JP2002036844A - Information processor, information processing method, information processing system and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce a jolt of a vehicle. SOLUTION: A vehicle 1 takes an image and creates data of a jolt given to an own vehicle from the taken image, and transmits the same to a signal station 2. The signal station 2 accumulates jolt data from the vehicle 1 and transmits a reverse jolt data to generate a reverse roll for a jolt reduction to the vehicle 1 based on the accumulated jolt data. The vehicle 1 performs a control to reduce a jolt of an own vehicle according to a received reverse roll data.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an information processing apparatus and method, an information processing system, and a recording medium, and more particularly, to an information processing apparatus and method, an information processing system, and a recording medium for reducing a vehicle shake.

[0002]

2. Description of the Related Art Various techniques for safely driving a car have been proposed. For example, there is a technique for controlling sway (sway) using an acceleration sensor or the like.

[0003]

In the method of controlling the sway using the acceleration sensor described above, since the sway is controlled after the sway is actually sensed, only the control with a time delay can be performed. there were. In addition, such a control of the sway is configured as a complete system only in the vehicle, and the data is shared so that the sway received by one vehicle is not received by another vehicle. Had not been.

The present invention has been made in view of such circumstances, and transmits sway data relating to sway received by a vehicle, receives and stores the transmitted sway data, and calculates the sway data from the stored sway data. It is an object of the present invention to reduce the sway experienced by the vehicle by generating data for reducing the sway and returning the data to the vehicle.

[0005]

According to a first aspect of the present invention, there is provided an information processing apparatus mounted on a vehicle, comprising: an imaging unit configured to capture an image in a traveling direction of the vehicle; and image data of the image captured by the imaging unit. A shaking detecting means for detecting shaking received by the vehicle, and a first shaking means for shaking detected by the shaking detecting means.
Transmitting means for transmitting the shaking data of the other to another device,
Receiving means for receiving second shaking data related to shaking transmitted from another device;
And control means for controlling the sway of the vehicle based on the sway data.

[0006] The apparatus further includes measuring means for receiving a signal transmitted by another device and analyzing the signal to measure the position of the vehicle. The transmitting means also transmits information on the position of the vehicle measured by the measuring means. It can be transmitted to another device.

According to a third aspect of the present invention, in the information processing method, an image pickup step of picking up an image in the traveling direction of the vehicle, and a shake detecting the shake received by the vehicle from image data of the image picked up in the processing of the image pickup step. A detection step, a transmission control step of controlling transmission of the first sway data related to the sway detected in the processing of the sway detection step to another device, and reception of second sway data related to the sway transmitted from the other device , And a control step of controlling the sway of the vehicle based on the second sway data the reception of which has been controlled in the processing of the reception control step.

According to a fourth aspect of the present invention, there is provided a computer-readable storage medium storing a program in a vehicle, comprising: an image capturing step of capturing an image in a traveling direction of the vehicle; and an image data of the image captured in the image capturing step. And a transmission control step of controlling transmission of the first sway data to the other device regarding the sway detected in the process of the sway detection step, and a sway related to the sway transmitted from the other device. And a control step of controlling the vehicle sway based on the second sway data the reception of which has been controlled in the process of the reception control step.

According to a fifth aspect of the present invention, there is provided an information processing apparatus comprising: receiving means for receiving shaking data relating to shaking of a vehicle, position information indicating a position where the vehicle has obtained shaking data, and shaking data received by the receiving means. Generating means for generating reverse sway data for reducing the indicated sway, storing means for categorizing the reverse sway data generated by the generating means based on the position information received by the receiving means, and storing; Transmitting means for reading out the reverse oscillating data corresponding to the received position information from the storage means and transmitting the data to the vehicle.

[0010] The storage means includes a weather, a vehicle type, and the like when the shaking data and the position data are received by the receiving means.
The reverse sway data can be further classified and stored based on at least one of the vehicle weights.

According to a seventh aspect of the present invention, in the information processing method, a receiving control step for controlling reception of the sway data relating to the sway transmitted from the vehicle, position information indicating a position at which the vehicle has obtained the sway data, A generating step of generating reverse sway data for reducing the sway indicated by the sway data of which reception has been controlled in the processing of the step; A storage control step of performing a control for performing classification based on the received position information and storing the data, and the reverse sway data corresponding to the position information whose reception has been controlled in the processing of the reception control step is stored in the processing of the storage control step. A transmission control step of reading out the controlled reverse sway data and controlling transmission to the vehicle.

According to another aspect of the present invention, there is provided a recording medium program comprising: a receiving control step for controlling reception of shaking data transmitted from a vehicle, and positional information indicating a position at which the vehicle has obtained the shaking data; A generating step for generating reverse sway data for reducing the sway indicated by the sway data controlled for reception in the step processing, and receiving the reverse sway data generated in the generating step processing in a receiving control step; An accumulation control step of performing control for accumulation by classifying based on the controlled position information,
A transmission control step of reading out the reverse sway data corresponding to the position information whose reception has been controlled in the reception control step from the reverse sway data whose accumulation has been controlled in the accumulation control step, and controlling transmission to the vehicle; It is characterized by including.

According to a ninth aspect of the present invention, in the information processing system, the first information processing device receives a signal from the second information processing device and a motion detecting means for detecting a motion received by the vehicle;
By analyzing the signal, measurement means for measuring the position of the vehicle, first sway data on the sway detected by the sway detection means, and position information on the position of the vehicle measured by the measurement means are stored in a second section. A first transmitting unit for transmitting to the information processing apparatus, and a first transmitting unit for receiving second vibration data relating to the vibration transmitted from the second information processing apparatus.
Receiving means, and control means for controlling the vibration of the vehicle based on the second vibration data received by the receiving means, wherein the second information processing apparatus transmits a signal at a predetermined cycle. A transmitting unit, a second receiving unit that receives the shaking data and the position information transmitted by the first transmitting unit, and a second receiving unit that reduces the shaking indicated by the shaking data received by the second receiving unit. Generating means for generating motion data, accumulating means for classifying the second motion data generated by the generating means based on the position information received by the first receiving means, and accumulating the data, and first receiving means And a third transmission unit that reads out the second oscillating data corresponding to the received position information from the storage unit and transmits the read data to the first information processing apparatus.

According to a tenth aspect of the present invention, there is provided an information processing method comprising:
The information processing method of the information processing device measures the position of the vehicle by detecting a vibration received by the vehicle, receiving a signal from the second information processing device, and analyzing the signal. Controlling transmission of the first sway data related to the sway detected in the measurement step, the sway detection step, and the position information about the position of the vehicle measured in the measurement step to the second information processing device A first transmission control step, a first reception control step of controlling the reception of the second vibration data relating to the vibration transmitted from the second information processing apparatus, and a second reception control step of receiving the second vibration data. And a control step of controlling the vehicle's sway based on the sway data of the second information processing apparatus.
, A second reception control step for controlling the reception of the sway data and the position information whose transmission has been controlled in the processing of the first transmission control step, and the reception is controlled in the processing of the second reception control step. Generating a second sway data for reducing the sway indicated by the sway data, and receiving the second sway data generated in the process of the generating step by a process of the first reception control means. A storage control step of performing control for performing classification and storage based on the controlled position information, and storage control of second vibration data corresponding to the position information whose reception has been controlled in the processing of the first reception control step A third transmission control step of reading out from the second swaying data whose accumulation has been controlled in the processing of the step and controlling transmission to the first information processing apparatus.

[0015] The program for a recording medium according to claim 11, wherein the program for the first information processing device is a program for detecting a motion received by the vehicle, and receiving a signal from the second information processing device. A measurement step of measuring the position of the vehicle by analyzing the signal, first sway data related to the sway detected in the processing of the sway detection step, and a position related to the position of the vehicle measured in the processing of the measurement step. A first transmission control step for controlling transmission of information to the second information processing apparatus, and a first reception for controlling reception of second vibration data relating to the vibration transmitted from the second information processing apparatus A control step of controlling the vehicle's vibration based on the second vibration data received in the process of the reception control step; A second transmission control step of controlling transmission of a signal at a predetermined cycle, a second reception control step of controlling reception of the sway data and position information whose transmission has been controlled in the processing of the first transmission control step, Generating a second sway data for reducing the sway indicated by the sway data whose reception has been controlled in the process of the second reception control step; and generating the second sway data generated in the process of the generation step. A storage control step of performing control for classifying and storing based on the position information whose reception has been controlled by the processing of the first reception control means, and a position whose reception has been controlled by the processing of the first reception control step. The second shaking data corresponding to the information is stored in the second storage data whose storage is controlled in the processing of the storing control step.
And a third transmission control step of controlling transmission to the first information processing device by reading out of the sway data.

According to a twelfth aspect of the present invention, the information processing device receives a signal transmitted by another device and analyzes the signal to measure the position of the vehicle, and the vehicle measured by the measuring device. Transmitting means for transmitting position information about the position of the vehicle, receiving means for receiving road surface information about the road surface at a position where the vehicle is predicted to pass from another device, and the vehicle based on the road surface information received by the receiving means. And control means for controlling so as not to be shaken.

According to a thirteenth aspect of the present invention, in the information processing method, a signal transmitted by another device is received, and the signal is analyzed to measure the position of the vehicle, and the measurement is performed in the measurement step. A transmission control step of controlling transmission of position information on the position of the vehicle, a reception control step of controlling reception of road surface information on a road surface at a position where the vehicle is predicted to pass from another device, and a reception control step. A control step of controlling the vehicle so as not to be shaken based on the received road surface information.

According to a fourteenth aspect of the present invention, a program for a recording medium receives a signal transmitted by another device and analyzes the signal to measure a position of the vehicle, and a measurement step performs the measurement. A transmission control step of controlling transmission of position information on the position of the selected vehicle, a reception control step of controlling reception of road surface information on a road surface at a position where the vehicle is predicted to pass from another device, and processing of a reception control step And a control step of controlling the vehicle so as not to be shaken based on the road surface information received in (1).

[0019] The information processing apparatus according to a fifteenth aspect is a storage means for storing road surface information on a road surface at a predetermined position,
A receiving unit that receives position information on a position where the vehicle is traveling; and a transmitting unit that reads road surface information corresponding to the position information received by the receiving unit from the storage unit and transmits the road surface information to the vehicle. And

An information processing method according to a sixteenth aspect of the present invention is a storage control step of controlling accumulation of road surface information on a road surface at a predetermined position, and a reception control step of controlling reception of position information on a position where a vehicle is traveling. And transmission control for reading out the road surface information corresponding to the position information whose reception has been controlled in the processing of the reception control step from the road surface information whose storage has been controlled in the processing of the accumulation control step, and controlling transmission to the vehicle. And a step.

According to a seventeenth aspect of the present invention, there is provided a recording medium program comprising: a storage control step for controlling accumulation of road surface information on a road surface at a predetermined position; and a reception control for controlling reception of position information on a position where a vehicle is traveling. And reading the road surface information corresponding to the position information whose reception has been controlled in the processing of the reception control step from among the road surface information whose storage has been controlled in the processing of the accumulation control step, and controlling transmission to the vehicle. And a control step.

An information processing system according to claim 18 is
The first information processing device receives a signal transmitted by the second information processing device, and analyzes the signal to measure the position of the vehicle, and relates to the position of the vehicle measured by the measuring device. First transmitting means for transmitting the position information to the second information processing device, first receiving means for receiving road surface information on a road surface at a position where the vehicle is predicted to pass from the second information processing device, Control means for controlling the vehicle so as not to be shaken on the basis of the road surface information received by the first receiving means, wherein the second information processing apparatus transmits a signal at a predetermined cycle. Means, accumulating means for accumulating road surface information, second receiving means for receiving the position information transmitted by the first transmitting means, and storing road surface information corresponding to the position information received by the second receiving means. Read from the storage means, Characterized in that it comprises a third transmission means for transmitting the first information processing apparatus.

[0023] The information processing method according to the nineteenth aspect is characterized in that:
The information processing method of the information processing device receives the signal transmitted by the second information processing device and analyzes the signal to measure the position of the vehicle, and the measurement step measures the position of the vehicle. A first transmission control step of controlling transmission of position information relating to the position of the vehicle to the second information processing device; and receiving road surface information relating to a road surface at a position where the vehicle is predicted to pass from the second information processing device. A first reception control step for controlling; and a control step for controlling the vehicle so as not to be shaken on the basis of the road surface information whose reception has been controlled in the processing of the first reception control step. The information processing method of the processing device includes a second transmission control step of controlling transmission of a signal at a predetermined cycle, an accumulation control step of controlling accumulation of road surface information, and transmission in a first transmission control step. Second receiving a controlled position information
And the road information corresponding to the position information whose reception has been controlled in the processing of the second reception step is read out of the road surface information whose accumulation has been controlled in the processing of the accumulation control step, and the first information processing apparatus And a third transmission control step of controlling transmission to the third party.

According to a twentieth aspect of the present invention, the program for the first information processing device measures a position of the vehicle by receiving a signal transmitted by the second information processing device and analyzing the signal. Measuring step, a first transmission control step of controlling transmission of position information relating to the position of the vehicle measured in the processing of the measuring step to the second information processing apparatus, and passing of the vehicle from the second information processing apparatus. Then, based on the first reception control step of controlling the reception of the road surface information relating to the road surface at the predicted position and the road surface information whose reception has been controlled in the processing of the first reception control step, the vehicle is prevented from being shaken. A second transmission control step for controlling signal transmission at a predetermined cycle, and a storage control for controlling storage of road surface information. Step, a second receiving step of receiving the position information whose transmission has been controlled in the processing of the first transmission control step, and road surface information corresponding to the position information whose reception has been controlled in the processing of the second receiving step. And a third transmission control step of reading out the road surface information whose accumulation has been controlled in the accumulation control step and controlling transmission to the first information processing apparatus.

An information processing apparatus according to claim 1, and claim 3.
In the information processing method according to the aspect of the invention and the recording medium according to the aspect of the invention, an image in the traveling direction of the vehicle is captured, and the shaking of the vehicle is detected from image data of the captured image. The first sway data on the sway is transmitted to another device, the second sway data on the sway transmitted from the other device is received, and the second
Is controlled based on the sway data of the vehicle.

An information processing apparatus according to claim 5, and claim 7.
In the information processing method according to the aspect of the present invention and the recording medium according to the eighth aspect, reverse sway data for reducing the sway indicated by the received sway data is generated, and the reverse sway data is based on the received position information. The data is sorted and stored, and is read from among the stored reverse sway data corresponding to the received position information and transmitted to the vehicle.

[0027] In the information processing system according to the ninth aspect, the information processing method according to the tenth aspect, and the recording medium according to the eleventh aspect, the first information processing apparatus detects a vibration received by the vehicle. Then, a signal from the second information processing device is received, and the signal is analyzed to measure the position of the vehicle. The first sway data related to the detected sway and the measured position of the vehicle are measured. Location information about the second
Transmitting the second sway data related to the sway transmitted from the second information processing apparatus,
Controlling the vehicle's vibration based on the second vibration data,
The second information processing device transmits a signal at a predetermined cycle, receives the sway data and the position information transmitted from the first information processing device, and executes a second process for reducing the sway indicated by the received sway data. The second motion data is generated, classified based on the position information, stored, read out the second motion data corresponding to the received position information, and transmitted to the first information processing device.

In the information processing apparatus according to the twelfth aspect, the information processing method according to the thirteenth aspect, and the recording medium according to the fourteenth aspect, a signal transmitted by another apparatus is received, and the signal is analyzed. By doing so, the position of the vehicle is measured, position information on the measured position of the vehicle is transmitted, road surface information on the road surface at a position where the vehicle is expected to pass from another device is received, and the road surface information is received. Based on this, the vehicle is controlled so as not to be shaken.

[0029] In the information processing apparatus according to claim 15, the information processing method according to claim 16, and the recording medium according to claim 17, road surface information on a road surface at a predetermined position is accumulated, and the vehicle travels. Position information on the current position is received, road surface information corresponding to the position information is read, and transmitted to the vehicle.

[0030] In the information processing system according to claim 18, the information processing method according to claim 19, and the recording medium according to claim 20, the first information processing apparatus includes a second information processing apparatus.
Receiving the signal transmitted by the information processing device, and analyzing the signal to measure the position of the vehicle, and transmitting position information on the position of the vehicle measured by the measuring unit to the second information processing device, The second information processing device receives road surface information on a road surface at a position where a vehicle is predicted to pass from the second information processing device and controls the vehicle based on the road surface information so as not to be shaken. A signal is transmitted at a predetermined cycle, road surface information is accumulated, position information is received, road surface information corresponding to the position information is read, and transmitted to the first information processing device.

[0031]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a configuration of an information processing system according to an embodiment of the present invention. Vehicles 1-1 and 1-2 are running on the road. Signal stations 2-1 to 2-3 are installed at predetermined positions on both sides of the road. Here, for the sake of explanation, the number of vehicles traveling on the road is two, and the number of signal stations installed at predetermined positions on the side of the road is three. It is composed of stations.

The signal stations 2-1 to 2-3 (hereinafter, signal station 2
When it is not necessary to distinguish -1 to 2-3 individually, the signal station 2 is simply described. Other devices are similarly described), for example, are disposed at a distance of 1 km from each other. Further, it is desirable that the signal stations 2-1 to 2-3 are arranged at positions that become the vertices of an equilateral triangle, assuming that the stations are connected by a line.

As shown in FIG. 2, the signaling station 2 has a transmitting / receiving device 11 for transmitting / receiving data to / from the vehicle 1 and a local database 12 for storing data supplied to the vehicle 1 and storing the supplied data. Now, it is configured to be provided on the pillar 13. The transmission / reception device 11 serves as a transmission device,
For example, an electromagnetic emitter for transmitting a signal with a clock of 3 GHz is provided.

The same M-sequence signal is transmitted from all the signal stations 2 at the same timing by the transmission / reception device 11 (electromagnetic emitter). Also, at predetermined intervals, each signal station 2
Is also transmitted. The M sequence is a random sequence such that the autocorrelation becomes 1 at lag 0.
Therefore, the signal station 2 needs to always know an accurate time (frequency for measuring timing) in order to transmit a signal, and updates the internal time at a predetermined timing. For the update, for example, a frequency supplied from the Ministry of Posts and Telecommunications Standard Frequency Bureau is used.

FIG. 3 is a diagram for explaining a device provided in the vehicle 1. The vehicle 1 includes an imaging unit 22 that captures an image in the traveling direction. This imaging unit 22
It is composed of a video camera and the like. A normal vehicle is provided with four wheels 23-1 to 23-4 for front, rear, left and right.

The wheels 23-1 to 23-4 are provided with reverse swing actuators 24-1 to 24-4. Imaging unit 22 and reverse swing actuator 24
Is controlled by the control unit 25. Also, in the vehicle 1,
A transmission / reception unit 26 for exchanging data with the signaling point 2 is provided.

FIG. 4 is a diagram mainly showing the configuration of the control unit 25 of the vehicle 1. As shown in FIG. The image data of the image captured by the imaging unit 22 is output to the motion data generation unit 31. The sway data generation unit 31 calculates the sway (sway) of the own vehicle and outputs it to the information addition unit 32. The information adding unit 32 adds various information to the input shaking data, and transmits the data to the signal station 2 by the transmitting / receiving unit 26. The various types of information include the sway data, the vehicle type, and the vehicle weight (which may include the weight of the number of passengers).

The position measuring section 33 measures the position of the own vehicle based on the signal from the signal station 2 received by the transmitting / receiving section 26. By receiving signals from the three signal stations 2, the position of the vehicle can be determined using a positioning method such as GPS (Global Positioning System). In this case, the signal stations 2 are installed at intervals of about 1 km, and the position of the own vehicle can be measured with an accuracy of 10 cm because the position is measured by the signal from the signal station 2 installed as such. It is.

The reverse oscillating actuator 24 includes the transmitting / receiving unit 2
In accordance with the reverse sway data transmitted from the signal station 2 (data generated from the data stored in the signal station 2 in order to reduce the sway experienced by the vehicle 1), the actuator (not shown) is received by the signal station 2. Drive.

FIG. 5 is a diagram showing the internal configuration of the motion data generator 31. The motion data generator 31 includes a feature information detector 51 and a feature information processor 52. The image data input to the motion data generation unit 31 is input to the characteristic information detection unit 51, and the characteristic information described later is detected and output to the characteristic information processing unit 52. The feature information processing unit 52 calculates the motion data from the input feature information.

FIG. 6 is a block diagram showing the configuration of the characteristic information detecting section 51. The image data input to the feature information detection unit 51 is supplied to the frame buffer 62-1 after being delayed by one frame by the delay unit 61, and is also supplied to the frame buffer 62-2. Readout unit 6
3-1 and 63-2 read image data from the corresponding frame buffers 62-1 and 62-2 according to a predetermined pattern stored in the memory 64, and output the read image data to the motion vector detection unit 65.

The motion vector detecting section 65 detects a motion vector from the supplied image data, and
6 is output. The feature information calculation unit 66 calculates feature information from the input motion vector.

Next, the operation of the characteristic information detecting section 51 shown in FIG. 6 will be described. At time t, the image data input to the feature information detection unit 51 is supplied to the delay unit 61 and the frame buffer 62-2. Frame buffer 6
2-2 stores the input image data for one frame. Since the delay unit 61 delays the image data by one frame, the frame buffer 62-
1 stores the image data at the time t-1 before the time t, that is, the image data one frame before the time t. The image data at time t-1 stored in the frame memory 62-1 is read out by the readout unit 63-1 and the image data at time t stored in the frame memory 62-2 is read out by the readout unit 63-2. It is.

The read sections 63-1 and 63-2 are provided for reading out the image data of the portions corresponding to the pattern stored in the memory 64 among the image data stored in the corresponding frame buffers 62-1 and 62-2. Read data.
Here, the patterns stored in the memory 64 will be described with reference to FIG.

FIG. 7 is a diagram showing an example of a pattern stored in the memory 64. Among the pixels constituting one frame, a portion that is not related to the motion, for example, in the case of image data captured by a video camera attached to a car as shown in FIG. Since it is considered that the region is not related to the motion, the pixel located at the center of the region excluding the region is set to the convergence point P
And A representative point Q symmetrical in the vertical and horizontal directions with respect to the convergence point P, for example, 25 (including the convergence point) is set. For each representative point Q, a block B having a predetermined number of pixels at the center of the representative point Q, for example, a reference block B consisting of 33 × 33 pixels is set. The memory 64 stores the coordinates of each representative point Q in the screen of such a frame, the size of the reference block B, and the size of a search block (not shown) composed of, for example, 65 × 65 pixels. It is stored as

The reading unit 63-1 is a unit for storing pixel data corresponding to the above-described pattern stored in the memory 64, out of the image data at time t-1 stored in the frame buffer 62-1. Based on the coordinates of Q and the size of the block B, pixel data in each reference block B is read out and output to the motion vector detection unit 65 as data of the reference block. Similarly, the reading unit 63-2 reads the pixel data corresponding to the pattern stored in the memory 64 from the image data at the time t stored in the frame buffer 62-2,
The data is output to the motion vector detection unit 65 as search block data.

The motion vector detecting section 65 performs block matching using the input data of the reference block and the data of the search block, thereby obtaining each representative point Q.
Is detected. Therefore, in this example, 25 motion vectors are detected.

In this embodiment, since the purpose is to generate the motion data, it is not necessary to detect the motion vectors for all the pixels. Therefore, only 25 motion vectors are obtained. ing. Thereby, the circuit scale can be reduced and the processing speed can be improved.

The characteristic information calculation unit 66 uses the 25 motion vectors detected by the motion vector detection unit 65 to calculate the horizontal component u,
A total of four components, a vertical component v, an enlarged component v _zoom , and a rotation component v _rot are calculated based on the following equation. Horizontal component u = (1 / n) Σu i ··· (1) vertical component v = (1 / n) Σv i ··· (2) larger component _{v zoom = (1 / n)} Σv zoomi / d i · (3) Rotational component v _rot = (1 / n) Σv _roti / d _i (4) The subscript i indicates the number assigned to the representative point Q _i , and in this example, it is 1 To 25. Since n is the number of representative points, it is 25 in this example. The values obtained by Expressions (1) to (4) are the components u, v, v _zoom and v _rot obtained from the 25 motion vectors.
Is the average value.

The relationship among the above-mentioned components u, v, v _zoom and v _rot will be described with reference to FIG. It is assumed that the horizontal component of the motion vector T of the representative point Q _i to be processed is u _i , and the vertical component is v _i . di is a scalar quantity representing the distance from the convergence point P to the representative point Q _i. Also,
(Px, Py) represents the coordinates of the convergence point P, the coordinates coordinates (Q _i x, Q _i y) based on the distance to the representative point Q _i of is calculated.

The components (u _i , v _i ) of the motion vector T
Is a component when the representative point Q _i is the origin. The component of the motion vector T in the direction parallel to the straight line connecting the convergence point P and the representative point Q _i is _defined as v _zoomi, and the component in the direction orthogonal to the straight line connecting the convergence point P and the representative point Q _i is _defined as v _roti . I do. Also,
An angle between a straight line connecting the convergence point P and the representative point Q _i and the motion vector T is defined as θ. At this time, v _zoomi and v
_roti is obtained according to the following equation. ^{_{v zoomi = (u i 2 +}} v i 2) (1/2) COSθ ··· (5) v roti = (u i 2 + v i 2) (1/2) SINθ ··· (6)

It should be noted that, in this case, it takes 25 to obtain each component.
Although the value of each motion vector is used on average, each component may be weighted based on the positional relationship on the screen.

The feature information calculation unit 66 uses the equations (1) to (4) to calculate four component data u, as feature information, from the motion vector output from the motion vector detection unit 65.
Calculate v, v _zoom and v _rot . The calculated four-component data u, v, v _zoom , and v _rot are stored in the feature information processing unit 52.
(FIG. 5).

Four components are detected from the image data by the processing of the characteristic information detecting section 51. Here,
These components are processed by the feature information processing unit 52 into data that can be easily handled in the subsequent processing. Feature information processing unit 5
Reference numeral 2 denotes a chair-type device provided with a plurality of actuators, which processes the data into data for enabling the audience to experience the sensation of riding in a vehicle in a simulated manner. Of course, here, since it is not intended to give a simulated sensation when the user gets into the vehicle, it is not necessary to process such data, but here, it is assumed that the processed data is used. The following is described.

In order to give the audience a simulated experience of being in a vehicle, consider what kind of force (sway) should be applied to the chair where the audience is sitting. The force applied to the chair of the vehicle includes the force used to represent the longitudinal inclination of the road surface when the vehicle is running on a slope such as a slope, and the road surface when running on an uneven road. There is a force for expressing the vertical vibration received from the vehicle, a force for expressing the horizontal inclination of the road surface when running on an inclined road surface, and the like.

Among these stimuli, of the stimulus given to the vehicle equipped with the video camera that picked up the image, the stimulus is given in the same physical sense to the chair of the spectator who observes the image. Force, which is referred to herein as the actual stimulus. The value of this actual stimulus becomes zero as its value is integrated.

On the other hand, the force expressing the centrifugal force when the vehicle turns a curve, the force expressing the inertial force when accelerating or decelerating, and the force expressing the vehicle swinging during a curve are integrated. Even if the value is not zero, it is difficult for the stimulus given to the vehicle to be given in the same physical meaning as the stimulus given to the vehicle due to limitations on the moving distance of the chair and the direction of movement. Here, it is called an alternative stimulus.

The following describes the relationship between the forces relating to the actual stimulus and the alternative stimulus, the components of the sway data actually applied to the spectator's chair, and the four components calculated by the feature information calculation unit 66 described above. . Among the actual stimuli shown below, the sway data for the inclination before and after the road surface is the sway data component.
This is one of the pitches, and can be represented by a low-frequency component of the vertical component of the motion vector. Here, since the inclination of the road surface is considered to change in a slow cycle, a low frequency component is used.

The slope is considered to change in a slow cycle,
Also, since it is considered to be a high frequency, the vibration data for the vibration received from the road surface uses the high frequency component of the vertical component of the motion vector. This value is used as the fluctuation data component z. The sway data for the left and right slopes of the road surface is one of the sway data components roll, and can be represented by a value obtained by adding the rotation component Vroti by 25 motion vectors, as is clear from FIG. The sway data for the centrifugal force at the time of the curve is one of the sway data components roll, and is represented by a horizontal component u.

The sway data corresponding to the inertial force due to acceleration / deceleration is one of the sway data components pitch, and the enlarged component Vzoo
It is represented by the low frequency component of the derivative of m. The reason for the low-frequency component is that it is considered that a sensitive operation is not required for acceleration / deceleration. The sway data for the swing of the vehicle at the time of the curve is a sway data component yaw, and is represented by a horizontal component u. In addition, the reason why -u is set is that it acts in the opposite direction to the centrifugal force at the time of the curve.

Real stimulus Represented component Motion data component Relation with four components Low frequency component of front and rear slope pitch Σv Low frequency component of vibration z −Σv High frequency component of road surface z−Σv High frequency component of road surface Left and right slope roll −Σv _rot Alternative stimulus expression Component Motion data component Relation with 4 components Centrifugal force at curve roll u Inertial force due to acceleration / deceleration Low frequency component of pitch dv _zoom / dt Vehicle swing at curve yaw -u

The feature information processing section 52 generates the sway data to be supplied to the actually driven image sway presentation device 6 using the above-described relationship. FIG. 10 shows a feature information processing unit 52.
FIG. 3 is a block diagram showing the configuration of FIG. Among the four components output from the feature information detection unit 51, the rotation component v _rot is added to the adder 71-1; the horizontal component u is added to the adder 71-2 and the sign inverter 72-1; , And the enlarged component v _zoom are input to the adder 71-5 and the delay unit 73-3, respectively. The adder 71-1 has an adder 71-
The data output from 1 is delayed by one clock in the delay unit 73-1 and then fed back and input.
Similarly, the data output from the adder 71-3 is also fed back and input to the adder 71-3 after being delayed by one clock by the delay unit 73-2.

The data output from the delay unit 73-1 is
The data input to the adder 71-2 and output from the delay unit 73-2 are sent to the HPF (High) through the sign inverter 72-2.
PassFilter) 74 and LPF (Low Pass)
Filter) 75-1 is also output to the adder 71-4. The enlarged component v _zoom input to the adder 71-5 is the enlarged component v delayed by one clock by the delay unit 73-3.
_{The zoom} is subtracted, and the adder 71-4 is passed through the LPF 75-2.
Is input to

Next, the calculation of the motion data components roll, yaw, z, and pitch performed by the characteristic information processing section 52 will be described. The rotation component v _rot input to the feature information processing unit 52
Is input to the adder 71-1. The adder 71-1 is
The rotation component v _rot input at time t and the delay unit 7
3-1 and the data at time t-1 one frame before, which is output from 3-1. The adder 71-1 thus performs
By going a rotational component v _rot cumulatively added (integrated), vibration data component roll representing the inclination of the left and right road
(Σv _rot ) is calculated. However, since the sway data component roll expressing the left and right inclination of the road surface is −Σv _rot , the adder 71-2 uses the data obtained by inverting the sign of the data input from the delay unit 73-1 for the calculation.

The fluctuation data component roll (horizontal component u) is also used to express the centrifugal force at the time of a curve. Therefore,
The adder 71-2 adds the data obtained by inverting the sign of the data input from the delay unit 73-1 and the horizontal component u (subtracts the output of the delay unit 73-1 from the horizontal component u). , And calculate the sway data component roll.

The yaw data component ya of the vehicle swing at the time of the curve
Since w is obtained by inverting the value of the horizontal component u, the feature information processing unit 52 uses the sign inverter 72-1 to invert the sign of the input value of the horizontal component u, Calculate the component yaw.

The adder 71-3 receives the vertical component v input at the time t and the 1 output from the delay unit 73-2.
The vertical component v at the time t-1 before the frame is added. Thus, the vertical component v is cumulatively added (integrated) in the adder 71-3. The data cumulatively added by the adder 71-3 and the delay unit 73-2 is input to the sign inverter 72-2, where the sign is inverted, and the HPF 7
By (4), only high frequency components are extracted. In this way, the sway data component z representing the vibration received from the road surface
Is calculated.

The data output from the delay unit 73-2 is also output to the LPF 75-1, and a low-frequency component is extracted. In this manner, the sway data component pitch expressing the front and rear inclination of the road surface is calculated. Motion data component pit
ch is also used as a fluctuation data component expressing inertial force due to acceleration / deceleration. Therefore, the fluctuation data component pitch output from the LPF 75-1 is added by the adder 71-4.
It is added to the fluctuation data component pitch representing the inertial force.

Pitch data component pitch expressing inertial force
Is calculated from the enlarged component v _zoom input to the feature information processing unit 52. Expanding component v _{zo om} input to the feature information processing section 52 is inputted to the adder 71-5 and the delay unit 73-3. The adder 71-5, the expansion component v _zoom t input at time t, the expansion component v _zoom t-1 at time t-1 which is one frame delayed by the delay unit 73-3 is input. The adder 71-5 differentiates the enlarged component v _zoom by subtracting the enlarged component v _zoom t-1 at time t-1 from the input enlarged component v _zoom t at time t. Then, from the value output from the adder 71-5, LP
By F75-2, a low-frequency component is extracted, so that a fluctuation data component pitc representing an inertial force due to acceleration / deceleration.
h is calculated.

The adder 71-4 adds the value output from the LPF 75-1 and the value output from the LPF 75-2 to calculate the fluctuation data component pitch.

As described above, the sway data generating unit 31
Generate sway data from image data. Then, the generated fluctuation data is transmitted to the signaling point 2 by the transmission / reception unit 26 in a form in which other information is added by the information addition unit 32, as described above.

Next, a process for storing information including the sway data transmitted from the vehicle 1 will be described with reference to the flowchart of FIG. In step S <b> 1, the signal station 2 transmits an electromagnetic wave using the transmission / reception device 11. As described above, this transmission is always transmitted from all signal stations 2 at the same timing at a predetermined cycle. In step S2, the vehicle 1 having received the signal at the transmission / reception unit 26 (FIG. 4) measures the position where the vehicle 1 is traveling by the position measurement unit 33.

As described above, this measurement is performed by receiving signals from at least three signal stations 2 by the transmission / reception unit 26, and by a positioning method used in a navigation system such as GPS. Vehicle 1
Measures the position where the own vehicle is traveling, and generates sway data in step S3. The motion data is calculated from the image data captured by the image capturing unit 22 as described above.

The vehicle 1 transmits information to the signaling point 2 in step S4. The information to be transmitted includes the position where the vehicle is traveling measured in step S2, the sway data generated in step S3,
The weight and model of the vehicle. Of course, other information may be transmitted. The weight of the own vehicle and the vehicle may be configured such that a memory (not shown) such as a ROM (Read Only Memory) is built in the information adding unit 32, stored in the memory, and read out as needed.

The sway data to which information is added by the information adding unit 32 is transmitted to the signaling point 2 by the transmitting / receiving unit 26. The transmitted information is transmitted and received by the transmitting / receiving device 11 of the signaling point 2.
Is received. The information transmitted from the vehicle 11 is received by a plurality of signal stations 2, and the following processing is executed in each of the signal stations 2. First, in step S5, environment information is added to the received information.

The environment information is, for example, weather or road surface conditions when the information is received. The information on the weather is generated in each signal station 2 or the information on the weather is generated on behalf of one of the plurality of signal stations 2 and distributed to the signal station 2 by a method such as distributing the information. Supplied to.
The road surface condition is obtained by a vehicle that has traveled on a road in advance and has a sensor that detects a road surface condition.

Information to which such environmental information is added is
In step S6, the data is stored in the local database 12. In step S7, the reverse sway data is updated using the information stored in the local database 12. The process in step S7 may be performed when a predetermined amount of information is added and stored in the local database 12, or may be performed each time new information is added and stored. . The generated reverse fluctuation data is stored in the local database 12.

The reverse fluctuation data stored in the local database 12 is averaged and stored in order to make the data versatile. Pitch, roll, yaw, and z are generated so that the components of the reverse motion data correspond to the components of the motion data. The averaging of the reverse fluctuation data is, for example, averaging for each of these components.

In addition, reverse swing data may be stored by classifying each environmental information (for each time of fine weather, rain, etc.) or may be stored by classifying each vehicle type (vehicle weight). You may do it. Classification may be performed based on both the environmental information and the vehicle type to store the reverse sway data. By classifying and accumulating, it is possible to supply reverse sway data suitable for each vehicle to each vehicle, though it has versatility. It should be noted that the reverse sway data may be accumulated based on any classification as long as the versatility and reverse sway data suitable for each vehicle can be supplied.

In the above-described embodiment, the vehicle 1 generates the shaking data from the image data. However, the vehicle 1 is provided with an acceleration sensor (not shown), and the information obtained by the acceleration sensor is used. The analysis may be used to generate the sway data. Here, since the purpose is to accumulate information (accumulation of reverse sway data), there is no problem even if an apparatus such as an acceleration sensor that senses sway already received is used.

Next, the distribution of the reverse sway data accumulated in the local database 12 in this manner will be described with reference to FIG.
This will be described with reference to the flowchart of FIG. Step S11
In, the signal station 2 transmits an electromagnetic wave using the transmission / reception device 11. The vehicle 1 that has received the electromagnetic wave performs step S
At 12, the travel position of the own vehicle is measured. Steps S11 and S12 are the same as steps S1 and S2 in the flowchart of FIG.

In step S13, the vehicle 1 transmits information. The information to be transmitted includes information on the measured position of the own vehicle, the type of the own vehicle, and the weight of the own vehicle. Upon receiving the information transmitted from the vehicle 1 in step S14, the signaling point 2 detects the environmental information at that time. Here, it is assumed that the reverse swing data is classified and stored for each of the environmental information and the vehicle type. It is assumed that the environment information detection process in step S14 is performed in the same manner as the process in step S5 in the flowchart of FIG.

In step S15, the reverse fluctuation data is read. In reading the reverse sway data, data matching the received information on the vehicle type and the detected environmental information is read. In step S16, the read out reverse sway data is transmitted to the transmitting / receiving device 1
1 to the vehicle 1. Transmission / reception unit 2 of vehicle 1
6 receives the reverse fluctuation data from the signaling point 2 in step S17. The received reverse sway data is output to the reverse sway actuator 24. In step S18, the reverse rocking actuator 24 controls the rocking of the vehicle 1 based on the input reverse rocking data.

Although the flow chart of FIG. 11 has described the accumulation of information and the flow chart of FIG. 12 has described the distribution of the information, the accumulation and the distribution may be performed simultaneously. That is, the vehicle 1 supplies the information for the signal station 2 to store, and also receives the supply of the reverse sway data obtained from the already stored information. As well as generating reverse fluctuation data from the stored information,
Supply to vehicle 1.

As described above, information is supplied from a plurality of vehicles 1 actually traveling on the road, and based on the information,
By generating the reverse sway data, it is possible to generate more accurate reverse sway data, and by sharing the reverse sway data, compared to the case where the sway is controlled only by the own vehicle, It is possible to reliably control the sway.

In the above-described embodiment, the vehicle 1 acquires image data, generates sway data from the image data, and transmits it to the signal station 2 together with other information. The upsets that you suffer are mainly
It often depends on the road surface conditions. That is,
The road surface is rough, and the road is flat, and the road surface is flat. So, in vehicle 1,
Instead of acquiring the image data and creating the sway data from the image data, information relating to the road surface condition (hereinafter, the road surface information is appropriately described) is acquired in advance, and the acquired information is referred to as the vehicle 1. , And the reverse sway data may be created based on the road surface information supplied in the vehicle 1. A description will be given below of such a case.

First, it is assumed that the local database 1
2 stores road surface information and environmental information in association with each other. In order to acquire and accumulate the road surface information, a vehicle equipped with a sensor for acquiring road surface information in advance (for example, a road surface detection sensor configured by a laser or the like) is driven on a road from which information is to be acquired. . Then, by analyzing information obtained by a sensor provided in the vehicle, information on a road surface condition is obtained.

When environmental information such as weather is different, a plurality of road surface information corresponding to the environmental information is acquired and accumulated by repeatedly running a vehicle equipped with a sensor.

Since the vehicle 1 does not need to create the shaking data from the image data, as shown in FIG.
2 (FIG. 4) is deleted. Further, as shown in FIG. 14, the configuration of the vehicle 1 is configured such that the reverse vibration data generation unit 81 generates reverse vibration data using information received by the transmission / reception unit 26 and supplies the generated data to the reverse vibration actuator 24. .

Referring to the flowchart of FIG. 15, FIG.
The operation of the information processing system shown in FIG. 1 including the vehicle 1 having the configuration shown in FIG. 4 will be described. The processing of steps S21 and S22 is the same as the processing of steps S1 and S2 in the flowchart of FIG. In step S23, the vehicle 1 transmits information to the signal station 2. The transmitted information includes information on the position where the own vehicle is traveling measured in step S22, and information such as a vehicle type and a traveling speed.

The signal station 2 having received such information detects the environmental information in step S24. In step S25, when the vehicle 1 receives the transmitted road surface information obtained by adding the detected environment information and the information on the position where the vehicle 1 is traveling (the distance calculated from the traveling speed to the traveling position). The road surface information matching the information on the predicted position) is read out from the information stored in the local database 12. Step S24 and Step S
The processing in step S1 of the flowchart in FIG.
4 and basically the same as the processing in step S15 (only the information to be read is different).

The read road surface information is stored in step S26.
Is transmitted to the vehicle 1. The vehicle 1 receives the road surface information by the transmission / reception unit 26 in step S27. Then, in step S28, the vehicle 1
The road surface information received by the transmission / reception unit 26 is output to the reverse sway data generation unit 81, and the reverse sway data generation unit 81 generates reverse sway data. Then, the generated reverse sway data is output to the reverse sway actuator 24, whereby the sway of the vehicle 1 is controlled.

In the above-described embodiment, the road surface information is transmitted. However, a coefficient or the like for generating reverse sway data may be transmitted. That is, the signal station 2 may calculate in advance a coefficient that can generate reverse sway data from the stored road surface information, and may accumulate and transmit the coefficient.

Thus, the road surface information is supplied to the vehicle 1,
By generating the reverse sway data in the vehicle 1 and controlling the sway, the reverse sway data effective for each vehicle is generated by the road surface information which can be used in common for all the vehicles. It is possible to do.

In the vehicle 1, when controlling the reverse rocking actuator 24 based on the received or generated reverse rocking data, the characteristics (habits) of the driver driving the vehicle 1 are also taken into consideration. You may make it control. That is, when the configuration of the vehicle 1 is as shown in FIG. 4, the reverse swing actuator 24 includes, for example, a memory that analyzes and accumulates information relating to the characteristics of the driver, and performs transmission and reception based on the accumulated information. The reverse sway data from the section 26 is processed and used. The configuration of the vehicle 1 is the same as that shown in FIG.
In the case as shown in the above, the reverse sway data generation unit 81 which has input the road surface information received by the transmission / reception unit 26 includes a memory for storing the characteristics of the driver, as in the case described above,
The reverse oscillating data is generated using the information read from the memory.

As described above, by storing the sway data or road surface information on the sway experienced by the vehicle 1,
For example, when the value indicated by the accumulated sway data (averaged sway data) becomes large, it can be determined that the sway has become large due to the rough road surface, and the predetermined value can be determined. Local database 1 is used for road management such as repairing when the above situation occurs.
2 can be used.
When the road surface information is stored, the condition of the road surface can be grasped by periodically performing the work of updating the road surface information, so that the road management can be performed in the same manner.

The above series of processing can be executed by hardware, but can also be executed by software. When a series of processing is executed by software, it is possible to execute various functions by installing a computer in which the programs constituting the software are embedded in dedicated hardware, or by installing various programs For example, it is installed from a recording medium to a general-purpose personal computer or the like.

As shown in FIG. 16, the recording medium is a magnetic disk 121 (including a floppy disk) on which the program is recorded, which is distributed in order to provide the user with the program, separately from the computer.
22 (CD-ROM (Compact Disk-Read Only Memory), DVD
(Including a Digital Versatile Disk), a magneto-optical disk 123 (including an MD (Mini-Disk)), or a packaged medium including a semiconductor memory 124, as well as a user installed in a computer in advance. Is stored in the program
The hard disk drive includes the ROM 102 and the storage unit 108.

In this specification, the steps of describing a program provided by a medium are not necessarily performed in chronological order but may be performed in chronological order according to the described order. Alternatively, it also includes individually executed processing.

In this specification, the system is
It represents the entire device composed of a plurality of devices.

[0101]

As described above, according to the information processing apparatus according to the first aspect, the information processing method according to the third aspect, and the recording medium according to the fourth aspect, an image in the traveling direction of the vehicle is captured. Detecting the shaking received by the vehicle from the image data of the captured image, transmitting first shaking data relating to the detected shaking to another device, and relating to the shaking transmitted from the other device. Since the second sway data is received and the sway of the vehicle is controlled based on the second sway data, it is possible to reduce the sway experienced by the vehicle.

According to the information processing apparatus described in claim 5, the information processing method described in claim 7, and the recording medium described in claim 8, it is possible to reduce the fluctuation indicated by the received fluctuation data. , Generate the reverse fluctuation data, classify the reverse fluctuation data based on the received position information, accumulate the data, read out the reverse fluctuation data corresponding to the received position information from among the stored data, and transmit the data to the vehicle. Because it was
Motion data transmitted to different vehicles can be shared.

Further, an information processing system according to claim 9, an information processing method according to claim 10, and an information processing method according to claim 1.
According to the recording medium described in Item 1, the first information processing device includes:
Detecting the sway received by the vehicle, receiving a signal from the second information processing device, and analyzing the signal to measure the position of the vehicle and measure first sway data related to the detected sway and Transmitting the position information on the measured position of the vehicle to the second information processing apparatus, receiving the second vibration data on the vibration transmitted from the second information processing apparatus, and receiving the second vibration data. The second information processing device transmits a signal at a predetermined cycle, receives the sway data and the position information transmitted from the first information processing device, and controls the sway of the vehicle based on the received sway. Generating second sway data for reducing the sway indicated by the data, performing classification based on the position information, accumulating the data, reading out the second sway data corresponding to the received position information, and executing the first information processing apparatus Sent to In, it is possible to reduce the upset experienced by the vehicle.

According to the information processing apparatus of claim 12, the information processing method of claim 13, and the recording medium of claim 14, a signal transmitted by another apparatus is received,
By analyzing the signal, the position of the vehicle is measured,
Transmits positional information on the measured vehicle position, receives road surface information on the road surface at a position where the vehicle is predicted to pass from other devices, and controls the vehicle based on the road surface information so that the vehicle is not shaken. As a result, it is possible to reduce the sway experienced by the vehicle.

In the information processing apparatus according to the fifteenth aspect, the information processing method according to the sixteenth aspect, and the recording medium according to the seventeenth aspect, road surface information on a road surface at a predetermined position is stored, and the vehicle travels. Receiving the position information related to the position where the vehicle is, reading the road surface information corresponding to the position information, and transmitting the road surface information to the vehicle, so that the road surface data transmitted to the different vehicles is shared, and the vibration of the vehicle is reduced. It becomes possible.

In the information processing system according to the eighteenth aspect, the information processing method according to the nineteenth aspect, and the recording medium according to the twentieth aspect, the first information processing apparatus is provided with a second information processing apparatus.
Receiving the signal transmitted by the information processing device, and analyzing the signal to measure the position of the vehicle, and transmitting position information on the position of the vehicle measured by the measuring unit to the second information processing device, The second information processing device receives road surface information on a road surface at a position where a vehicle is predicted to pass from the second information processing device and controls the vehicle based on the road surface information so as not to be shaken. A signal is transmitted at a predetermined cycle, road surface information is accumulated, position information is received, road surface information corresponding to the position information is read, and transmitted to the first information processing device. Can be reduced.

[Brief description of the drawings]

FIG. 1 is a diagram showing the configuration of an embodiment of an information processing system to which the present invention has been applied.

FIG. 2 is a diagram showing a configuration of a signal station 2.

FIG. 3 is a diagram illustrating a configuration of a vehicle 1.

FIG. 4 is a diagram further describing the configuration of the vehicle 1.

FIG. 5 is a diagram showing an internal configuration of a motion data generation unit 31.

FIG. 6 is a diagram showing an internal configuration of a feature information detection unit 51.

FIG. 7 is a diagram showing patterns stored in a memory 64.

FIG. 8 is a diagram illustrating an image to be processed.

FIG. 9 is a diagram illustrating a calculated vector.

FIG. 10 is a diagram showing an internal configuration of a feature information processing unit 52.

FIG. 11 is a flowchart illustrating an operation related to accumulation of information.

FIG. 12 is a flowchart illustrating an operation related to information distribution.

FIG. 13 is a diagram illustrating another configuration of the vehicle 1.

FIG. 14 is a diagram further describing another configuration of the vehicle 1.

FIG. 15 is a flowchart illustrating another operation related to information distribution.

FIG. 16 is a diagram illustrating a medium.

[Explanation of symbols]

1 vehicle, 2 signal station, 11 transmitting / receiving device, 12
Local database, 22 imaging unit, 23 wheels, 24 reverse swing actuator, 25 control unit,
26 transmitting / receiving unit, 31 shaking data generating unit, 32
Information addition unit, 33 position measurement unit, 81 reverse fluctuation data generation unit

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3D001 AA02 BA01 CA01 DA17 EA00 EA01 EA42 EB08 EB22 ED04 ED11 5B057 AA16 DA07 DB02 DC32 5H180 AA01 BB04 CC04 CC12 FF05 FF13 FF27 5J062 BB01 CC07 5L096 BA04 CA04

Claims (20)

[Claims] 1. An image pickup unit mounted on a vehicle for picking up an image in a traveling direction of the vehicle, and a shake detection unit for detecting a shake received by the vehicle from image data of the image picked up by the image pickup unit. Transmitting means for transmitting the first vibration data relating to the vibration detected by the vibration detecting means to another device; and receiving the second vibration data relating to the vibration transmitted from the other device. An information processing apparatus, comprising: means for controlling the vehicle's vibration based on the second vibration data received by the receiving means. 2. Receiving a signal transmitted by the other device,
The apparatus further includes measuring means for measuring the position of the vehicle by analyzing the signal, wherein the transmitting means also transmits information on the position of the vehicle measured by the measuring means to the other device. The information processing apparatus according to claim 1, wherein: 3. An image pickup step of picking up an image in the traveling direction of the vehicle, a shake detection step of detecting a shake received by the vehicle from image data of the image taken in the processing of the image pickup step, A transmission control step of controlling transmission of the first sway data related to the sway detected in the processing of the detection step to another device; and controlling a reception of second sway data related to the sway transmitted from the other device. An information processing method, comprising: a reception control step; and a control step of controlling the vibration of the vehicle based on the second vibration data whose reception has been controlled in the processing of the reception control step. 4. An image capturing step of capturing an image in a traveling direction of the vehicle, a vibration detecting step of detecting a vibration received by the vehicle from image data of the image captured in the processing of the image capturing step, A transmission control step of controlling transmission of the first sway data related to the sway detected in the processing of the detection step to another device; and controlling a reception of second sway data related to the sway transmitted from the other device. A computer-readable program, comprising: a reception control step; and a control step of controlling the vibration of the vehicle based on the second vibration data whose reception is controlled in the processing of the reception control step. The recording medium on which it is recorded. 5. Receiving means for receiving shaking data relating to shaking of a vehicle, position information indicating a position at which the vehicle has obtained the shaking data, and reducing shaking indicated by the shaking data received by the receiving means. Generating means for generating reverse vibration data for the storage means, storing means for classifying the reverse vibration data generated by the generating means based on the position information received by the receiving means, and storing the classification; An information processing apparatus, comprising: a transmitting unit that reads the reverse oscillating data corresponding to the received position information from the storage unit and transmits the data to the vehicle. 6. The storage unit, based on at least one of weather, a vehicle type, and a vehicle weight of the vehicle when the receiving unit receives the sway data and the position data, 6. The information processing apparatus according to claim 5, wherein the reverse sway data is further classified and stored. 7. A reception control step of controlling reception of the sway data on the sway transmitted from the vehicle, and position information indicating a position at which the vehicle has acquired the sway data, and reception is controlled by the processing of the reception control step. A generation step of generating reverse sway data for reducing the sway indicated by the obtained sway data; and receiving the reverse sway data generated in the processing of the generation step by controlling the reception control step. An accumulation control step of performing a control for classifying and accumulating based on the position information; and a processing of the accumulation control step for the reverse sway data corresponding to the position information whose reception has been controlled in the processing of the reception control step. A transmission control step of controlling the transmission to the vehicle by reading out of the reverse swaying data whose accumulation has been controlled in the vehicle. Information processing method. 8. A reception control step of controlling reception of the sway data on the sway transmitted from the vehicle, and position information indicating a position at which the vehicle has acquired the sway data, and reception is controlled by the processing of the reception control step. A generation step of generating reverse sway data for reducing the sway indicated by the obtained sway data; and receiving the reverse sway data generated in the processing of the generation step by controlling the reception control step. An accumulation control step of performing a control for classifying and accumulating based on the position information; and a processing of the accumulation control step for the reverse sway data corresponding to the position information whose reception has been controlled in the processing of the reception control step. A transmission control step of controlling the transmission to the vehicle by reading out of the reverse swaying data whose accumulation has been controlled in the vehicle. Recording medium on which a computer-readable program is recorded. 9. An information processing system comprising a first information processing device and a second information processing device, wherein the first information processing device comprises: a shaking detecting means for detecting shaking received by a vehicle; Measuring means for measuring the position of the vehicle by receiving a signal from the second information processing device and analyzing the signal; first sway data on the sway detected by the sway detecting means; A first transmission unit that transmits position information on the position of the vehicle measured by the measurement unit to the second information processing device; and a second transmission unit that transmits the position information of the vehicle transmitted from the second information processing device. First receiving means for receiving the sway data; and control means for controlling the sway of the vehicle based on the second sway data received by the receiving means; A second transmitting unit that transmits the signal at a predetermined cycle; a second receiving unit that receives the sway data and the position information transmitted by the first transmitting unit; Generating means for generating the second sway data for reducing the sway indicated by the sway data received by the receiving means; and receiving the second sway data generated by the generating means in the first reception A storage unit that performs classification based on the position information received by the unit and stores the classified data, and reads the second vibration data corresponding to the position information received by the first reception unit from the storage unit, And a third transmission unit for transmitting the information to the information processing apparatus. 10. An information processing method for an information processing system including a first information processing apparatus and a second information processing apparatus, wherein the information processing method for the first information processing apparatus includes: A motion detection step for detecting, a signal from the second information processing apparatus, a measurement step for measuring a position of the vehicle by analyzing the signal, and a motion detection step. First transmission data relating to the first vibration data, and a first transmission control step of controlling transmission of position information relating to the position of the vehicle measured in the processing of the measurement step to the second information processing apparatus; A first reception control step for controlling the reception of the second vibration data relating to the vibration transmitted from the second information processing apparatus; And a control step of controlling the vibration of the vehicle based on the second vibration data, wherein the information processing method of the second information processing apparatus comprises: a second transmission controlling the transmission of the signal at a predetermined cycle. A control step; a second reception control step of controlling reception of the shaking data and the position information whose transmission has been controlled in the processing of the first transmission control step; and a reception in the processing of the second reception control step. The second for reducing the sway indicated by the sway data controlled by
Generating the vibration data of the second step, and classifying the second vibration data generated in the processing of the generating step based on the position information whose reception is controlled by the processing of the first reception control means. An accumulation control step of performing control for accumulating the data, and accumulating the second fluctuation data corresponding to the position information whose reception has been controlled in the processing of the first reception control step in the processing of the accumulation control step. A third transmission control step of reading out of the controlled second sway data and controlling transmission to the first information processing apparatus. 11. A program for an information processing system comprising a first information processing device and a second information processing device, wherein the program for the first information processing device detects a shaking received by a vehicle. A motion detection step; a measurement step of receiving a signal from the second information processing device and analyzing the signal to measure a position of the vehicle; and the motion detected in the processing of the motion detection step A first transmission control step of controlling transmission of first position data relating to the position of the vehicle measured in the processing of the measurement step to the second information processing apparatus; A first reception control step of controlling the reception of the second vibration data relating to the vibration transmitted from the second information processing device; and A control step of controlling the vibration of the vehicle based on the data of the second vibration, wherein a program of the second information processing device comprises: a second transmission control step of controlling transmission of the signal at a predetermined cycle; A second reception control step of controlling reception of the sway data and the position information whose transmission has been controlled in the processing of the first transmission control step; and reception has been controlled in the processing of the second reception control step. The second means for reducing the sway indicated by the sway data
Generating the vibration data of the second step, and classifying the second vibration data generated in the processing of the generating step based on the position information whose reception is controlled by the processing of the first reception control means. An accumulation control step of performing control for accumulating the data, and accumulating the second fluctuation data corresponding to the position information whose reception has been controlled in the processing of the first reception control step in the processing of the accumulation control step. A third transmission control step of reading from the controlled second sway data and controlling transmission to the first information processing apparatus, wherein a computer readable program is recorded. Recording media. 12. A measuring means for measuring a position of a vehicle by receiving a signal transmitted by another device and analyzing the signal, and transmitting position information on the position of the vehicle measured by the measuring means. Transmitting means, receiving means for receiving road surface information on a road surface at a position where the vehicle is predicted to pass from the other device, and the vehicle is shaken based on the road surface information received by the receiving means. Control means for controlling the information processing so as not to receive the information. 13. A measuring step of measuring a position of a vehicle by receiving a signal transmitted by another device and analyzing the signal, and positional information on the position of the vehicle measured in the processing of the measuring step. A transmission control step of controlling transmission of the vehicle; a reception control step of controlling reception of road surface information on a road surface at a position where the vehicle is predicted to pass from the other device; and A control step of controlling the vehicle not to be shaken based on road surface information. 14. A measuring step of measuring a position of a vehicle by receiving a signal transmitted by another device and analyzing the signal, and positional information on the position of the vehicle measured in the processing of the measuring step. A transmission control step of controlling transmission of the vehicle; a reception control step of controlling reception of road surface information on a road surface at a position where the vehicle is predicted to pass from the other device; and A control step of controlling the vehicle so as not to be shaken based on road surface information. 15. A storage unit for storing road surface information relating to a road surface at a predetermined position, a receiving unit receiving position information relating to a position where a vehicle is traveling, and a storage unit corresponding to the position information received by the receiving unit. A transmission unit for reading the road surface information from the storage unit and transmitting the road surface information to the vehicle. 16. An accumulation control step of controlling accumulation of road surface information on a road surface at a predetermined position, a reception control step of controlling reception of position information on a position where a vehicle is traveling, and a process of the reception control step. A transmission control step of reading out the road surface information corresponding to the position information whose reception has been controlled from the road surface information whose accumulation has been controlled in the processing of the accumulation control step, and controlling transmission to the vehicle. An information processing method comprising: 17. An accumulation control step of controlling accumulation of road surface information on a road surface at a predetermined position, a reception control step of controlling reception of position information on a position where a vehicle is traveling, and a process of the reception control step. A transmission control step of reading out the road surface information corresponding to the position information whose reception has been controlled from the road surface information whose accumulation has been controlled in the processing of the accumulation control step, and controlling transmission to the vehicle. A recording medium on which a computer-readable program is recorded. 18. An information processing system comprising a first information processing device and a second information processing device, wherein the first information processing device receives a signal transmitted by the second information processing device. Measuring means for measuring the position of the vehicle by analyzing the signal; first transmitting means for transmitting position information on the position of the vehicle measured by the measuring means to the second information processing device; A first receiving unit that receives, from the second information processing device, road surface information on a road surface at a position where the vehicle is predicted to pass, based on the road surface information received by the first receiving unit, Control means for controlling the vehicle so as not to be shaken; the second information processing device; second transmission means for transmitting the signal at a predetermined cycle; and storage means for storing the road surface information. A second receiving unit that receives the position information transmitted by the first transmitting unit; and reading out the road surface information corresponding to the position information received by the second receiving unit from the storage unit; An information processing system comprising: a third transmission unit that transmits the data to the first information processing apparatus. 19. An information processing method for an information processing system including a first information processing device and a second information processing device, wherein the information processing method for the first information processing device is the second information processing device. A measurement step of measuring a position of the vehicle by receiving a signal transmitted by the device and analyzing the signal, and the second information processing of position information on the position of the vehicle measured in the processing of the measurement step A first transmission control step of controlling transmission to a device; a first reception control step of controlling reception of road surface information on a road surface at a position where the vehicle is predicted to pass from the second information processing device; Controlling the vehicle so as not to be shaken based on the road surface information whose reception has been controlled in the processing of the first reception control step; The information processing method of the device includes: a second transmission control step of controlling transmission of the signal at a predetermined cycle; an accumulation control step of controlling accumulation of the road surface information; A second receiving step of receiving the controlled position information, and storing the road surface information corresponding to the position information whose reception has been controlled in the processing of the second receiving step in the processing of the storing control step. A third transmission control step of reading out of the controlled road surface information and controlling transmission to the first information processing device. 20. A program for an information processing system comprising a first information processing device and a second information processing device, wherein the program for the first information processing device is: A measuring step of measuring the position of the vehicle by receiving a signal to be transmitted and analyzing the signal; and transmitting the position information on the position of the vehicle measured in the processing of the measuring step to the second information processing device A first transmission control step of controlling transmission of the first information processing apparatus; a first reception control step of controlling reception of road surface information on a road surface at a position where the vehicle is predicted to pass from the second information processing apparatus; A control step of controlling the vehicle so as not to be shaken based on the road surface information whose reception has been controlled in the processing of the first reception control step; The transmission of the program is controlled by processing of a second transmission control step of controlling transmission of the signal at a predetermined cycle, an accumulation control step of controlling accumulation of the road surface information, and a processing of the first transmission control step. A second receiving step of receiving the position information, and the accumulation of the road surface information corresponding to the position information whose reception is controlled in the processing of the second receiving step is controlled in the processing of the accumulation control step. A third transmission control step of reading from the road surface information and controlling transmission to the first information processing apparatus, wherein a computer-readable program is recorded.