

  The camera device 212 is connected to the system bus 204, performs image capturing processing to generate a captured image, and transmits the captured image to the information processing device 200 via the system bus 204. In addition, the GPS measurement device 213 is connected to the system bus 204 to measure position information (X, Y, Z coordinates) of the current position of the vehicle and transmit it to the information processing device. The CPU 201 of the information processing apparatus 200 acquires the captured image and position information and stores them in the external memory 211 as needed. The above is the description of FIG.

  Next, an example of a functional configuration of the information processing apparatus in the embodiment of the present invention will be described with reference to FIG.

  The captured image acquisition unit 301 is an acquisition unit that acquires a captured image from the camera device. The captured image storage unit 302 is a storage unit that stores the captured image acquired by the captured image acquisition unit.

  The obstacle position specifying unit 303 is a specifying unit that specifies the position (X, Y coordinates) of an obstacle outside the vehicle detected using, for example, a captured image. Here, it is assumed that the position of the obstacle is specified using the technique disclosed in Patent Document 1 (Japanese Patent Laid-Open No. 7-262499).

  The traveling direction specifying unit 304 estimates and specifies the moving direction of the moving obstacle (pedestrian) = the new position of the obstacle from the position of the obstacle in the past captured image. The new position of the obstacle is estimated (specified) using, for example, the technique disclosed in Patent Document 2 (Japanese Patent Laid-Open No. 2008-21269).

  The determination unit 305 determines whether another obstacle exists in the moving direction of the pedestrian. The danger notification unit 306 notifies the driver of the vehicle of a collision with an obstacle when another obstacle exists in the moving direction of the pedestrian. The above is the description of FIG.

  Next, with reference to FIG. 4, the flow of the danger notification process in the embodiment of the present invention will be described.

  In the description of this embodiment, it is assumed that the information processing apparatus = the navigation apparatus (the information processing apparatus 200 = the navigation apparatus 200).

  The CPU 201 of the navigation device 200 is activated when, for example, the engine start of the vehicle is detected, and activates the connected camera device to start imaging (step S401). The CPU 201 of the navigation device 200 acquires image data (captured image / camera image) from the camera device and stores it in the external memory for a predetermined time (step S402). Further, the captured image is displayed on the display screen of the navigation device 200 (for example, a screen such as 600 in FIG. 6 is displayed on the display screen). The CPU 201 of the navigation device 200 analyzes the acquired captured image, detects an obstacle included in the captured image (step S403 / obstacle recognition / identification), and identifies the relative position of the obstacle with the vehicle ( Step S404). The CPU 201 of the navigation device 200 stores the detected obstacle information and the obstacle position information in association with each other in the external memory (shown in FIG. 5).

  The detected obstacle information 500 in FIG. 5 includes image data 502 of the detected obstacle cut out from the captured image, the recognized obstacle type 503, and the relative position that is the position (X, Y coordinates) of the identified obstacle. 504 (the relative position between the predetermined position on the vehicle and the obstacle), and the obstacle information being detected, which is information including the traveling directions 505 and 502 to 505 of the obstacle (pedestrian) specified in the steps described later, are identified. NO501 is stored. In step S403, the CPU 201 of the navigation device 200 acquires, specifies, and stores the image data 502 and the type 503. In step S404, the relative position 504 is stored. Each information of the detected obstacle information 500 is updated each time a new captured image is acquired and the processes of steps S403 and S404 are executed. That is, the information of the obstacle in the image currently being captured is stored. Therefore, when the obstacle moves from the imaging range of the camera due to the movement of the vehicle, the information of the obstacle outside the imaging range is deleted from the detected obstacle information 500.

  The relative position 504 measures and registers a plurality of positions (for example, obstacles that are continuously installed in a predetermined section) for an obstacle of type 503 = guardrail. And the guardrail is determined to be located on the line connecting the points. An example of the relative position is illustrated at 800 and 810 in FIG.

  The conventional technique is used for detecting the obstacle and specifying the position of the obstacle (for example, using the method described in JP-A-7-262499).

  The CPU 201 of the navigation device 200 refers to the detected obstacle information 500 in FIG. 5 and determines whether or not a pedestrian (including a bicycle) has been recognized and detected from the captured image as a result of analyzing the captured image. (Step S405). Conventional techniques are used for pedestrian recognition and detection methods. For example, an obstacle detection method using a neural network is used (for example, described in JP-A No. 2004-145660).

  Specifically, by a technique for detecting a pedestrian as an obstacle, a captured image (image data) obtained by capturing images in the traveling direction and moving direction of the vehicle at predetermined time intervals is binarized. Extract pedestrian shape data, identify pedestrian movement patterns from temporal changes in the shape data between multiple captured images, and store and learn pedestrian movement patterns and neural networks Compared with the motion pattern information of, recognizes pedestrians. Neural networks learn and store information on pedestrian movement patterns that are detected in advance (for example, pedestrian shape data and movement based on information such as the human physique, how to walk, movement direction, and clothes). These patterns are measured and stored as pedestrian movement patterns). Similarly, with respect to a bicycle, it is possible to recognize the bicycle occupant by using information on the operation pattern of the bicycle and the occupant.

  If the CPU 201 of the navigation device 200 does not determine that a pedestrian has been recognized / detected from the captured image as a result of analyzing the captured image (NO in step S405), the process proceeds to step S412. The description of step S412 will be described later.

  If the CPU 201 of the navigation device 200 determines that the pedestrian has been recognized and detected from the captured image as a result of the analysis of the captured image (YES in step S405), the CPU 201 refers to the information on the relative position 504 in FIG. It is determined whether there is another obstacle (positioned) between pedestrians (step S406).

  For example, as indicated by reference numeral 811 in FIG. 8, there is a failure in a predetermined range including a vector (line) connecting a predetermined position (X = 0, Y = 0) on the vehicle that is the origin of the relative position 504 and the position of the pedestrian. Determine if an object is located. The predetermined range is, for example, a range specified by increasing the width of the vector (line) by a predetermined distance, and information on the predetermined distance is stored in advance in an external memory of the navigation device. Here, a range in which the width of the vector is expanded to 1 m is defined as a predetermined range. In this case, the predetermined distance information stored in the external memory is 1 m.

  When the CPU 201 of the navigation device 200 determines that another obstacle exists between the vehicle and the pedestrian (YES in step S406), it is considered that there is an obstacle such as a guardrail between the vehicle and the pedestrian. Therefore, notification that the detected obstacle (pedestrian) is a pedestrian in a relatively safe state is performed (step S407 / third notification). For example, a captured image in which a pedestrian's image is surrounded by a blue line is generated and displayed on the display screen of the navigation device, thereby notifying a user who is a driver. An example of the notification is as shown at 710 in FIG.

  When the CPU 201 of the navigation device 200 determines that there is no other obstacle between the vehicle and the pedestrian (NO in step S406), the process proceeds to step S408, and the traveling direction (movement direction) of the pedestrian is specified. And stored in the traveling direction 505 (step S408). The movement direction specifying process is performed using a conventional technique. For example, the technique described in Japanese Patent Application Laid-Open No. 2008-21269 is used. The image data for each time series necessary for specifying the direction of travel of the pedestrian is acquired from the captured images for a predetermined time stored in the external memory in step S402.

  Here, the CPU 201 of the navigation device 200 identifies the traveling direction (new position of the pedestrian) and then coordinates (X and Y coordinates indicating the relative position to the vehicle) at a predetermined distance on the extension line of the traveling direction. ) Is specified and stored in the traveling direction 505. It is assumed that the information on the predetermined distance is stored in advance in an external memory of the navigation device. Here, it is assumed that the predetermined distance = 5 m, and coordinates 5 m ahead from the current position of the pedestrian on a line passing from the current position of the pedestrian to the next position of the pedestrian are stored.

  The CPU 201 of the navigation device 200 determines whether there is another obstacle (for example, a utility pole or a sign) in the direction of travel of the pedestrian (step S409 / area within a predetermined range from the position (X, Y coordinates) of the other obstacle) To determine if a pedestrian will pass through). In the following description, it is assumed that the other obstacle is a utility pole. Specifically, the CPU 201 of the navigation device 200 specifies a predetermined range area (illustrated by 821 in FIG. 8) with the X and Y coordinates of the utility pole as the center. The predetermined range is a circular area having a radius = predetermined distance (here, 1 m) with the center point set at the coordinates of the utility pole. It is assumed that the information on the predetermined distance is stored in advance in the external memory of the navigation device.

  In step S409, the CPU 201 of the navigation device 200 determines whether the pedestrian is moving toward the vicinity of the utility pole from information on the direction of travel of the pedestrian. For example, it is determined whether a coordinate point indicated by the traveling direction 505 or a line connecting the current position of the pedestrian and the point of the traveling direction 505 is included in a predetermined range centered on the utility pole. When it is determined that the coordinate point indicated by the traveling direction 505 or the line connecting the current position of the pedestrian and the point of the traveling direction 505 is included in a predetermined range centered on the utility pole, other obstacles are present in the traveling direction of the pedestrian. Judge that there is. When it is determined that the coordinate point indicated by the traveling direction 505 or the line connecting the current position of the pedestrian and the point of the traveling direction 505 is not included in the predetermined range centered on the utility pole, there is another obstacle in the traveling direction of the pedestrian. Judge that there is nothing.

  If the CPU 201 of the navigation device 200 determines that there are no other obstacles in the direction of travel of the pedestrian (NO in step S409), it notifies the detected pedestrian that it should be somewhat careful (step S410 / No. 2 notification). This is because there is a high possibility that there is no obstacle in the direction of travel of the pedestrian and the pedestrian goes straight, but there is no obstacle such as a guardrail between the vehicle and the pedestrian, and the pedestrian jumps out to the vehicle side. This is because the possibility of coming is not low. For example, a captured image in which a pedestrian's image is surrounded by a yellow line is generated and displayed on the display screen of the navigation device to notify the user who is the driver. An example of the notification is as shown at 700 in FIG. The CPU 201 of the navigation apparatus 200 moves the process to step S412 after executing the notification.

  On the other hand, if the CPU 201 of the navigation device 200 determines that there is another obstacle in the direction of travel of the pedestrian (YES in step S409), the pedestrian tries to avoid the obstacle as shown in FIG. It is inferred that there is a possibility of moving to the pedestrian, and notifies the detected pedestrian that attention should be paid strongly (step S411 / first notification). For example, a captured image in which a pedestrian's image is surrounded by a red line is generated and displayed on the display screen of the navigation device, thereby notifying a user who is a driver. An example of the notification is as shown at 610 in FIG. Further, in the present embodiment, as shown at 610 in FIG. 6, the shape of the pedestrian is in the vicinity of the obstacle (side of the obstacle on the vehicle side) determined to be in the traveling direction of the pedestrian in the captured image. An object 611 indicating the position of the pedestrian, or an arrow indicating the movement path from the current position of the pedestrian to the vicinity of the obstacle (side of the obstacle on the vehicle side). Informs them to be more careful about changes being made. Here, the object 611 and the arrow are displayed in red. Thereafter, the process proceeds to step S412.

  The CPU 201 of the navigation device 200 determines whether an instruction to end the navigation device 200 is given in step S412 (step S412). The termination instruction of the navigation device 200 is, for example, a notification of engine stop from the vehicle body.

  When an instruction to end the navigation device 200 is received (YES in step S412), the CPU 201 of the navigation device 200 ends the process. If an instruction to end the navigation apparatus 200 has not been received (NO in step S412), the process returns to step S402, a new image being captured is acquired, and until the instruction to end the navigation apparatus is given, FIG. Repeat the process. The above is the description of FIG.

  The first embodiment of the present invention has been described above.

  According to the first embodiment of the present invention, there is provided a mechanism capable of performing appropriate alerting according to the moving direction of an obstacle and the positional relationship between the moving obstacle and another obstacle. be able to.

  Next, a second embodiment of the present invention will be described with reference to FIGS.

  According to the second embodiment of the present invention, appropriate alerting can be performed according to the moving direction of the obstacle and the moving direction of the vehicle, and the positional relationship between the moving obstacle and other obstacles. it can.

  In the description of the second embodiment, the processing in steps S901 and S902 shown in FIG. 9 is performed between step S408 and step S409 in the first embodiment, and depending on the result of the processing in step S902, the steps are performed. The processing described in S903 and Step S904 is performed. Since the processes in steps S401 to S412 in FIG. 4 are the same as those in the first embodiment, a description thereof will be omitted.

  In the second embodiment, the CPU 201 of the navigation device 200 identifies the traveling direction of the pedestrian in step S408, and then queries the host vehicle for information on the traveling direction of the host vehicle in which the navigation device 200 is installed and connected. The traveling direction of the host vehicle is specified (step S901). Then, it is determined whether the vehicle and the pedestrian are moving facing each other (step S902).

  If it is determined that the vehicle and the pedestrian are not moving facing each other (NO in step S902), the process proceeds to step S903. The case where they are not moving opposite each other is, for example, a case where the vehicle and the pedestrian are moving in the same direction (the same direction).

  If it is determined that the vehicle and the pedestrian are moving facing each other (YES in step S902), it is determined whether there is an obstacle in the direction of travel of the pedestrian (step S903). The details of the determination are as described above in the description of step S409 in FIG. If there is no obstacle in the direction of travel of the pedestrian (NO in step S903), the process proceeds to step S407.

  If there is an obstacle in the direction of travel of the pedestrian (YES in step S903), the CPU 201 of the navigation device 200 identifies the height of the obstacle and recognizes the height of the obstacle from the captured image. It is determined whether the height of the pedestrian's eyes (line of sight / line of sight) is higher (step S904). The height of the obstacle (imaging target / pedestrian or utility pole) is measured using conventional technology. For example, the height of an obstacle may be measured using the techniques described in JP-A-2005-249438, JP-A-5-153468, and JP-A-2000-121360.

  If it is determined that the height of the obstacle in the direction of travel of the pedestrian is less than or equal to the height of the pedestrian's line of sight (NO in step S904), even if the pedestrian moves to the vicinity of the obstacle It is estimated that the vehicle can be visually recognized, and the process proceeds to step S407 to notify that the pedestrian is a pedestrian in a relatively safe state (third notification).

  If it is determined that the height of the obstacle in the direction of travel of the pedestrian is higher than the height of the pedestrian's line of sight (YES in step S904), if the pedestrian moves to the vicinity of the obstacle, the obstacle It is judged that there is a possibility that the field of view is blocked by an object and the vehicle may protrude without confirming the existence of the vehicle as shown in FIG. 10, but (the pedestrian's eyes can be recognized when specifying the height of the line of sight) That is, it is determined that the pedestrian can confirm the vehicle at the present time, and the CPU 201 of the navigation device 200 shifts the process to step S410 to inform the driver that some attention should be paid. Make a notification. In the second embodiment, a screen as shown by 1010 in FIG. 10 is displayed that surrounds the pedestrian with a yellow frame and displays a yellow object next to the obstacle (electric pole) in the traveling direction. Notification is displayed on the screen (second notification). The object is displayed with a dotted line as indicated by 1010 in FIG. By displaying it with a dotted line or displaying it in yellow, the notification is given so as to be distinguishable from the notification to be strongly noted in step S411. Thereafter, the process proceeds to step S412.

  The above is the description of the second embodiment of the present invention.

  According to the second embodiment of the present invention, appropriate alerting can be performed according to the moving direction of the obstacle and the moving direction of the vehicle, and the positional relationship between the moving obstacle and other obstacles. it can.

  The embodiments of the present invention have been described above.

  As described above, according to the present invention, there is provided a mechanism capable of performing appropriate alerting according to the moving direction of an obstacle and the positional relationship between the moving obstacle and other obstacles. be able to.

  In the above-described embodiment, the degree of notification (degree of risk / degree of caution) is expressed in color and the degree of each notification is distinguishable (identifiable). Is not limited to colors. For example, the risk level may be notified to the driver by displaying a frame that surrounds the pedestrian in step S407, blinking earlier in step S410, and blinking earlier in step S411.

  In the above-described embodiment, the notifications in steps S407, S410, and S411 are performed on the display screen of the navigation device 200. However, for example, the vehicle windshield is used as a see-through display in step S407 in FIG. Notifications in S410 and S411 may be performed.

  In the above-described embodiment, the notification is performed on the display screen. However, for example, each notification is performed by generating a sound such as an alarm sound, and the volume of the sound is reduced in step S407, and in step S410. In step S411, it may be set larger and pronounced to notify the driver of the degree of danger corresponding to each situation.

  In the above-described embodiment, the position and traveling direction of the pedestrian are specified from the captured image. For example, the navigation apparatus receives position information measured by a GPS measurement device possessed by the pedestrian, and the navigation apparatus The position information of the vehicle may be acquired from a GPS measurement device that measures the position of the vehicle connected to the vehicle, and the relative positions may be calculated by specifying the positions of the pedestrian and the vehicle.

  It should be noted that the present invention can be implemented as, for example, a system, apparatus, method, program, or storage medium, and can be applied to a system composed of a plurality of devices. You may apply to the apparatus which consists of one apparatus.

  Note that the present invention includes a software program that implements the functions of the above-described embodiments directly or remotely from a system or apparatus. The present invention also includes a case where the system or the computer of the apparatus is achieved by reading and executing the supplied program code.

  Accordingly, since the functions of the present invention are implemented by computer, the program code installed in the computer also implements the present invention. In other words, the present invention includes a computer program itself for realizing the functional processing of the present invention.

  Examples of the recording medium for supplying the program include a flexible disk, hard disk, optical disk, magneto-optical disk, MO, CD-ROM, CD-R, and CD-RW. In addition, there are magnetic tape, nonvolatile memory card, ROM, DVD (DVD-ROM, DVD-R), and the like.

  As another program supply method, a browser on a client computer is used to connect to an Internet home page. The computer program itself of the present invention or a compressed file including an automatic installation function can be downloaded from the homepage by downloading it to a recording medium such as a hard disk.

  It can also be realized by dividing the program code constituting the program of the present invention into a plurality of files and downloading each file from a different homepage. That is, a WWW server that allows a plurality of users to download a program file for realizing the functional processing of the present invention on a computer is also included in the present invention.

  In addition, the program of the present invention is encrypted, stored in a storage medium such as a CD-ROM, distributed to users, and key information for decryption is downloaded from a homepage via the Internet to users who have cleared predetermined conditions. Let It is also possible to execute the encrypted program by using the downloaded key information and install the program on a computer.

  Further, the functions of the above-described embodiments are realized by the computer executing the read program. In addition, based on the instructions of the program, an OS or the like running on the computer performs part or all of the actual processing, and the functions of the above-described embodiments can also be realized by the processing.

  Further, the program read from the recording medium is written in a memory provided in a function expansion board inserted into the computer or a function expansion unit connected to the computer. Thereafter, the CPU of the function expansion board or function expansion unit performs part or all of the actual processing based on the instructions of the program, and the functions of the above-described embodiments are realized by the processing.

The above-described embodiments are merely examples of implementation in carrying out the present invention, and the technical scope of the present invention should not be construed as being limited thereto.
That is, the present invention can be implemented in various forms without departing from the technical idea or the main features thereof.

100 vehicle 200 navigation device 212 camera device

Claims (8)

An information processing apparatus comprising an imaging means and a recognition means for recognizing an obstacle imaged by the imaging means,
First determination means for determining whether there is another obstacle in the moving direction of the obstacle recognized by the recognition means;
When the first determination means determines that there is another obstacle in the moving direction of the moving obstacle, a first notification is given, and the other in the moving direction of the moving obstacle A notification means for performing a second notification when it is determined that there is no obstacle,
An information processing apparatus comprising:   The notification means associates an object related to the moving obstacle in association with a vicinity of another obstacle determined to be in the traveling direction of the obstacle moving by the first determination means. The information processing apparatus according to claim 1, wherein the first notification is performed by performing a notification to be displayed.   The said notification means performs said 2nd notification by performing the notification which displays the object concerning the said moving obstacle in the position of the said moving obstacle, The said 2nd notification is characterized by the above-mentioned. The information processing apparatus described in 1.   4. The notification unit according to claim 1, wherein the notification unit notifies the first notification and the second notification in a distinguishable manner by displaying different colors on a display screen. 5. The information processing apparatus described. Second determination means for determining whether there is another obstacle between the obstacle and the position of the vehicle on which the information processing apparatus is installed;
With
The notification means performs notification by a third notification method when the second determination means determines that there is no other obstacle between the obstacle and the position of the vehicle. Item 5. The information processing apparatus according to any one of Items 1 to 4. Third determination means for determining whether the vehicle in which the information processing apparatus is installed and the obstacle are moving opposite each other;
The notification means is the case where the third determination means determines that the vehicle and the obstacle are moving facing each other, and the first determination means is the obstacle moving. The information processing apparatus according to claim 1, wherein the second notification is performed when it is determined that there is another obstacle in the moving direction of the object. An information processing apparatus comprising an imaging means and a recognition means for recognizing an obstacle imaged by the imaging means,
A first determination step of determining whether there is another obstacle in the moving direction of the obstacle recognized by the recognition means;
In the first determination step, when it is determined that there is another obstacle in the moving direction of the moving obstacle, a first notification is given, and the moving direction of the moving obstacle is different. A notification step of performing a second notification when it is determined that there is no obstacle,
A method for controlling an information processing apparatus, comprising: A program that can be executed by an information processing apparatus that includes an imaging unit and a recognition unit that recognizes an obstacle imaged by the imaging unit,
The information processing apparatus;
First determination means for determining whether there is another obstacle in the moving direction of the obstacle recognized by the recognition means;
When the first determination means determines that there is another obstacle in the moving direction of the moving obstacle, a first notification is given, and the other in the moving direction of the moving obstacle A program for an information processing apparatus that functions as notification means for performing a second notification when it is determined that there is no obstacle.

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