JP7294323B2 - Moving body management device, moving body management system, moving body management method, and computer program - Google Patents

Description

The present invention relates to a moving body management device, a moving body management system, a moving body management method, and a computer program. This application claims priority based on Japanese application No. 2018-063865 filed on March 29, 2018, and incorporates all the contents described in the Japanese application.

When operating a vehicle, it is necessary to pay sufficient attention not only to the movement of the own vehicle but also to the movement of other vehicles. Particular attention should be paid when pedestrians are present in addition to vehicles. Conventionally, as a technique for detecting such a moving object (hereinafter referred to as "moving object"), there is a technique disclosed in Patent Document 1 listed below.

In Patent Document 1, using a plurality of sensors such as surveillance cameras installed on the street, the measurement result detected by one sensor acquires information that affects the target of the other sensor, and the plurality of sensors Disclosed is a system for improving the performance of the entire system by holding various measurement results acquired from the system in an integrated form.

JP 2016-85602 A

A moving body management apparatus according to an aspect of the present disclosure includes: a first moving body detection unit that detects one or more first moving bodies in a first period based on a first signal received from the outside; a second moving body detection unit that detects one or more second moving bodies in a second period longer than the first period based on the obtained second signal; one of the first moving bodies; an integration processing unit that performs a process of integrating the one first moving body and the one second moving body when they are the same as the second moving body in a cycle shorter than the second cycle; A notification unit for notifying information about a moving object that has a predetermined attribute and is located at a position that satisfies a predetermined condition for a vehicle based on the processing result of the processing unit and that satisfies the predetermined condition for the vehicle. including.

A moving body management system according to an aspect of the present disclosure includes the above-described moving body management apparatus, and a distance measurement signal indicating a distance to a surrounding object in the first period to the first moving body detection unit. and a second sensor that transmits, as the second signal, an image signal representing an image of the imaging range in the second period to the second moving object detection unit.

A moving object management method according to one aspect of the present disclosure includes a first moving object detection step in which a computer detects one or more first moving objects in a first period based on a first signal received from the outside; , a second moving body detection step in which the computer detects one or more second moving bodies in a second period longer than the first period based on a second signal received from the outside; When the first moving body and the one second moving body are the same, the process of integrating the one first moving body and the one second moving body is performed in a period shorter than the second period. an integration processing step that is executed periodically; and a computer, based on the processing result of the integration processing step, detects a moving object that has a predetermined attribute and is located in a position that satisfies predetermined conditions for a vehicle. and a reporting step of reporting information about the moving body that satisfies the predetermined condition.

A computer program according to an aspect of the present disclosure provides a computer with a first moving object detection step of detecting one or more first moving objects in a first cycle based on a first signal received from the outside; a second moving body detection step of detecting one or more second moving bodies in a second period longer than the first period based on a second signal received from the outside; one of the first moving bodies; an integration processing step of executing the processing of integrating the one first moving object and the one second moving object in a cycle shorter than the second cycle when the one second moving object is the same Then, based on the processing result of the integration processing step, with respect to a moving object that has a predetermined attribute and is located at a position that satisfies predetermined conditions for a certain vehicle, information regarding the moving object that satisfies the predetermined conditions for the certain vehicle is obtained. and a reporting step of reporting.

A moving object management apparatus according to another aspect of the present disclosure receives the ranging signal from a distance sensor that measures the distance to a surrounding object in a first period and transmits the ranging signal, and the period is longer than the first period. a receiving unit connected so as to be able to receive the image signal from an imaging device that transmits an image signal representing an image of an imaging range in a second cycle; and the receiving unit capable of reading information received by the receiving unit. a processor connected to a first moving object detection step of detecting one or more first moving objects based on the ranging signal; and one or more first moving objects based on the image signal. When the second moving body detection step of detecting two moving bodies, the one first moving body, and the one second moving body are the same, the one first moving body and the one second moving body are the same. an integration processing step of performing processing for integrating the two moving bodies in a cycle shorter than the second cycle; and a vehicle having a predetermined attribute and satisfying a predetermined condition for a certain vehicle based on the processing result of the integration processing step. and a notification step of notifying the certain vehicle of information regarding the moving body that satisfies the predetermined condition.

The present disclosure can be implemented as a moving body management apparatus including such a characteristic processing unit, a moving body management method having steps of such characteristic processing, and a program for causing a computer to execute such characteristic processing. can. Moreover, it can be realized as a semiconductor integrated circuit having a function of executing some or all of these steps, or as a moving body management system including a moving body management device.

FIG. 1 is a schematic diagram showing an outline of a moving object management system according to the first embodiment of the present invention. FIG. 2 is a block diagram of a sensor sharing server, which is a moving body management device that manages moving body information by integrating information from multiple types of sensors in the system shown in FIG. 1 and notifies vehicles of information necessary for safe driving. is. FIG. 3 is a diagram showing, in tabular form, analysis results by the moving body tracking unit of the sensor sharing server shown in FIG. FIG. 4 is a diagram showing, in tabular form, analysis results by the attribute detection unit of the sensor shared server shown in FIG. FIG. 5 is a diagram showing, in tabular form, analysis results by the integration processing unit of the sensor sharing server shown in FIG. 6 is a table showing vehicle information managed by the vehicle tracking unit of the sensor sharing server shown in FIG. 2. FIG. FIG. 7 is a flow chart showing the control structure of a program for causing a computer to function as an integration processing unit of the sensor sharing server shown in FIG. FIG. 8 is a flow chart showing the control structure of a program for operating a computer to implement the analysis result integration process shown in FIG. FIG. 9 is a flow chart showing the control structure of a program for operating the computer as the warning notification unit shown in FIG. FIG. 10 is a diagram for explaining warning processing to the vehicle according to the first embodiment of the present invention. FIG. 11 is a diagram for explaining a combination method for integration of detected moving objects in the second embodiment of the present invention. FIG. 12 is a diagram for explaining another combination method for integrating detected moving objects in the second embodiment of the present invention. FIG. 13 is a flow chart showing the control structure of a program for operating a computer to realize processing for integrating analysis results in the second embodiment of the present invention. FIG. 14 is a block diagram of a sensor sharing server according to the third embodiment of the invention. FIG. 15 is an external view of the sensor sharing server according to the first embodiment. 16 is a block diagram showing the internal configuration of the sensor sharing server shown in FIG. 15. FIG.

<Problems to be solved by the present disclosure>
The invention disclosed in Patent Document 1 can be said to be excellent in terms of improving the performance of the entire system by integrating the measurement results of a plurality of sensors. However, Patent Document 1 has a problem that it does not sufficiently consider the difference in performance and characteristics of individual sensors.

For example, Patent Document 1 mentions an image sensor (camera, etc.), a distance sensor (laser radar), etc. as sensors. Patent Document 1 aims to improve the performance of the entire system by integrating the information obtained from these. However, in the case of a distance sensor, for example, it takes only a short time to process the output and detect the position of a moving object. Therefore, it is necessary to perform image processing that requires a relatively long processing time. Therefore, the processing speed according to the invention disclosed in Patent Document 1 is ultimately limited by the image processing for the output of the image sensor, and there is a problem that sufficient measurement accuracy of the position of the moving object cannot be obtained.

<Effects of the present disclosure>
According to the present disclosure, moving objects can be managed with higher accuracy.

<Overview of Embodiments of the Present Invention>
Hereinafter, the outline of the embodiments of the present invention will be listed and described.
(1) A moving body management apparatus according to the present embodiment includes: a first moving body detection unit that detects one or more first moving bodies in a first cycle based on a first signal received from the outside; a second moving body detection unit that detects one or more second moving bodies in a second period longer than the first period based on the received second signal; one first moving body; an integration processing unit that performs a process of integrating the one first moving body and the one second moving body when the second moving body is the same in a cycle shorter than the second cycle; Based on the result of processing by the integrated processing unit, a moving object that has a predetermined attribute and is located in a position that satisfies predetermined conditions for a certain vehicle is notified of information about the moving object that satisfies the predetermined conditions for the vehicle. including the part.

A moving body determined to have a specific attribute with high reliability by the detailed attribute information by the second moving body detection unit can be accurately positioned and tracked using the detection result by the first moving body detection unit. As a result, moving objects can be managed with higher accuracy.

(2) In the moving body management apparatus according to the present embodiment, the integration processing unit, when one position of the first moving body and one position of the second moving body satisfy a predetermined condition, A position determination unit that determines whether one first moving body and one second moving body are the same, and the one first moving body and the one that are determined to be the same by the position determination unit. and an integration unit that integrates the second moving body.

The integration processing unit integrates moving objects determined to be identical based on the positions of the moving objects. Position calculation can be performed with a small amount of calculation, so even if the number of moving objects increases, simple processing can be performed at high speed.

(3) In the moving body management apparatus according to the present embodiment, the position determination unit determines the position of the one first moving body and the position of the one second moving body, as well as the one first moving body. when the time at which the moving body and the one second moving body are detected by the first moving body detection unit and the second moving body detection unit, respectively, satisfy a predetermined condition, the one first moving body; A position/time determination unit may be included that determines whether or not the one second moving object matches.

Since the moving bodies determined to be identical in terms of time as well as position are integrated, the reliability of the integration result is increased. This is because there is a very high possibility that the first moving object and the second moving object whose detected positions and times are close to each other are the same.

(4) In the moving body management apparatus according to the present embodiment, the integration unit combines the positions and attributes of the moving bodies determined to be identical by the position determining unit into the positions and attributes of the one first moving body and the one second moving body. may be set using the attribute of the moving object.

Since the output of the first moving body detection section and the output of the second moving body detection section are combined, the moving body can be accurately tracked and notified after the moving body is integrated.

(5) In the moving body management apparatus according to this embodiment, the integration unit
Number of moving bodies for determining whether the number of the first moving bodies detected by the first moving body detection unit and the number of the second moving bodies detected by the second moving body detection unit match a determination unit; and a group determination unit that determines a group of the first moving object and the second moving object to be integrated based on the result of the moving object number determination unit, the position determination unit comprising: Depending on whether the position of one of the first moving bodies included in the group determined by the group determination unit and the position of one of the second moving bodies included in the group satisfy a predetermined condition, the An intra-group determination unit that determines whether one first moving object and one second moving object are the same may be included.

The number of moving bodies detected by the first moving body detection section and the number of moving bodies detected by the second moving body detection section are compared, and the integration method is changed according to the result. Therefore, it is possible to integrate the moving objects by an optimum method according to the detection result of the moving objects.

(6) In the moving body management apparatus according to the present embodiment, the integration processing unit further includes the in-group determining unit for determining the one second moving body in which the one first moving body included in the group is included in the group. If it is not determined to be the same as the moving body, or if it is not determined that the one second moving body included in the group is the same as the one first moving body included in the group, the one A default value setting unit may be included for generating a moving body after integration by setting a default value to information about the first moving body and the one second moving body for which no value is set.

Since even a moving body that is not combined with other moving bodies is included in the analysis results after integration, there is no chance of overlooking a moving body. As a result, safer moving object management can be performed for the vehicle.

(7) In the moving body management apparatus according to the present embodiment, the notification unit includes a vehicle position detection unit that detects the position of the vehicle within a predetermined area, a processing result of the integration processing unit, and a detection result of the vehicle position detection unit. and a warning unit that issues a warning regarding a moving body that satisfies the predetermined condition to the vehicle when there is a vehicle located within a predetermined range centered on the moving body having a predetermined attribute based on .

A vehicle within a predetermined range from a moving body having a predetermined attribute can be appropriately warned of a moving body that requires attention.

(8) A moving body management system according to the present embodiment includes the moving body management device according to any one of (1) to (7), and a ranging signal indicating a distance to a surrounding object in the first period. a first sensor that transmits as the first signal to the first moving body detection unit; and an image signal that indicates an image of an imaging range in the second period as the second signal that is transmitted to the second moving body detection unit. and a transmitting second sensor.

When the outputs of the first sensor and the second sensor are transmitted to the moving body management device, the moving body determined to have the specific attribute with high reliability by the detailed attribute information by the second moving body detection unit of the moving body management device , the position can be determined and tracked with high accuracy using the detection result of the first moving body detection unit of the moving body management apparatus. As a result, moving objects can be managed with higher accuracy.

(9) A moving object management method according to the present embodiment includes a first moving object detection step in which a computer detects one or more first moving objects in a first period based on a first signal received from the outside; , a second moving body detection step in which the computer detects one or more second moving bodies in a second period longer than the first period based on a second signal received from the outside; When the first moving body and the one second moving body are the same, the process of integrating the one first moving body and the one second moving body is performed in a period shorter than the second period. an integration processing step that is executed periodically; and a computer, based on the processing result of the integration processing step, detects a moving object that has a predetermined attribute and is located in a position that satisfies predetermined conditions for a vehicle. and a reporting step of reporting information about the moving body that satisfies the predetermined condition.

With respect to a moving body determined to have a specific attribute with high reliability by the detailed attribute information in the second moving body detection step of this moving body management method, the position is determined with high accuracy using the detection result of the first moving body detection step. can be traced. As a result, moving objects can be managed with higher accuracy.

(10) The computer program according to the present embodiment provides a computer with a first moving object detection step of detecting one or more first moving objects in a first cycle based on a first signal received from the outside; a second moving body detection step of detecting one or more second moving bodies in a second period longer than the first period based on a second signal received from the outside; one of the first moving bodies; an integration processing step of executing the processing of integrating the one first moving object and the one second moving object in a cycle shorter than the second cycle when the one second moving object is the same Then, based on the processing result of the integration processing step, with respect to a moving object that has a predetermined attribute and is located at a position that satisfies predetermined conditions for a certain vehicle, information regarding the moving object that satisfies the predetermined conditions for the certain vehicle is obtained. and a reporting step of reporting.

This computer program executes the first moving body detection step for a moving body determined to have a specific attribute with high reliability from detailed attribute information obtained by executing the second moving body detection step. The detection results can be used to accurately locate and track. As a result, moving objects can be managed with higher accuracy.

(11) The moving object management apparatus according to the present embodiment receives the ranging signal from a distance sensor that measures the distance to a surrounding object in a first period and transmits the ranging signal, and receives the ranging signal in a period longer than the first period. a receiving unit connected so as to be able to receive the image signal from an imaging device that transmits an image signal representing an image of an imaging range in a second cycle; and the receiving unit capable of reading information received by the receiving unit. a processor connected to a first moving object detection step of detecting one or more first moving objects based on the ranging signal; and one or more first moving objects based on the image signal. When the second moving body detection step of detecting two moving bodies, the one first moving body, and the one second moving body are the same, the one first moving body and the one second moving body are the same. an integration processing step of performing processing for integrating the two moving bodies in a cycle shorter than the second cycle; and a vehicle having a predetermined attribute and satisfying a predetermined condition for a certain vehicle based on the processing result of the integration processing step. and a notification step of notifying the certain vehicle of information regarding the moving body that satisfies the predetermined condition.

A moving object determined to have a specific attribute with high reliability based on detailed attribute information obtained by the processor performing the second moving object detection step on the image signal is subjected to the first detection on the distance measurement signal. Using the detection result obtained by executing the moving object detection step of 1, the position can be determined and tracked with high accuracy. As a result, moving objects can be managed with higher accuracy.

<Details of the embodiment of the present invention>
Hereinafter, details of embodiments of the present invention will be described with reference to the drawings. At least part of the embodiments described below may be combined arbitrarily. In the following description, identical parts and components are given identical reference numerals. Their names and functions are also the same. Therefore, these descriptions will not be repeated.

In the description below, the computer program is simply referred to as a "program" for the sake of simplicity.

<First embodiment>
<composition>
Referring to FIG. 1, a moving body management system 50 according to the first embodiment of the present invention integrates the outputs of various sensors, which will be described later. A sensor sharing server 66, a plurality of cameras 60 that capture a predetermined imaging range and transmit image signals to the sensor sharing server 66, and measures the distance to a moving object existing within a predetermined surrounding range 64, and outputs a distance measurement signal. to a sensor sharing server 66 . Some of the plurality of cameras 60 and LiDAR 62 are infrastructure sensors attached to social infrastructure facilities (infrastructure, hereinafter referred to as "infrastructure") such as streetlights, buildings, and signal poles, and other parts are attached to vehicles. It is an on-board vehicle sensor. In this embodiment, the sensor sharing server 66 manages the locations where each infrastructure sensor is installed. Therefore, the sensor sharing server 66 can calculate the position of each moving object by combining the latitude and longitude by processing the ranging signal from the LiDAR 62 and the image signal from the camera 60 .

Camera 60 transmits image signals to sensor sharing server 66 . Image signals contain a lot of information, and not only can people and vehicles be widely detected, but also the position and posture of people, whether they are walking, whether they are walking with a smartphone, what color of clothes they are wearing, etc. Information indicating the attributes of each moving object, such as whether it is coming, can be obtained. However, in order to obtain these attribute information, it is necessary to perform image processing on the image signal in the sensor sharing server 66, which requires a relatively long time. On the other hand, the LiDAR 62 scans the surroundings with, for example, highly directional laser light, detects the laser light reflected by the moving object, and measures the distance to the moving object. Although the LiDAR 62 can only know limited attributes of the object, the processing time in the sensor sharing server 66 is short.

The purpose of the moving object management system 50 is to provide sensor outputs that can discriminate even the detailed attributes of an object like a plurality of cameras 60 but require a relatively long time to process, and to limit the attributes of objects like the LiDAR 62. Only information is known, but only a short time is required for processing. By using both sensor outputs, when a person who is dangerous to the vehicle, such as a person 68 walking while looking at a smartphone, is found, the movement of the person can be accurately determined. High tracking and sending alerts to vehicles as needed.

Referring to FIG. 2, sensor sharing server 66 receives signals from multiple infrastructure sensor installations 80 (including either or both cameras and LiDAR) and vehicle-mounted sensors 82 (including cameras and LiDAR) as described above. or both)). Each infrastructure sensor facility 80 includes an infrastructure sensor 90 composed of a camera or LiDAR, and a communication device 92 for transmitting a signal output by the infrastructure sensor 90 to the reception processing unit 110 of the sensor sharing server 66 . The vehicle-mounted sensor 82 similarly includes a vehicle sensor 100 composed of a camera or LiDAR, and a communication device 102 that transmits a signal output from the vehicle sensor 100 to the reception processing unit 110 of the sensor sharing server 66 .

The sensor sharing server 66 further includes a moving object tracking unit 112 that determines and tracks the position of each moving object in the first cycle by analyzing ranging signals from the LiDAR 62 or the like among the signals received by the reception processing unit 110; Among the signals received by the first analysis result storage unit 114 for storing the analysis result 113 by the tracking unit 112 and the reception processing unit 110, by performing image analysis on the image signal from the camera, and an attribute detection unit 116 that determines the attributes and positions of moving objects such as vehicles and people in the second cycle. The sensor sharing server 66 further stores the second analysis result storage unit 118 for storing the analysis result 117 of the attribute detection unit 116, the analysis result 113 stored in the analysis result storage unit 114, and the analysis result storage unit 118. The integrated analysis result 117 is repeatedly integrated in a cycle shorter than the second cycle, and an integration processing unit 124 that outputs the integrated analysis result 125, and the integrated analysis result 125 output by the integration processing unit 124 are accumulated. and a third analysis result storage unit 126 for storing. Since the integration processing unit 124 performs integration processing in a cycle shorter than the second cycle, the analysis by the attribute detection unit 116 may not be in time in some cases. In this embodiment, in such a case, the moving objects are integrated so that there is no data loss by the integration processing described later.

The analysis results 113, 117 and 125 are calculated at predetermined intervals, respectively, and the analysis results calculated at predetermined intervals in the past are also accumulated and stored as histories in the analysis result storage units 114, 118 and 126, respectively. When the integration processing unit 124 performs integration processing, it may refer to the history of past integrated analysis results 125 accumulated in the analysis result storage unit 126 .

The sensor sharing server 66 further includes a vehicle tracking unit 120 for obtaining vehicle information including the position, speed, moving direction, etc. of the vehicle to be managed based on the signal received from each vehicle by the reception processing unit 110; and a vehicle information storage unit 122 for storing vehicle information 121 such as the position, speed and moving direction of each vehicle analyzed by the unit 120 . The sensor sharing server 66 further collates the moving body information of the analysis result 125 after integration with the vehicle information 121, and for each pedestrian having the attribute of dangerous pedestrian in the moving body information after integration, A warning reporting unit 128 for performing processing to report a warning to vehicles positioned within a predetermined range, and a transmission processing unit 130 for transmitting a signal for warning reporting by the warning reporting unit 128 to the target vehicle. include.

Referring to FIG. 3, analysis result 113 of moving body tracking unit 112 shown in FIG. It contains the position of the moving object at that time and the attributes detected by the LiDAR 62 for the moving object. Information obtained from the output from the LiDAR 62 includes information other than this, but the illustration thereof is omitted here. The moving object tracking unit 112 updates this analysis result 113 in the first cycle.

A location is specified by longitude and latitude. In the case of an infrastructure sensor, since the location where the sensor is installed is known in advance, the longitude and latitude of the location where the sensor is installed and the relative position of the moving object to the sensor can be used to specify the longitude and latitude of the moving object. In the case of a vehicle sensor, the measurement results of latitude and longitude obtained by a GPS (Global Positioning System) mounted on the vehicle and its correction means can be used as a reference.

Since the LiDAR 62 is basically for measuring the distance to a target moving object, the attributes shown in FIG. 3 are only limited information that can be determined from this signal. distinction is limited. Note that the moving body ID is for managing the moving body detected by the sensor sharing server 66 . Therefore, when a new moving body is detected within the area managed by the sensor sharing server 66, a new ID is assigned to the moving body. Also, when a moving object leaves the area managed by the sensor sharing server 66, the ID assignment is canceled in this embodiment. The moving body ID is the same in the subsequent FIGS. 4 and 5 as well. However, the moving body IDs shown in FIGS. 3 and 4 are irrelevant to each other. Also, the moving body ID shown in FIG. 5 varies depending on the method of processing, but in this embodiment, as will be described later, it is irrelevant to those shown in FIG. 3 or 4 .

Referring to FIG. 4, analysis result 117 of attribute detection unit 116 shown in FIG. , the position of the moving object at that time, and the attribute of the moving object detected by image processing the image signal from the camera 60 . The image output by camera 60 includes an image of a predetermined imaging range. Therefore, by performing appropriate image processing, more detailed attributes than the analysis result 113 can be obtained for each moving body. attributes can be obtained. Especially used in this embodiment are a person using a smartphone while walking, a child who moves in an unpredictable way, a small child and an adult, a bicycle driven by a child or an elderly person, etc. This is an attribute that indicates that the vehicle driver should pay special attention to the moving object. Although there are other pieces of information obtained as a result of image analysis of the camera 60, they are omitted in FIG. Also, the analysis result 117 is updated in a second cycle longer than the first cycle because image processing takes time.

5, the configuration itself of analysis result 125 of integration processing unit 124 shown in FIG. 2 is similar to analysis result 113 shown in FIG. 3 and analysis result 117 shown in FIG. It includes the time of detection, the position of the moving object at that time, and the attributes of the moving object. The analysis result 125 is different from the analysis result 113 and the analysis result 117 because the analysis result 113 and the analysis result 117 are integrated. The attribute of each moving object is a detailed attribute detected by the camera 60 or the like for that moving object. A method of integrating the analysis result 113 and the analysis result 117 will be described later. The analysis result 125 is created and accumulated for each integration process.

6, vehicle information 121 managed by vehicle tracking unit 120 shown in FIG. 2 includes a vehicle ID, the time when the vehicle was detected, the position of the vehicle when the vehicle was detected, It includes the traveling direction of the vehicle at that time and the speed at that time. As the position of the vehicle, the measurement results obtained by the GPS mounted on the vehicle and its correction means are used. From these pieces of information, it is possible to estimate the distance traveled by the vehicle during a certain period of time and the position at that time. This vehicle ID is also unrelated to the moving body IDs shown in FIGS. The assignment is cleared when the vehicle leaves the area.

Referring to FIG. 7, a program for realizing integrated processing unit 124 shown in FIG. , the time to start analysis (analysis start time) is set a predetermined time before the current time in step 152, and from the analysis result 113 shown in FIG. 3 and the analysis result 117 shown in FIG. and step 154 of extracting records with time information falling within the time range. Information indicating whether the record is extracted from the analysis result 113 or the analysis result 117 is attached to each record extracted here.

Further, in step 154, the program determines whether the distance between the moving objects is within a predetermined threshold, calculated from the difference in the positional information of the extracted records and the temporal difference (difference in detected time). and a step 158 of performing a process 160 described below for each group grouped in step 156 . It should be noted that this threshold is preferably a relatively small value. Also, the grouping of step 156 may result in a moving object whose distance from all other moving objects is greater than a threshold. In such a case, a group consisting of only the moving object is formed. Note that the distance here is the Euclidean distance, but any distance other than this can be used as long as it conforms to the mathematical definition of distance. For example, in the case of position, the sum of absolute values may simply be calculated as the distance. Also, here, both the time and the position are put together to calculate the distance. Calculating the distance in this way makes the integration process more accurate. However, the present invention is not limited to this, and after calculating distances for each of them, the sum thereof may be used as the final distance.

Since the moving bodies determined to be identical in terms of time as well as position are integrated, the reliability of the integration result is increased. This is because there is a very high possibility that moving objects whose detected positions and times are close to each other are the same.

Furthermore, the distance may be calculated using only the location information. In this case, moving objects determined to be identical based on the positions of the moving objects are integrated. Position calculation can be performed with a small amount of calculation, so even if the number of moving objects increases, simple processing can be performed at high speed.

The process 160 includes a step 170 for executing a process of integrating the analysis result 113 and the analysis result 117 for the group to be processed, and storing the analysis result (integrated analysis result) 125 of step 170 in the analysis result storage unit shown in FIG. and step 172 outputting to 126 .

Referring to FIG. 8, the program for realizing step 170 shown in FIG. If the determination in 200 is affirmative, a step 202 is included in which the moving objects detected by the LiDAR 62 and the moving objects detected by the camera 60 that are closest to each other are integrated, output as the analysis result 125, and the process ends. In this integration, the detection result of the LiDAR 62 is used as the position, and the detection result of the camera 60 is used as the attribute. This is because the LiDAR 62 can detect position information with high precision at shorter intervals, while the detection results from the camera 60 are more detailed with respect to attributes. With such a combination, the integrated result expresses the position and attributes of the moving object more accurately. This program is executed in a cycle shorter than the second cycle and longer than the first cycle. If it is executed in the first cycle, the position of the moving object can be tracked with high accuracy, which is preferable. In this case, updating of moving object detection by the attribute detection unit 116 may not be in time. However, in this case, the information of the moving object detected immediately before by the attribute detection unit 116 is used as it is, so there is no problem with the integration processing.

Since the output of the moving object tracking unit 112 and the output of the attribute detecting unit 116 are combined, the moving object can be accurately tracked and notified after the moving objects are integrated.

This program is further executed when the determination of step 200 is negative, and step 204 determines whether the number of moving objects detected by the LiDAR 62 is greater than the number of moving objects detected by the camera 60, and the determination of step 204 is performed. If affirmative, step 206 of integrating the closest moving object among the moving objects detected by the LiDAR 62 to each of the moving objects detected by the camera 60 and outputting it as the analysis result 125; and for each moving object remaining among the moving objects detected by the LiDAR 62, among the analysis results after the integration one cycle before, the position of this moving object is closest and its value is smaller than a predetermined threshold value. step 207 for determining whether or not there is a moving object, and if the determination in step 207 is affirmative, the moving object is extracted and its attribute information is substituted for the attribute information of the information obtained by the LiDAR 62. is integrated and output as the analysis result 125 after integration, and the process is terminated. and a step 209 of outputting the analysis result 125 and terminating the process.

Further, when the determination in step 204 is negative, the program further integrates each moving object detected by the LiDAR 62 with the moving object detected by the camera 60 that is closest to each other, and outputs the analysis result 125. 210, and after step 210, a step 212 for outputting the remaining moving objects detected by the camera 60 as the analysis result 125 and terminating the process. At this time, all the information about this moving object obtained from the image is carried over to the integrated moving object information. For example, when attribute information obtained by image processing is attached to a moving object by the processing of step 208, the attribute information is inherited even if the moving object is not captured by the camera thereafter. Therefore, it is possible to track a moving object having a specific attribute even where an image is not obtained by the camera and only information is obtained by the LiDAR 62 .

As described above, in this embodiment, the number of moving objects detected by the LiDAR 62 and the number of moving objects detected by the camera 60 are compared, and different processing is performed according to the result. By doing so, the moving objects can be integrated in an optimum method according to the detection result of the moving objects, the processing is simplified, and the processing can be continued normally even if the number of moving objects temporarily does not match due to occlusion or the like.

In addition, in the above method, even moving objects that are not combined with other moving objects are included in the analysis results after integration. As a result, moving objects are not overlooked, and safer moving object management can be performed for vehicles.

Referring to FIG. 9, the program for realizing warning notification unit 128 shown in FIG. , followed by step 240, and step 242 of performing a process 244 for each object retrieved.

Processing 244 includes step 250 of searching the vehicle information 121 shown in FIG. and Step 252 of sending a warning to each vehicle announcing the approach of a dangerous pedestrian.

<Action>
The moving body management system 50 according to the first embodiment operates as follows. Referring to FIG. 1 , a plurality of cameras 60 of moving body management system 50 each capture a predetermined imaging range and transmit image signals to sensor sharing server 66 . A plurality of LiDARs 62 each measure the distance to a moving object existing within a predetermined range, and transmits a distance measurement signal to the sensor sharing server 66 .

Referring to FIG. 2, the reception processing unit 110 of the sensor sharing server 66 receives the signals from the plurality of infrastructure sensor facilities 80 and the signals from the vehicle-mounted sensors 82 as described above, and converts the signals from the LiDAR 62 into moving object tracking. 112 , and the image signal from the camera 60 is given to the attribute detection unit 116 . On the other hand, the reception processing unit 110 provides the vehicle tracking unit 120 with information indicating the position, speed and traveling direction of the vehicle among the information received from the vehicle sensor 100 . The vehicle tracking unit 120 generates and manages vehicle information 121 shown in FIG. 6 based on the received information.

The moving object tracking unit 112 of the sensor sharing server 66 determines the position of each moving object in the first period by analyzing the ranging signal from the LiDAR 62 or the like received from the reception processing unit 110 . The time required for this analysis is short, and the analysis result 113 is updated in the first cycle. The attribute detection unit 116 performs image analysis on the image signal received from the reception processing unit 110 to determine attributes and positions of moving objects such as vehicles and people in the image. Since image processing takes time, the period of attribute detection by the attribute detection unit 116 is the second period longer than the update period of the analysis result 113 by the moving object tracking unit 112 . Analysis result 117 of attribute detection unit 116 is stored in analysis result storage unit 118 .

The program shown in FIG. 7 is repeatedly started at regular intervals. At step 150, the current time is acquired, and at step 152, an analysis start time a predetermined time before the current time is calculated. Subsequently, in step 154, records having time information within the range from the analysis start time to the current time are extracted from the analysis result 113 shown in FIG. 3 and the analysis result 117 shown in FIG. Information indicating whether the record is extracted from the analysis result 113 or the analysis result 117 is attached to each record extracted here.

The program further groups at step 156 the distances between the moving objects indicated by the records extracted at step 154 within a threshold. In subsequent step 158, a process of integrating the analysis results 113 and 117 is executed for each grouped group (step 170). Specifically, the following processes are executed.

Referring to FIG. 8, at step 200, it is determined whether or not the number of moving objects detected by the LiDAR 62 or the like is equal to the number of moving objects detected by the camera 60 or the like. When the determination in step 200 is affirmative, analysis result 125 after integration of new moving object information obtained by integrating the closest moving objects among the moving objects detected by the LiDAR 62 and the moving objects detected by the camera 60 in step 202 output as In this integration processing, the information on the analysis result 113 side from the LiDAR 62 is used as the position information, and the information on the analysis result 117 side from the camera 60 is used as the attribute information. Predetermined default information is adopted for elements other than these not shown.

When the determination in step 200 is negative, step 204 is executed to determine whether the number of moving objects detected by LiDAR 62 is greater than the number of moving objects detected by camera 60 . If the determination in step 204 is affirmative, in step 206, for each moving object detected by the camera 60, new moving object information obtained by integrating the closest moving object among the moving objects detected by the LiDAR 62. is output as an analysis result 125 after integration. Following step 206, for the moving object remaining among the moving objects detected by the LiDAR 62, the difference between the position of this moving object and the position of this moving object among the moving objects detected by the integration processing in the previous cycle is the smallest, and the value It is determined in step 207 whether there is any value below the threshold value. If the determination in step 207 is affirmative, in step 208 new moving object information obtained by integrating the attribute information of the moving object with the information obtained by the LiDAR 62 is output as the post-integration analysis result 125, and the process ends. If the determination in step 207 is negative, the information of the moving object after integration is created using only the information of the moving object detected by the LiDAR 62, output as the analysis result 125, and the process ends.

On the other hand, when the determination in step 204 is negative, in step 210, the closest moving object detected by the camera 60 to each moving object detected by the LiDAR 62 is integrated and output as the analysis result 125. After step 210 , the remaining moving objects detected by the camera 60 are output as the analysis result 125 . At this time, all the information about this moving object obtained from the image is carried over to the integrated moving object information. In both steps 208 and 212, the information that would have been obtained from the partner to be paired is set to a default value (eg, blank) because the partner does not exist. Even if there is no partner to combine with in this way, by creating an integrated result with information from only one side, operation can continue even if the number of detected moving objects does not match due to temporary occlusion. can.

After the analysis result integration process shown in step 170 of FIG. 7 is performed as described above, the process result (integrated analysis result) of step 170 is output as the analysis result 125 shown in FIG.

The process 160 consisting of steps 170 and 172 described above is executed for each group. As a result, an integrated analysis result 125 (see FIGS. 2 and 5) is generated.

By repeating the above process at predetermined time intervals, the analysis result 125 shown in FIG. are recorded and managed in a In this case, information detected based on the output from the LiDAR 62 is used as the position information. Therefore, the position of each moving body is updated in a relatively short period, that is, the first period, and the accuracy of information regarding the position of each moving body is increased. On the other hand, information about the attributes of each moving object obtained from the image signal output by the camera 60 is reflected in the attributes of the analysis result 125 . This attribute update occurs at a second frequency, which is lower than the first, but is more detailed compared to the attributes sensed by the LiDAR 62 . Therefore, the post-integration analysis result 125 enables highly accurate tracking of the position of the moving object identified according to the correct attribute.

A warning notification unit 128 shown in FIG. 2 issues a warning to the vehicle using the analysis result 125 . Referring to FIG. 9, at step 240, this program searches moving objects having attributes such as dangerous pedestrians as attributes that should be taken into consideration by the vehicle, among the integrated results. In subsequent step 242, processing 244 is executed for each of the dangerous pedestrians. In step 250 of process 244, a vehicle located within a predetermined distance from the dangerous pedestrian or the like to be processed and approaching the moving object is searched. In the subsequent step 252, a warning for notifying the approach of a dangerous pedestrian is transmitted to each of the searched vehicles via the transmission processing unit 130 shown in FIG.

-Effects of this embodiment-
With reference to FIG. 10, consider an area 280 managed by the sensor sharing server 66, for example. Region 280 includes multiple cameras 290 , 292 , 294 , 296 , 298 , 300 and 302 and multiple LiDARs, including LiDAR 304 . For ease of explanation, it is assumed that only the LiDAR 304 exists as the LiDAR.

Assume that a pedestrian is detected by, for example, the LiDAR 304 and the camera 294 at a position 308 within an area 306 where the detection ranges of the camera 294 and the LiDAR 304 overlap. Information obtained from these is integrated and managed in the form of an analysis result 125 shown in FIG. Assume that the pedestrian is determined to be a dangerous pedestrian by image processing the output of the camera 294 . Then, an attribute indicating that the pedestrian is a dangerous pedestrian is added to the integrated information regarding the moving body corresponding to the pedestrian.

On the other hand, it is assumed that the camera image information was not obtained while the pedestrian moved from position 310 to position 312 . Even in this case, the attributes attached to the integrated information are inherited, so even if only the information from the LiDAR 304 is obtained, it is possible to determine that the specific moving object has the specific attribute while tracking the specific moving object.

Therefore, for example, when the pedestrian moves to the position 314, the sensor sharing server 66 can determine that the pedestrian has a dangerous attribute even if the image processing by the camera 302 is not completed in time. Therefore, a vehicle 324 or the like that is within a predetermined range 322 (for example, a radius R centered at the position 314) from the position 314 of the pedestrian, or a vehicle 324 that is moving toward this range 322, should be observed. A warning 326 indicating that someone is present can be accurately sent.

As described above, according to the present embodiment, a moving object detected by the distance measurement signal from the LiDAR 62, which can be processed in a short period but cannot obtain detailed attributes, and a moving object detected by the distance measurement signal from the LiDAR 62, which can be processed only in a longer period but more detailed attributes, can be obtained. Detectable image signals from the camera 60 or the like are subjected to image processing to integrate them with the detected moving object. At this time, the position information obtained from the LiDAR 62 is used, and the attribute information obtained from the camera 60 is used. Therefore, it is possible to detect the attributes of a moving object with high reliability and at the same time detect its position with high accuracy. Therefore, it is possible to accurately notify surrounding vehicles and the like of a moving object to be wary of. As a result, the system according to the present embodiment can be generally used for driving assistance of vehicles, and can be used for safe operation management of vehicles by calling attention to a moving object requiring attention in a certain area in particular. .

<Second embodiment>
In the first embodiment, when the difference between the position of the moving object obtained from the LiDAR 62 and the position of the moving object obtained from the camera 60 is equal to or less than a predetermined threshold value, the closest moving objects are integrated. . However, in this case, an integration error may occur depending on the method of integration.

With reference to FIG. 11 , for example, in moving objects 340 and 342 obtained from LiDAR 62 and moving objects 344 and 346 obtained from camera 60, moving objects 340 and 344, moving objects 340 and 346, moving objects 342 and 344 and moving object 346 are below the threshold, two combinations of FIGS. 11 and 12 occur. In the case of FIG. 11, moving bodies 340 and 344 are combined, and moving bodies 342 and 346 are combined. On the other hand, in the case of FIG. 12, moving bodies 340 and 346 are combined, and moving bodies 342 and 344 are combined. As a combination method in such a case, FIG. 11 is thought to be more appropriate, but if the moving object 342 and the moving object 344 are combined first, there is a possibility that the result will be as shown in FIG. This embodiment is intended to eliminate such possibilities as much as possible. Specifically, in this embodiment, when the state shown in FIG. 11 occurs, the sum of the squares of the distances between moving objects to be combined is calculated for all possible combinations, and the value is The combination that minimizes is adopted.

The sensor sharing server according to the second embodiment employs a program having a control structure shown in FIG. 13 instead of the program shown in FIG. Referring to FIG. 13, this program is executed for each group in which the distance between the moving object detected by LiDAR and the moving object detected by the camera is equal to or less than a threshold. . This program calculates step 350 all possible combinations of moving objects detected by LiDAR and moving objects detected by the camera, and for all combinations calculated in step 350, moving objects detected by LiDAR and moving objects detected by the camera A step 352 of calculating the sum of the squares of the distances between the detected moving object and the combined object and adopting the combination with the smallest value, and integrating the combination of the moving objects according to the combination adopted in step 352. and output 354 to the results of later analysis. This process combines all possible combinations between the moving object detected by LiDAR and the moving object detected by the camera.

After step 354, the program further determines whether the number of moving objects detected by the LiDAR and the number of moving objects detected by the camera in the group to be processed are equal. Step 356 of terminating execution, and Step 358 of determining whether the number of moving objects detected by the LiDAR is greater than the number of moving objects detected by the camera when the determination result of step 356 is negative. The program is further executed when the determination in step 358 is affirmative, and for each LiDAR-detected moving object that was not combined with other moving objects, this moving object Step 359 determines whether or not there is a moving object at a position close to the position of the LiDAR and whose value is within a predetermined threshold. and a step 360 of substituting the attribute information of the information obtained in step 360 and outputting new information of the moving object to the integrated analysis result. Further, if the determination in step 359 is negative, the program further includes step 361 for creating integrated moving object information using only LiDAR information and outputting it to the integrated analysis result, and step 358 for negative determination. sometimes including a step 362 of generating new post-integration information using the remaining camera-detected motion information and outputting the post-integration analysis results.

According to the second embodiment, even when a case such as that shown in FIG. 11 or 12 occurs, the moving object detected by the LiDAR and the moving object detected by the camera are most preferable (highly likely to be correct). You can get a combination. As a result, the moving object to which the dangerous attribute is assigned can be tracked with high accuracy.

<Third Embodiment>
In the first and second embodiments, the information from the vehicle sensor as well as the information from the infrastructure sensor is used when integrating the moving object detected by the LiDAR and the moving object detected by the camera. By doing so, there is a high possibility that moving objects can be detected even in areas where infrastructure sensors do not exist. However, the invention is not limited to such embodiments. It is also conceivable to use only information from infrastructure sensors. The third embodiment is such an embodiment.

Referring to FIG. 14, sensor shared server 380 according to the third embodiment receives a signal from infrastructure sensor equipment 80 instead of reception processing unit 110 shown in FIG. A first reception processing unit 390 for giving a signal from the LiDAR to the moving object tracking unit 112 and an image signal from the camera to the attribute detection unit 116, and a signal from the vehicle-mounted sensor 82, and vehicle tracking and a second reception processing section 392 for providing to the section 120 .

In this sensor sharing server 380 , detection and tracking of moving objects to be noticed are performed only by signals from the infrastructure sensor equipment 80 . In other respects, the sensor sharing server 380 has the same configuration as the sensor sharing server 66 and operates with the same programs. A detailed description thereof will therefore not be repeated.

According to this third embodiment, since the position of the infrastructure sensor is known in advance, for example, the fixed background is removed from the image signal to speed up the image processing, or the images from the two cameras are used to increase the image processing speed. There is an effect that it is possible to improve the detection accuracy of the position and attributes of a moving object. Also, by arranging a plurality of sensors only at important points, there is an effect that moving objects can be efficiently detected in a certain area. However, this embodiment also has the drawback that it is impossible to detect and track moving objects in areas where infrastructure sensors are not installed.

[Realization by computer]
The moving object management system 50 and its components according to the above-described embodiment of the present invention are realized by computer hardware including a processor, programs executed by the computer hardware, and data stored in the computer hardware. . 15 shows the appearance of this computer system 430, and FIG. 16 shows the internal configuration of the computer system 430. As shown in FIG.

Referring to FIG. 15, this computer system 430 includes a computer 440 having a DVD (Digital Versatile Disc) drive 450 , a keyboard 446 , a mouse 448 and a monitor 442 .

Referring to FIG. 16 , computer 440 is connected to DVD drive 450 , CPU (Central Processing Unit) 456 , GPU (Graphic Processing Unit) 457 , CPU 456 , GPU 457 and DVD drive 450 . a read only memory (ROM) 458 for storing boot-up programs and the like; a random access memory (RAM) 460 connected to the bus 466 for storing program instructions, system programs, working data and the like; hard disk drive (HDD) 454, which is a permanent memory. Computer system 430 also includes a network interface (I/F) 444 that provides connection to network 468 to allow communication with other terminals.

In each embodiment described above, the analysis results 113, 117 and 125 shown in FIG. That is, the HDD 454 and the RAM 460 implement the analysis result storage units 114, 118 and 126, the vehicle information storage unit 122, and the like.

A computer program for causing the computer system 430 to implement the functions of the moving object management system 50 and its components is stored on a DVD 462 mounted on the DVD drive 450 and transferred from the DVD drive 450 to the HDD 454 . Alternatively, the program may be transmitted to computer 440 over network 468 and stored on HDD 454 . Programs are loaded into RAM 460 during execution. The program may be loaded directly into RAM 460 from DVD 462 or via a network.

This program includes a plurality of instructions that cause computer 440 to operate as sensor sharing server 66 and sensor sharing server 380 of moving body management system 50 of this embodiment. Some of the basic functions necessary to make this work are provided by an operating system (OS) or third party programs running on computer 440 or modules of various toolkits installed on computer 440 . Therefore, this program does not necessarily include all the functionality necessary to implement the system and method of this embodiment. This program controls the operation of the motion management system 50 and its components described above by invoking appropriate functions or "programming tool kits" of instructions in a controlled manner to achieve the desired results. should contain only instructions that execute The operation of computer system 430 is well known and will not be repeated here. Note that the GPU 457 is capable of performing parallel processing, and functions effectively when concurrently performing integration processing regarding many moving objects.

[Modification]
The above description includes the features appended below.

Appendix 1
a first history storage unit that stores, as a history, a predetermined number of detection results immediately before the first moving object detection unit capable of detecting one or more first moving objects;
a second history storage unit that stores as a history a predetermined number of detection results immediately before the second moving object detection unit capable of detecting one or more second moving objects;
The integrated processing unit integrates the latest detection results of the first and second moving body detection units with the previous predetermined number of detection results stored in the first history storage unit and the second history storage unit. When the one first moving body and the one second moving body are the same based on the above, the process of integrating the one first moving body and the one second moving body is performed by the second moving body. It includes a temporal/spatial integration processing unit that considers the time to be executed in a third period shorter than the period.

The same moving object can be detected more accurately by the temporal/spatial integration processing unit. When the moving object detected by the first moving object detection unit and the moving object detected by the second moving object detection unit are not only spatially adjacent to each other, but also when the times at which the two are detected are close to each other, This is because there is a very high possibility that both are the same moving object. Also, when a plurality of moving bodies are spatially detected, if their temporal trajectories are known, the possibility of distinguishing two moving bodies at the time of the latest detection increases.

In the above embodiment, only two types of sensors, LiDAR and camera, are used. However, the invention is not limited to such embodiments. An infrared sensor may be used as the distance measuring sensor. Also, if the camera is a stereo camera, the accuracy of position detection by the camera can be increased.

It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all changes within the meaning and scope equivalent to the scope of the claims.

50 moving object management system 60, 290, 292, 294, 296, 298, 300, 302 camera 62, 304 LiDAR
66, 380 sensor sharing server 80 infrastructure sensor equipment 82 vehicle-mounted sensor 90 infrastructure sensors 92, 102 communication device 100 vehicle sensors 110, 390, 392 reception processing unit 112 moving body tracking units 113, 117, 125 analysis results 114, 118, 126 analysis Result storage unit 116 Attribute detection unit 120 Vehicle tracking unit 121 Vehicle information 122 Vehicle information storage units 124, 394 Integration processing unit 128 Warning notification unit 130 Transmission processing units 150, 152, 154, 156, 158, 170, 172, 200, 202 , 204, 206, 207, 208, 209, 210, 212, 240, 242, 250, 252, 350, 352, 354, 356, 358, 359, 360, 361, 362 Steps 160, 244 Processing 306 Areas 308, 310 , 312, 314 Position 322 Predetermined Range 324 Vehicle 326 Warning 340, 342, 344, 346 Moving Body 430 Computer System 440 Computer 442 Monitor 444 Network I/F
446 keyboard 448 mouse 450 DVD drive 454 hard disk 456 CPU
457 GPUs
458 ROMs
460 RAM
462 DVDs
466 bus 468 network

Claims (10)

a first moving body detection unit that detects one or more first moving bodies in a first cycle based on a first signal received from the outside;
a second moving body detection unit that detects one or more second moving bodies in a second cycle longer than the first cycle based on a second signal received from the outside;
When the one first moving body and the one second moving body are the same, the process of integrating the one first moving body and the one second moving body is performed from the second period an integration processing unit that executes in a short period;
Based on the processing result of the integrated processing unit, with respect to a moving object that has a predetermined attribute and is located at a position that satisfies a predetermined condition for a certain vehicle, information regarding the moving object that satisfies the predetermined condition is notified to the certain vehicle. including a notification unit,
The moving body management apparatus, wherein the integration processing unit sets the positions and attributes of the moving bodies determined to be the same using the position of the one first moving body and the attribute of the one second moving body. The integration processing unit
Depending on whether the position of the one first moving body and the position of the one second moving body satisfy a predetermined condition, the one first moving body and the one second moving body A position determination unit that determines whether or not the is the same;
The positions and attributes of the one first moving body and the one second moving body determined to be identical by the position determining unit are respectively determined as the positions of the one first moving body and the one second moving body. 2. The moving body management apparatus according to claim 1, further comprising an integration unit that integrates by setting using attributes . In addition to the position of the one first moving body and the position of the one second moving body, the position determination unit determines the position of the one first moving body and the one second moving body. The one first moving body and the one second moving body match depending on whether the time detected by the one moving body detection unit and the second moving body detection unit satisfies a predetermined condition. 3. The moving body management apparatus according to claim 2, further comprising a position/time determination unit that determines whether or not. The position determination unit
Number of moving bodies for determining whether the number of the first moving bodies detected by the first moving body detection unit and the number of the second moving bodies detected by the second moving body detection unit match a determination unit;
a group determination unit that determines a group of the first moving object and the second moving object that can be integrated based on the result of the moving object number determination unit ;
Depending on whether the position of one of the first moving bodies included in the group determined by the group determination unit and the position of one of the second moving bodies included in the group satisfy a predetermined condition, 3. The moving body management apparatus according to claim 2 , further comprising an intra-group determination unit that determines whether said one first moving body and said one second moving body are the same. The integration processing unit further determines that the intra-group determination unit does not determine that the one first moving object included in the group is the same as the one second moving object included in the group, or If the one second moving body included in the group is not determined to be the same as the one first moving body included in the group, the one first moving body and the one second moving body 5. The moving body managing apparatus according to claim 4 , further comprising a default value setting unit for generating a moving body after integration by setting a default value to information for which no value is set. The notification unit is
a vehicle position detection unit that detects the position of the vehicle within a predetermined area;
Based on the processing result of the integrated processing unit and the detection result of the vehicle position detection unit, when there is a vehicle located within a predetermined range centered on a moving object having a predetermined attribute, the vehicle is subjected to the predetermined 6. The moving body management apparatus according to any one of claims 1 to 5 , further comprising a warning unit that issues a warning regarding a moving body that satisfies a condition. a moving body management device according to any one of claims 1 to 6 ;
a first sensor that transmits, as the first signal, a ranging signal indicating a distance to a surrounding object in the first cycle to the first moving body detection unit;
and a second sensor that transmits an image signal representing an image of an imaging range in the second period as the second signal to the second moving body detection unit. A first moving body detection step in which the computer detects one or more first moving bodies in a first cycle based on a first signal received from the outside;
A second moving body detection step in which the computer detects one or more second moving bodies in a second period longer than the first period based on a second signal received from the outside;
The computer performs the process of integrating the one first moving body and the one second moving body when the one first moving body and the one second moving body are the same. an integration processing step executed in a cycle shorter than the second cycle;
Based on the processing result of the integrated processing step, the computer provides information about a moving object that has a predetermined attribute and is located at a position that satisfies predetermined conditions for a certain vehicle and that satisfies the predetermined conditions for the certain vehicle. and a notification step of notifying
In the integration processing step, the computer sets the positions and attributes of the moving bodies determined to be the same using the position and attributes of the one first moving body and the attributes of the one second moving body, respectively. Method. to the computer,
a first moving body detection step of detecting one or more first moving bodies in a first period based on a first signal received from outside;
a second moving body detection step of detecting one or more second moving bodies in a second period longer than the first period based on a second signal received from the outside;
When the one first moving body and the one second moving body are the same, the process of integrating the one first moving body and the one second moving body is performed in the second cycle an integration processing step that is executed in a shorter period;
Based on the processing result of the integrated processing step, with respect to a moving object that has a predetermined attribute and is located at a position that satisfies a predetermined condition for a certain vehicle, information regarding the moving object that satisfies the predetermined condition is notified to the certain vehicle. A computer program for executing a notification step ,
In the integration processing step, the computer executes a process of setting the positions and attributes of the moving bodies determined to be the same using the position of the one first moving body and the attribute of the one second moving body. , a computer program . receiving the distance measurement signal from a distance sensor that measures the distance to a surrounding object in a first period and transmits the distance measurement signal, and generates an image signal representing an image of the imaging range in a second period longer than the first period a receiving unit connected so as to be able to receive the image signal from the transmitting imaging device;
a processor operably coupled to the receiver to read information received by the receiver;
The processor
a first moving body detection step of detecting one or more first moving bodies based on the ranging signal;
a second moving body detection step of detecting one or more second moving bodies based on the image signal;
When one of the first moving bodies and one of the second moving bodies are the same, the process of integrating the one of the first moving bodies and the one of the second moving bodies from the second period. an integration processing step executed in a short period;
Based on the processing result of the integrated processing step, with respect to a moving object that has a predetermined attribute and is located at a position that satisfies a predetermined condition for a certain vehicle, information regarding the moving object that satisfies the predetermined condition is notified to the certain vehicle. is programmed to perform a notification step and
In the integration processing step, the processor sets the positions and attributes of moving bodies determined to be identical using the position and attributes of the one first moving body and the one attribute of the second moving body, respectively. A programmed motion management device.

Images