JP2018124096A - Information processing system, information processing apparatus, information processing method abd program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information processing system capable of grasping a state of a moving body.SOLUTION: An information processing system having at least a plurality of moving bodies and one or more information processing apparatuses that communicate with the moving bodies, includes: a first receiving unit that receives a first satellite signal SIG1 transmitted from a first satellite SA1 and capable of specifying a position of each of the moving bodies; a second receiving unit that receives a second satellite signal SIG2 transmitted from a second satellite SA2 other than the first satellite and capable of specifying the position; a time acquiring unit that acquires a time when the first satellite signal and the second satellite signal are received; a data generating unit that generates position data indicating the position on the basis of the first satellite signal and the second satellite signal; and a data sharing unit that shares at least the position data on the basis of the position data and the time.SELECTED DRAWING: Figure 1

Description

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

  Conventionally, a satellite positioning system (GNSS, Global) that measures the position of a moving body (hereinafter simply referred to as “moving body”) such as an automobile, a ship, or an aircraft using a GPS signal transmitted from a GPS (Global Positioning System) satellite. Navigation Satellite System) is known.

  A driving support system that uses a GPS signal to automatically drive a vehicle is known. For example, the driving support system first inputs driving support information such as a position to start driving support, a destination, or speed control information. Next, the driving support system reads road parameters and road information. Further, the driving support system calculates vehicle position information. Based on the road parameters, road information, and position information obtained in this way, the driving support system generates driving support information indicating a virtual road on which the vehicle travels. In this way, the driving support system can correct the error of the track accurately in the automatic driving of the vehicle even if the sampling period is long (for example, Patent Document 1).

JP 2003-337993 A

  However, in the conventional method, data indicating the position of a moving body that can be specified by a GPS signal is often not shared. Therefore, it may be unclear whether the vehicle is in a state where there is a high possibility that the vehicles will collide with each other, or whether the vehicle is in a dangerous state when there is a railroad crossing or an intersection at the destination. Many.

  Therefore, an information processing system according to an embodiment of the present invention aims to share data and grasp the state of a moving object.

In one aspect, an information processing system according to an embodiment of the present invention is an information processing system including at least a plurality of mobile objects and one or more information processing apparatuses that communicate with the mobile objects,
A first receiver for receiving a first satellite signal transmitted from a first satellite, wherein the position of each of the mobile bodies can be specified;
A second receiving unit capable of specifying the position and receiving a second satellite signal transmitted from a second satellite other than the first satellite;
A time acquisition unit for acquiring a time at which the first satellite signal and the second satellite signal are received;
A data generation unit for generating position data indicating the position based on the first satellite signal and the second satellite signal;
A data sharing unit for sharing at least the position data based on the position data and the time.

  The state of the moving object can be grasped.

1 is a schematic diagram illustrating an example of an overall configuration of an information processing system according to an embodiment of the present invention. It is a block diagram which shows the hardware structural example of the vehicle-mounted apparatus mounted in the vehicle which concerns on one Embodiment of this invention. It is a block diagram which shows the hardware structural example of the information processing apparatus which concerns on one Embodiment of this invention. It is a sequence diagram which shows the example of the whole process by the information processing system which concerns on one Embodiment of this invention. It is a conceptual diagram which shows the example of an effect at the time of using the 2nd satellite signal which concerns on one Embodiment of this invention. It is a conceptual diagram which shows an example of the collision determination process by the information processing system which concerns on one Embodiment of this invention. It is a conceptual diagram which shows the process result example of the whole process by the information processing system which concerns on one Embodiment of this invention. It is a conceptual diagram which shows a 1st comparative example. It is a conceptual diagram which shows a 2nd comparative example. It is a conceptual diagram which shows the modification of the collision determination process by the information processing system which concerns on one Embodiment of this invention. It is a conceptual diagram which shows an example of another determination process by the information processing system which concerns on one Embodiment of this invention. It is a schematic diagram which shows an example of the whole structure of the information processing system which concerns on 2nd Embodiment of this invention. It is a sequence diagram which shows the example of the whole process by the information processing system which concerns on 2nd Embodiment of this invention. It is a conceptual diagram which shows the example of the signal status data, 1st time data, and traffic signal ID data which the information processing system which concerns on 2nd Embodiment of this invention uses. It is a conceptual diagram which shows the 1st example of the process result of the whole process by the information processing system which concerns on 2nd Embodiment of this invention. It is a conceptual diagram which shows the 2nd example of the process result of the whole process by the information processing system which concerns on 2nd Embodiment of this invention. It is a schematic diagram which shows an example of the whole structure of the information processing system which concerns on 3rd Embodiment of this invention. It is a sequence diagram which shows the example of the whole process by the information processing system which concerns on 3rd Embodiment of this invention. It is a conceptual diagram which shows the example of a crossing state data and 2nd time data which the information processing system which concerns on 3rd Embodiment of this invention uses. It is a conceptual diagram which shows the example of a process result of the whole process by the information processing system which concerns on 3rd Embodiment of this invention. It is a functional block diagram which shows the function structural example of the information processing system which concerns on one Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Note that, in the present specification and drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant description is omitted. The following description is an example in which the moving body is a vehicle.

<First Embodiment>
<Example of overall configuration>
FIG. 1 is a schematic diagram showing an example of the overall configuration of an information processing system according to an embodiment of the present invention. For example, the information processing system SYS has an information processing device such as a server SER that performs communication via an in-vehicle device mounted in each vehicle CA and a network NW such as the Internet, as illustrated. Hereinafter, an information processing system SYS having an overall configuration shown in the figure will be described as an example.

  As illustrated, each vehicle CA receives, for example, a GPS signal SIG1 as an example of the first satellite signal from the GPS satellite SA1. Furthermore, each vehicle CA receives, for example, a quasi-zenith satellite signal SIG2 as an example of the second satellite signal from the quasi-zenith satellite SA2. In the illustrated example, each vehicle CA receives three GPS signals SIG1 and one quasi-zenith satellite signal SIG2, and receives a total of four satellite signals from the satellites. Thus, when satellite signals are received from four or more satellites, each vehicle CA can measure positions such as latitude, longitude, and altitude.

  Specifically, when the GPS signal SIG1 and the quasi-zenith satellite signal SIG2 are used, the information processing system SYS, for example, “Global Satellite Positioning System Trends, Journal of Japan Aerospace Society 20133.6 Vol.61 No.6 pp. The position of the vehicle CA can be measured by a method described in “201-206 Isao Kono” or the like. The information processing system SYS can generate data (hereinafter referred to as “position data DPOS”) indicating coordinates or the like that can specify the position of the vehicle CA.

  For example, when the time when the position data DPOS is generated is specified, the information processing system SYS can generate data indicating the time (hereinafter referred to as “time data DTM”). The time is specified by, for example, an atomic clock.

  Further, the plurality of vehicles CA and the server SER can transmit / receive data to / from each other via the network NW.

  In addition, the information processing system SYS can grasp the position of the vehicle CA, the position of the traffic light, the position of the railroad crossing, etc., if map data or the like is acquired in advance or via a network.

  In the illustrated example, an apparatus included in the information processing system SYS is, for example, an apparatus having the following hardware configuration.

<Hardware configuration example>
FIG. 2 is a block diagram illustrating a hardware configuration example of an in-vehicle device mounted on a vehicle according to an embodiment of the present invention. For example, in the information processing system SYS, a vehicle-mounted device as illustrated is mounted on each vehicle CA. Hereinafter, an example in which an on-vehicle device as illustrated is similarly mounted on each vehicle CA will be described. Note that different in-vehicle devices may be mounted on the vehicle CA.

  In this example, the vehicle CA includes a first antenna AT1, a second antenna AT2, a first processing IC (Integrated Circuit) IC1, a second processing ICIC2, a calculation device CLM, a control device CTL, a network I / It includes an F (interface) NIF, a storage device MEM, an input device IIF, and an output device OIF.

  The first antenna AT1 is an antenna that receives a first satellite signal such as a GPS signal SIG1 (see FIG. 1) from the GPS satellite SA1 or the like.

  The first processing ICIC1 is an electronic circuit that processes the first satellite signal received by the first antenna AT1.

  The second antenna AT2 is an antenna that receives a second satellite signal such as a quasi-zenith satellite signal SIG2 (see FIG. 1) from the quasi-zenith satellite SA2.

  The second processing ICIC2 is an electronic circuit that processes the second satellite signal received by the second antenna AT2.

  The computing device CLM is an electronic circuit, an ECU (Engine Control Unit), a CPU (Central Processing Unit) that performs computation based on a program installed in advance, or a combination thereof. The arithmetic device CLM is a device that performs arithmetic operations for realizing each process.

  The control device CTL is an electronic circuit, ECU, CPU, or a combination thereof. The control device CTL is a device that controls each piece of hardware.

  The network I / FNIF is an interface for performing communication for transmitting / receiving data to / from an external device via the network NW. For example, the network I / FNIF is a connector or an antenna for connecting a cable and a processing IC.

  The storage device MEM is a main storage device such as a memory, for example. Further, the storage device MEM may have an auxiliary storage device such as a hard disk.

  The input device IIF is, for example, a switch, a touch panel, or a combination thereof. That is, the input device IIF is a device serving as an interface for inputting an operation by a user such as a driver.

  The output device OIF is, for example, a display. That is, the output device OIF is a device serving as an interface for outputting a processing result or the like to a user such as a driver.

  As illustrated, the vehicle CA has a hardware configuration capable of receiving and processing both the first satellite signal and the second satellite signal. If there is hardware capable of receiving and processing both the first satellite signal and the second satellite signal, a device for processing the first satellite signal and a device for processing the second satellite signal Instead of the hardware configuration as shown in the figure, the number of antennas and processing ICs may be one. Hereinafter, as shown in the figure, a description will be given by taking a divided configuration as an example.

  Further, the hardware configuration of the vehicle CA is not limited to the illustrated configuration. For example, the hardware configuration of the vehicle CA may further include a sensor, a device that controls the traveling of the vehicle CA, an arithmetic device, a control device, a storage device, or a device serving as an interface. Further, the input device IIF and the output device OIF may be a touch panel that is an integrated device. Furthermore, each hardware may be composed of two or more devices. Furthermore, the arithmetic device CLM and the control device CTL may be realized by a single CPU, for example.

  FIG. 3 is a block diagram illustrating a hardware configuration example of the information processing apparatus according to the embodiment of the present invention. For example, the server SER includes a CPU CLT, a network I / FNIF, a storage device MEM, an input device IIF, and an output device OIF, as illustrated.

  CPUCLT is an arithmetic device and a control device. In other words, the CPU CLT is a device that performs calculations for realizing each process. The CPU CLT is a device that controls each piece of hardware.

  The network I / FNIF is an interface for performing communication for transmitting / receiving data to / from an external device via the network NW. For example, the network I / FNIF is a connector or an antenna for connecting a cable and a processing IC.

  The storage device MEM is a main storage device such as a memory, for example. Further, the storage device MEM may have an auxiliary storage device such as a hard disk.

  The input device IIF is, for example, a switch, a touch panel, or a combination thereof. That is, the input device IIF is a device that serves as an interface for inputting a user's operation.

  The output device OIF is, for example, a display. That is, the output device OIF is a device that serves as an interface for outputting processing results and the like to the user.

  The server SER is not limited to the hardware configuration illustrated. For example, the server SER may further include an arithmetic device, a control device, a storage device, or a device serving as an interface inside or outside. The server SER may be configured with two or more devices.

  The information processing system SYS performs the following overall processing, for example, by controlling each piece of hardware as described above.

<Example of overall processing>
FIG. 4 is a sequence diagram showing an example of overall processing by the information processing system according to the embodiment of the present invention. For example, the information processing system SYS performs the following information processing method.

<Data generation example> (Step S01 and Step S02)
In step S01 and step S02, the information processing system SYS first causes each vehicle CA to receive the first satellite signal. Similarly, in step S01 and step S02, the information processing system SYS causes each vehicle CA to receive the second satellite signal. In this way, the information processing system SYS can specify the position of each vehicle CA, and causes the vehicle CA to receive the first satellite signal and the second satellite signal transmitted from each satellite. Therefore, when each vehicle signal is received by each vehicle CA in this way, the information processing system SYS can generate position data DPOS (see FIG. 1) indicating the position of each vehicle CA. Moreover, when the 2nd satellite signal is used, there exist the following effects, for example.

  FIG. 5 is a conceptual diagram showing an example of the effect when the second satellite signal according to the embodiment of the present invention is used. Hereinafter, as shown in the figure, an example will be described in which the vehicle CA serving as the host vehicle receives the quasi-zenith satellite signal SIG2 from the quasi-zenith satellite SA2.

  Specifically, the quasi-zenith satellite SA2 is a satellite such as “Michibiki” in the case of Japan. The quasi-zenith satellite SA2 is a positioning satellite that moves slowly in an orbit near the zenith for a certain period of time, and has a high satellite altitude. Therefore, the quasi-zenith satellite SA2 is a satellite that can be used during flight at a position close to the zenith over Japan. As shown in the figure, since the quasi-zenith satellite SA2 measures the vehicle CA from the vicinity of the zenith, the reception of the satellite signal is hardly hindered by a building BU or a forest. Therefore, when the quasi-zenith satellite SA2 is used, the information processing system SYS (see FIG. 1) can measure the position of the vehicle CA even when the vehicle CA is surrounded by a high-rise building in an urban area or the like. it can.

  Further, when the quasi-zenith satellite SA2 is used, the quasi-zenith satellite SA2 can measure the position of the vehicle CA with high accuracy. Specifically, when the quasi-zenith satellite SA2 is used, the information processing system SYS can measure the position of the vehicle CA with an accuracy of about several centimeters.

  Returning to FIG. 4, in step S01 and step S02, the information processing system SYS stores the time when each satellite signal is received, and acquires the time when each satellite signal is received. As described above, when the data indicating the reception result of each satellite signal and the time when each satellite signal is received are stored in association with each other, the information processing system SYS can acquire the time.

<Example of data sharing> (step S03)
Returning to FIG. 4, in step S03, the information processing system SYS shares data. Specifically, as shown in the figure, the information processing system SYS acquires the position data DPOS and the time data DTM from each vehicle CA in steps S01 and S02, and obtains the position data DPOS and the time data. Share data such as DTM. When data is shared in this manner, the information processing system SYS can grasp the position of each vehicle CA and grasp the state of each vehicle CA at each time.

  In the overall process, it is desirable that the information processing system SYS performs various determination processes using the data shared in step S03. For example, the determination process is a collision determination process as described below.

<Example of collision determination processing> (Step S04)
In step S04, the information processing system SYS performs a collision determination process. For example, the collision determination process is the following process.

  FIG. 6 is a conceptual diagram showing an example of collision determination processing by the information processing system according to the embodiment of the present invention. For example, the information processing system SYS (see FIG. 1) determines whether the vehicle CA that shares data is in a state as shown in FIG. 6 (A) or in a state as shown in FIG. 6 (B). judge.

  FIG. 6A is an example of a state where it is determined that there is a possibility that two vehicles CA collide. On the other hand, FIG. 6B is an example of a state where it is determined that there is no possibility that two vehicles CA collide.

  First, in the collision determination process, the speed vector of each vehicle CA is calculated. Hereinafter, as illustrated, an example in which the information processing system SYS performs a collision determination process for two vehicles CA will be described. In this example, the speed vector of one vehicle CA is set to “first speed vector V1”. Further, the speed vector of the other vehicle CA is set to “second speed vector V2”.

  For example, as shown in the figure, each speed vector is represented by a position change amount ("P2-P1" in the figure) determined based on position data DPOS (see FIG. 1) and time data DTM (see FIG. 1). It is calculated by dividing by the amount of change in time determined based on (in the figure, “t2−t1”). Each velocity vector may be calculated by differentiating the position with respect to time. In this way, using the shared position data DPOS and time data DTM of each vehicle CA, the information processing system SYS can calculate the speed vector of each vehicle CA.

  The speed vector is data indicating the speed of each vehicle and the traveling direction.

  Next, in the collision determination process, the information processing system SYS extends each velocity vector as illustrated. Then, the information processing system SYS determines whether or not an extension line indicating the extension of each speed vector (hereinafter simply referred to as “extension line”) or each speed vector intersects. In the figure, the point where the extension lines intersect is referred to as “intersection PCR”. For example, FIG. 6A shows an example in which there is an intersection PCR, that is, the extension lines intersect. On the other hand, FIG. 6B shows an example where there is no intersection PCR, that is, the extension line and the velocity vector do not intersect.

  As shown in FIG. 6 (A), when there is an intersection PCR, the speed vectors intersect with each other, so that each vehicle CA is traveling toward the position that is the intersection PCR, that is, toward the same position. . Therefore, each vehicle CA may collide in the future at the intersection PCR. Therefore, the information processing system SYS determines that the vehicle CA may collide if there is an intersection PCR.

  On the other hand, as shown in FIG. 6B, when there is no intersection PCR, the speed vectors and the extension lines do not intersect, and the vehicles CA are traveling in parallel. Therefore, each vehicle CA is less likely to collide at the intersection PCR in the present and future. Therefore, the information processing system SYS determines that there is no possibility of the vehicle CA colliding without the intersection PCR.

  As described above, when the collision determination process is performed using the shared data, the information processing system SYS can detect a state where each vehicle CA may collide with an adjacent vehicle. Therefore, the information processing system SYS can determine whether or not the vehicle CA is in a dangerous state such as the possibility of collision.

  Further, based on the result of the collision determination process, the information processing system SYS may perform warning or control. For example, as illustrated in FIG. 6A, when it is determined that the vehicle CA may collide, the information processing system SYS may collide with a driver who drives each vehicle CA. A warning is notified by voice or message. In this way, the driver can more reliably grasp a state where there is a possibility of a collision.

  In addition, as illustrated in FIG. 6A, when it is determined that the vehicle CA may collide, the information processing system SYS may control each vehicle CA. For example, the information processing system SYS controls each vehicle CA or any one of the vehicles CA to stop or decelerate. Alternatively, the information processing system SYS controls each vehicle CA or one of the vehicles CA to be reversed in a direction in which a collision can be avoided. In this way, the information processing system SYS can prevent each vehicle CA from colliding.

  In addition, the dimension of each vehicle CA etc. may be used for a collision determination process. For example, the dimensions are values set in advance.

<Example of processing results>
When the entire processing shown in FIG. 4 is performed, for example, the following processing result is obtained.

  FIG. 7 is a conceptual diagram showing a processing result example of the overall processing by the information processing system according to the embodiment of the present invention. In this example, it is assumed that the host vehicle is a vehicle CA.

  When the overall processing shown in FIG. 4 is performed, the information processing system SYS (see FIG. 1) can grasp the state of each vehicle in a wide range as shown (hereinafter referred to as “first range RAN1”).

  That is, the information processing system SYS can grasp not only the vicinity of the vehicle CA but also the state of the vehicle in the distance as illustrated.

<Comparative example>
FIG. 8 is a conceptual diagram showing a first comparative example. In the first comparative example, it is assumed that the host vehicle is a vehicle CA.

  The first comparative example is an example in which the vehicle CA grasps the state of the vehicle using a sensor such as an in-vehicle camera or a radar. Therefore, in the comparative example, the range in which the state of the vehicle can be grasped (hereinafter referred to as “second range RAN2”) is often a range narrower than the first range RAN1 shown in FIG.

  Specifically, since the second range RAN2 is a range that can be captured by the in-vehicle camera, the second range RAN2 is often about several hundred meters.

  FIG. 9 is a conceptual diagram showing a second comparative example. The second comparative example is an example in which the host vehicle CAC grasps the state of the host vehicle CAC using a sensor such as an in-vehicle camera or a radar, as in the first comparative example.

  For example, as shown in FIG. 9A, it is assumed that there is a first vehicle CAA1 and a second vehicle CAA2 that are traveling separately from the host vehicle CAC. Further, as illustrated, it is assumed that there is an obstacle BLK such as a building between the host vehicle CAC and the first vehicle CAA1 and the second vehicle CAA2.

  Thus, when there is an obstacle BLK, the first vehicle CAA1 and the second vehicle CAA2 are photographed from the own vehicle CAC by the in-vehicle camera, or the first vehicle CAA1 and the second vehicle CAA2 are detected by a radar or the like. In many cases, the radar wave or light is blocked by the obstacle BLK. Therefore, the host vehicle CAC often cannot recognize the first vehicle CAA1 and the second vehicle CAA2 by a sensor or the like.

  Furthermore, when the own vehicle CAC uses an in-vehicle camera, as shown in FIG. 9B, the own vehicle CAC may not easily recognize other vehicles. Specifically, first, it is assumed that there is a third vehicle CAA3 that is traveling separately from the host vehicle CAC.

  In this example, as shown in the figure, it is assumed that there is a structure STR having a color that is the same as or similar to the color of the third vehicle CAA3 at a position that is the background of the third vehicle CAA3 when viewed from the host vehicle CAC. As described above, when the color of the third vehicle CAA3 and the color of the structure STR serving as the background are the same or similar, the image may be captured so that the third vehicle CAA3 melts into the structure STR. is there. In such a case, it is difficult for the host vehicle CAC to recognize the third vehicle CAA3 from the image.

  In addition, when an in-vehicle camera or the like is used, it is difficult to recognize vehicles other than the own vehicle when the interval between the vehicles is narrow, when the vehicle located immediately before is shaded, or downhill or the like There is a case.

<Modification>
Further, the information processing system SYS (see FIG. 1) may perform the following collision determination process.

  FIG. 10 is a conceptual diagram showing a modification of the collision determination process by the information processing system according to the embodiment of the present invention. Compared with the collision determination process shown in FIG. 6, the illustrated collision determination process is different in that an acceleration vector is further calculated. For example, the acceleration vector can be calculated by further differentiating the velocity vector with respect to time or calculating the amount of change of the velocity vector per unit time. The acceleration vector is data indicating the amount by which the speed changes per unit time and the acceleration direction. Then, as illustrated, the information processing system SYS may determine whether or not there is a possibility of collision of the vehicle CA that shares data, based on the acceleration vector.

  Specifically, in the illustrated example, first, the acceleration vector of one vehicle CA is set to “first acceleration vector A1”. Further, the acceleration vector of the other vehicle CA is referred to as “second acceleration vector A2”.

  The collision determination process based on each velocity vector is, for example, the same process as in FIG. Furthermore, the information processing system SYS extends each acceleration vector as shown in the figure, similarly to the collision determination process based on the velocity vector.

  Then, the information processing system SYS extends each acceleration vector and determines whether there is an intersection PCR. For example, as shown in the figure, when there is an intersection PCR, the extension lines of the respective acceleration vectors intersect, so that each vehicle CA is likely to go to the position that is the intersection PCR, that is, the same position in the future. It is. Therefore, each vehicle CA may collide in the future at the intersection PCR. Therefore, the information processing system SYS determines that the vehicle CA may collide if there is an intersection PCR.

  As described above, the information processing system SYS determines that the vehicle CA may collide if there is an intersection PCR in any of the velocity vector, the acceleration vector, or an extension line thereof.

  As described above, if the collision determination process is performed based on the acceleration vector using the shared data, is the information processing system SYS in a dangerous state in which each vehicle CA may collide? It can be determined whether or not.

  In addition, the information processing system SYS may perform, for example, the following determination process in step S04 illustrated in FIG. 4 using the shared data.

  FIG. 11 is a conceptual diagram illustrating an example of another determination process performed by the information processing system according to the embodiment of the present invention. Hereinafter, as shown in FIG. 11A, the direction in which the vehicle travels is referred to as “Y-axis”. Furthermore, a direction orthogonal to the Y axis is defined as an “X axis”. Further, it is assumed that the vehicle has the speed of the first speed vector V1. In the following processing, acceleration may be used instead of speed.

  First, the information processing system SYS (see FIG. 1) extracts and plots the X-axis component of the first velocity vector V1 every predetermined Y coordinate or every predetermined time. In this way, for example, the information processing system SYS can generate data as shown in FIG. 11B or 11C. As illustrated, in FIGS. 11B and 11C, the vertical axis is the time axis or the Y axis. On the other hand, the horizontal axis is the X-axis component of the first velocity vector V1. Therefore, in this example, when the value of the horizontal axis is “0”, the vehicle is in a straight traveling state.

  FIG. 11B shows an example of processing for determining whether or not an operation called a “steep steering wheel” or the like that changes the direction in which the vehicle travels abruptly has been performed. First, in the information processing system SYS, a value threshold value determined by an experiment or the like is set in advance.

  In FIG. 11B, in Y1 and Y2, the information processing system SYS determines that the “steep handle” has been performed. That is, when the X-axis component of the first velocity vector V1 is equal to or greater than the threshold value, the information processing system SYS determines that “steep steering” has been performed.

  Such “quick steering wheel” is often a dangerous driving. Therefore, the information processing system SYS determines that a dangerous driving is being performed if the “steep steering” is performed a predetermined number of times or more or a predetermined number of times per unit time. In this way, the information processing system SYS may determine whether or not a dangerous driving is being performed in a vehicle that shares data.

  FIG. 11C shows an example of processing for determining whether or not an operation called so-called “meandering” or the like that causes unstable traveling in the traveling direction of the vehicle has been performed. That is, when the X-axis component of the first velocity vector V1 is “vibrating” with respect to time or the Y-axis, the information processing system SYS determines that the state is “meandering”.

  Whether or not it is “vibrating” can be determined by analyzing by, for example, FFT (Fast Fourier Transform). Alternatively, whether or not it is “vibrating” can be determined by whether or not the amplitude (in the figure, the horizontal axis width) occurs at a constant period, that is, whether or not an extreme value occurs at a constant period. .

  Such “meandering” is often a dangerous driving. Therefore, the information processing system SYS determines that a dangerous driving is being performed when “meandering” occurs for a predetermined time or more.

  As described above, the case where it is determined as “steep steering” or “meandering” is, for example, when the driver is dozing or when some abnormality occurs in the traveling system during automatic traveling. Therefore, the information processing system SYS may determine whether or not the vehicle sharing the data is in a dangerous state as described above.

  Further, the information processing system SYS may determine a vehicle other than the host vehicle. That is, the information processing system SYS may determine whether there is a vehicle that is determined to be in the “steep steering” or “meandering” state in the vicinity of the host vehicle or the destination. In many cases, it is safer for such a vehicle to prevent the host vehicle from approaching. Therefore, the information processing system SYS may notify the driver of the position or direction of the vehicle determined to be in the “steep steering” or “meandering” state. In this way, the information processing system SYS can prevent the host vehicle from approaching the vehicle determined to be in the “steep steering” or “meandering” state.

Second Embodiment
The second embodiment is realized by hardware similar to that of the first embodiment, for example. Hereinafter, the case where 2nd Embodiment is implement | achieved by the hardware similar to 1st Embodiment is demonstrated to an example, and the overlapping description is abbreviate | omitted.

  The second embodiment differs from the first embodiment in overall configuration and overall processing. Hereinafter, the same configurations and processes as those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted. Further, the following description will be focused on differences from the first embodiment.

  FIG. 12 is a schematic diagram showing an example of the overall configuration of the information processing system according to the second embodiment of the present invention. Compared with the overall configuration shown in FIG. 1, the overall configuration according to the second embodiment is different in that data that can be acquired from the traffic light TLG is further shared, as illustrated.

  Therefore, in the traffic light TLG, data (hereinafter, referred to as “traffic ID data DID1”) indicating a numerical value, a character, a symbol, or a combination thereof that can identify each traffic light (hereinafter referred to as “traffic ID data DID1”) and data indicating the state of the traffic light TLG. (Hereinafter referred to as “signal state data DTS”) and data indicating how the state of the traffic light TLG changes with respect to time (hereinafter referred to as “first time data D1T”) are preset. And

  It is assumed that the traffic light TLG has a storage device and each data is input to the storage device in advance. Therefore, the traffic light TLG has a storage device for storing each data. The traffic light TLG includes a transmitter that transmits preset data to an external device such as a server SER when a request is received from an external device such as the vehicle CA.

  When there is an information processing device that manages and controls the traffic light TLG such as a traffic control center, each data may be stored by an information processing device provided in the traffic control center. In such a case, the information processing system SYS may acquire and share each data from the information processing device provided in the traffic control center. Hereinafter, a case where the information processing system SYS acquires data from the traffic light TLG will be described as an example.

<Example of overall processing>
FIG. 13 is a sequence diagram showing an example of overall processing by the information processing system according to the second embodiment of the present invention. Compared with the overall process according to the first embodiment, the overall process according to the second embodiment shown in the figure is different in that step S04 is not performed and step S05 and step S06 are performed. Hereinafter, the processing different from that of the first embodiment will be mainly described.

<Example of Acquisition of Traffic Signal ID Data, Signal Status Data, and First Time Data> (Step S05)
In step S05, the information processing system SYS acquires traffic signal ID data, signal state data, and first time data. Specifically, the traffic signal ID data, the signal state data, and the first time data acquired in step S05 are, for example, the following data.

  FIG. 14 is a conceptual diagram illustrating an example of signal state data, first time data, and traffic signal ID data used by the information processing system according to the second embodiment of the present invention.

  The signal state data DTS is data indicating what state the traffic light TLG is currently in as shown in the upper diagram. Hereinafter, the current state of the traffic light TLG is referred to as a “current state PRT”. Specifically, the example shown in the upper diagram is an example in which the current state PRT is in a “green light” state.

  The first time data D1T is data indicating how the traffic light TLG changes its state with respect to time. Specifically, as shown in the upper diagram, the first time data D1T indicates how many seconds the “blue light” state is, how many seconds the “red light” state is, and the like. Therefore, when there is the first time data D1T, the information processing system SYS can grasp at which timing the traffic light TLG changes state. Note that the first time data D1T is not limited to the data configuration shown in the upper diagram, and may further indicate, for example, a “yellow signal” state in the middle of a change from “blue signal” to “red signal”.

  In the following description, “green light” indicates a state in which the vehicle may travel to an intersection or the like in the direction of the front where the traffic light TLG is installed due to traffic rules. On the other hand, the “red signal” indicates a state in which the vehicle is prohibited from traveling to an intersection or the like due to traffic rules in the direction of the front where the traffic light TLG is installed. “Yellow light” indicates a state of switching from “green light” to “red light”. Basically, in the direction of the front where the traffic light TLG is installed, the vehicle travels to an intersection or the like due to traffic rules. Indicates a state in which is prohibited.

  In the example shown in the figure, the switching timing TCH is an example of timing for switching from a “blue signal” to a “red signal”. Therefore, as shown in the upper diagram, the information processing system SYS can grasp the switching timing TCH and the like when there is the first time data D1T.

  With the signal state data DTS and the first time data D1T as described above, the information processing system SYS can grasp the current state PRT and the switching timing TCH. Therefore, as shown in the upper diagram, from the difference between the latest switching timing TCH and the current state PRT, the information processing system SYS can know how long the state of the traffic light TLG changes from the present time.

  In addition, when the speed or acceleration of the vehicle is maintained and the distance to the intersection is known, the information processing system SYS can grasp the timing at which the vehicle travels to the intersection (hereinafter referred to as “travel timing TRU”). Therefore, at the progress timing TRU, the information processing system SYS can grasp whether the traffic light TLG is in a “blue light” state or a “red light” state.

  Further, when there is the traffic signal ID data DID1, the information processing system SYS can identify each traffic signal by the “traffic signal ID” indicated by the traffic signal ID data DID1, even when there are a plurality of traffic signals. For example, as shown in the figure below, it is assumed that traffic signal IDs of “TL1”, “TL2”, “TL3”, and “TL4” are set in advance for four traffic signals. In this way, for example, even if the signal status data DTS and the first time data D1T are transmitted from each traffic signal, if each data is transmitted together with the traffic signal ID data DID1, the information processing system SYS You can see which traffic signal corresponds to.

<First Determination Processing Example> (Step S06)
Returning to FIG. 13, in step S06, the information processing system SYS (see FIG. 1) performs a first determination process. Specifically, the first determination process is based on the signal state data DTS (see FIG. 14) and the first time data D1T (see FIG. 14) acquired in step S05, or the switching timing TCH (see FIG. 14) or This is a process of determining whether or not the vehicle is located in an intersection in a “red signal” state after the switching timing TCH. That is, the information processing system SYS compares, for example, the progress timing with the switching timing TCH by the first determination process.

  The information processing system SYS can calculate the speed vector of each vehicle by sharing the data in step S03. Therefore, if the current speed vector is maintained, the information processing system SYS can calculate at which timing the vehicle travels in the intersection based on the distance and speed to the intersection.

  When the overall processing as described above is performed, the information processing system SYS can obtain the following processing results, for example.

<Example of processing results>
FIG. 15 is a conceptual diagram showing a first example of the processing result of the overall processing by the information processing system according to the second embodiment of the present invention. Hereinafter, it is assumed that the host vehicle is a vehicle CA illustrated in the figure.

  For example, the driver may have difficulty in grasping the state of the first traffic light TLG1 with the naked eye or the vehicle-mounted camera under bad weather conditions such as nighttime fog, snow, or rain. On the other hand, if there is signal state data DTS (see FIG. 14) and first time data D1T (see FIG. 14), the information processing system SYS will display the current state PRT (see FIG. 14) and the switching timing TCH (see FIG. 14). Can be grasped. Therefore, the information processing system SYS can know the state of the traffic light even under conditions where it is difficult to confirm the traffic light with the driver's naked eye or the in-vehicle camera.

  For example, as shown in the figure, when the state of the first traffic light TLG1 at the destination to which the vehicle moves is known, the information processing system SYS determines whether the state of the first traffic light TLG1 is “red signal”. It is possible to notify whether the state is “green light”. In this way, the information processing system SYS can assist the driving of the driver.

  In addition, the information processing system SYS can acquire the signal state data DTS and the first time data D1T from, for example, a traffic signal other than the first traffic signal TLG1 positioned in front in the traveling direction. That is, in the illustrated example, the information processing system SYS may further acquire the signal state data DTS and the first time data D1T from the second traffic light TLG2, the third traffic light TLG3, the fourth traffic light TLG4, and the like. In addition, the information processing system SYS may acquire each data from another traffic light or a traffic signal installed in the vicinity of another intersection.

  Since the second traffic light TLG2, the third traffic light TLG3, and the fourth traffic light TLG4 are not located in front in the traveling direction, the driver often has difficulty grasping the state of each traffic light. On the other hand, if there is signal state data DTS and first time data D1T of each traffic signal, the information processing system SYS can grasp each current status PRT of each traffic signal. Therefore, the information processing system SYS can notify the driver of the states of the second traffic light TLG2, the third traffic light TLG3, and the fourth traffic light TLG4.

  FIG. 16: is a conceptual diagram which shows the 2nd example of the process result of the whole process by the information processing system which concerns on 2nd Embodiment of this invention. Hereinafter, as illustrated in the drawing, an example in which the vehicle CA serving as the own vehicle is traveling in the traveling direction and the first traffic light TLG1 is installed in front of the traveling direction will be described.

  In this example, the position in the intersection is the position indicated as “intersection section CRS” in the figure. When the state of the first traffic light TLG1 is “red light” and the vehicle CA is located in the intersection section CRS, the vehicle CA is in a dangerous and undesirable position in traffic rules. Become.

  For example, when the traveling timing TRU is as shown in the upper diagram of FIG. 14, the information processing system SYS determines that the vehicle CA is located in the intersection section CRS with the traffic light TLG being in the “red signal” state. For this reason, the information processing system SYS gives a warning or the like to the driver at the progress timing TRU as shown in the upper diagram of FIG.

  Note that the information processing system SYS may control to change the first speed vector V1 by accelerating or decelerating the vehicle CA. In this way, the information processing system SYS can prevent the vehicle CA from entering a dangerous state during the “red light”.

  Further, the vehicle CA may be located in a predetermined section before the intersection section CRS. This predetermined section is a so-called “dilemma zone” (hereinafter simply referred to as “dilemma zone DIZ”). For example, when the vehicle CA is positioned in the dilemma zone DIZ at a timing slightly before the switching timing TCH (see FIG. 14), that is, when the state of the first traffic light TLG1 is “yellow signal”, the driver Maintain acceleration or speed and quickly exit the crossing section CRS, or stop the vehicle CA and wait before the crossing section CRS until the first traffic light TLG1 becomes the next "green light" state It is easy to get lost.

  For this reason, in the dilemma zone DIZ, the driver is likely to get lost, so judgment is often delayed. Therefore, in the dilemma zone DIZ, the driver may perform an erroneous operation, or the operation may be delayed due to a delayed determination. In such a case, in the intersection section CRS, the vehicle CA is likely to cause a traffic accident and is dangerous.

  Therefore, when the information processing system SYS is in the dilemma zone DIZ, it is desirable to control the vehicle CA, warn the driver, or give advice to the driver. For example, if a warning is given in advance in the case of the dilemma zone DIZ, the driver can take time to think in advance, and therefore, an erroneous determination can be prevented. For example, in the case of the dilemma zone DIZ, if the driver is advised to “accelerate” or “decelerate”, the driver can be prevented from making an erroneous determination. Furthermore, if control for accelerating, decelerating, or maintaining the speed of the vehicle CA is determined by the information processing system SYS, traffic accidents caused by the dilemma zone DIZ can be reduced.

  The dilemma zone DIZ need not be constant. That is, the section of the dilemma zone DIZ may be changed according to the speed or acceleration of the vehicle CA. For example, when the vehicle CA is at a high speed, the dilemma zone DIZ is set widely. On the other hand, when the vehicle CA is at a low speed, the dilemma zone DIZ is set to be narrow. As described above, the dilemma zone DIZ may be set based on the first velocity vector V1.

<Third Embodiment>
The third embodiment is realized by hardware similar to that of the first embodiment, for example. Hereinafter, a case where the third embodiment is realized by hardware similar to that of the first embodiment will be described as an example, and redundant description will be omitted.

  FIG. 17 is a schematic diagram illustrating an example of the overall configuration of an information processing system according to the third embodiment of the present invention. Compared with the overall configuration according to the second embodiment, the overall configuration according to the third embodiment is different in that data that can be acquired from the railroad crossing LCR is further shared, as illustrated.

  The railroad crossing LCR is a railroad crossing alarm, a circuit breaker, a control device, and the like installed at and near a point where a railway on which a train travels and a road on which a vehicle travels intersect.

  In addition, the level crossing LCR includes numerical values, characters, symbols, or data indicating IDs (hereinafter referred to as “level crossing ID data DID2”) that can identify each level crossing and data indicating the state of the level crossing LCR (hereinafter “crossing LCR”). It is assumed that data indicating how the level crossing LCR changes with time (hereinafter referred to as “second time data D2T”) is set in advance. The railroad crossing LCR has a storage device, and each data is input to the storage device in advance. Further, the railroad crossing LCR includes a transmitter that transmits preset data to an external device such as the server SER when a request is received from an external device such as the vehicle CA.

  When there is an information processing device that manages and controls the railroad crossing LCR such as a traffic control center, each data may be stored by an information processing device provided in the traffic control center. In such a case, the information processing system SYS may acquire and share each data from the information processing device provided in the traffic control center. Hereinafter, a case where the information processing system SYS acquires data from the railroad crossing LCR will be described as an example.

<Example of overall processing>
FIG. 18 is a sequence diagram showing an example of overall processing by the information processing system according to the third embodiment of the present invention. Compared with the overall process according to the second embodiment, the overall process according to the third embodiment shown in the figure differs in the data acquired in step S05 and the process performed in step S06. In the following, different processes will be mainly described.

<Acquisition Example of Railroad Crossing ID Data, Railroad Crossing State Data, and Second Time Data> (Step S05)
In step S05, the information processing system SYS acquires crossing ID data, crossing state data, and second time data. Specifically, the crossing ID data, the crossing state data, and the second time data acquired in step S05 are, for example, the following data.

  FIG. 19 is a conceptual diagram illustrating an example of crossing state data and second time data used by the information processing system according to the third embodiment of the present invention.

  As shown in the figure, the level crossing state data DLC is data indicating what state the crossing LCR is currently in. Hereinafter, the state of the railroad crossing LCR at this time is referred to as “current state PRT”. Specifically, the illustrated example is an example in which the current state PRT is in an “open” state.

  The second time data D2T is data indicating how the railroad crossing LCR changes the state with respect to time. Specifically, as illustrated, the second time data D2T indicates how many seconds the “open” state is, how many seconds the “closed” state is, and the like. Therefore, when there is the second time data D2T, the information processing system SYS can grasp the switching timing indicating at what timing the level crossing LCR changes the state. Note that the second time data D2T is not limited to the illustrated data configuration, and may further indicate a state such as “being closed” that is a state in the middle of changing from “open” to “closed”.

  In the following description, the “open” state is a state in which the train TRI (see FIG. 20) is not approaching or the train TRI is not passing the roadway, and the vehicle may travel to the railway in accordance with traffic rules. Show. That is, the “open” state is a safe state in which there is no possibility that the vehicle and the railroad will contact each other even if the vehicle proceeds to the railroad crossing.

  On the other hand, the state of “closed” indicates a state in which the train TRI is approaching or the train TRI is passing the roadway, and the vehicle is prohibited from traveling to the railway due to traffic rules. “Closed” indicates a state in which “open” is switched to “closed”, and basically indicates a state in which the vehicle is prohibited from traveling to the railway due to traffic rules. That is, the “closed” and “closed” states are dangerous because the vehicle and the railroad may come into contact with each other when the vehicle proceeds to the railroad crossing.

  For example, in the illustrated example, the switching timing TCH is an example of timing for switching from “open” to “closed”. Therefore, as illustrated, the information processing system SYS can grasp the switching timing TCH and the like when there is the second time data D2T.

  In addition, when the speed or acceleration of the vehicle is maintained and the distance to the level crossing is known, the information processing system SYS can grasp the progress timing TRU at which the vehicle proceeds to the level crossing. Therefore, at the progress timing TRU, the information processing system SYS can grasp whether the railroad crossing is in an “open” state or a “closed” state.

  If there is a crossing state data DLC and second time data D2T as described above, the information processing system SYS can grasp the current state PRT and the switching timing TCH. Therefore, as shown in the figure, from the difference between the switching timing TCH and the current state PRT, the information processing system SYS can know how long the railroad crossing LCR has changed since the present time.

  If there is a crossing ID data DID2, the information processing system SYS can identify each crossing even if there are a plurality of crossings by the “crossing ID” indicated by the crossing ID data DID2. Therefore, even if the level crossing state data DLC and the second time data D2T are sent from each level crossing, if each data is transmitted together with the level crossing ID data DID2, the information processing system SYS will correspond to which level crossing each data. I know what to do.

<Example of Second Determination Process> (Step S06)
Returning to FIG. 18, in step S <b> 06, the information processing system SYS (see FIG. 1) performs a second determination process. Specifically, the second determination process is based on the crossing state data DLC (see FIG. 19) and the second time data D2T (see FIG. 19) acquired in step S05, or the switching timing TCH (see FIG. 19) or This is a process for determining whether or not the vehicle is located in a section where the railway and the roadway cross in the “closed” state after the switching timing TCH. That is, the information processing system SYS compares the progress timing with the switching timing TCH by the second determination process.

  The information processing system SYS can calculate the speed vector of each vehicle by sharing the data in step S03. Therefore, assuming that the current speed vector is maintained, the information processing system SYS determines that the vehicle is in a section where the railway and the roadway intersect based on the distance and speed to the section where the railway and the roadway intersect. You can see the progress timing.

  When the overall processing as described above is performed, the information processing system SYS can obtain the following processing results, for example.

<Example of processing results>
FIG. 20 is a conceptual diagram illustrating a processing result example of the overall processing by the information processing system according to the third embodiment of the present invention. Hereinafter, it is assumed that the host vehicle is a vehicle CA illustrated in the figure.

  Hereinafter, as illustrated in the drawing, an example in which a vehicle crossing LCR is installed at a destination to which the vehicle CA moves is assumed that the vehicle CA that is the host vehicle is traveling in the traveling direction.

  In this example, a position where there is a railroad crossing, that is, a position that is a section where a railway and a roadway intersect is a position indicated as “intersection section CRS” in the drawing. When the railroad crossing LCR is in the “closed” state and the vehicle CA is located in the intersection section CRS, the vehicle CA is in a dangerous and undesirable position in terms of traffic rules.

  For example, when the traveling timing TRU is as shown in FIG. 19, the information processing system SYS determines that the vehicle CA is located in the intersection section CRS with the level crossing LCR in the “closed” state. For this reason, the information processing system SYS gives a warning or the like to the driver at the progress timing TRU as shown in FIG.

  Note that, similarly to the second embodiment, the information processing system SYS may perform control so as to change the first speed vector V1 by accelerating or decelerating the vehicle CA. In this way, the information processing system SYS can avoid the vehicle CA from entering a dangerous state in the “closed” state.

  Further, particularly in bad weather, the state of the railroad crossing LCR may be difficult to recognize with the naked eye or an in-vehicle camera. On the other hand, the information processing system SYS according to the third embodiment can more reliably grasp the state of the railroad crossing LCR even in bad weather based on the railroad crossing state data DLC and the second time data D2T. .

  Similarly to the second embodiment, a predetermined section that is in front of the intersection section CRS, that is, a dilemma zone DIZ may be considered. For example, when the vehicle CA is located in the dilemma zone DIZ, which is a timing slightly before the switching timing TCH (see FIG. 19), that is, a scene where the level crossing LCR is changing from “open” to “closed”. The driver accelerates or maintains the speed of the vehicle CA and immediately exits the crossing section CRS, or stops the vehicle CA and crosses the section CRS until the level crossing LCR becomes the next “open” state. It's easy to get lost in front of you.

  Therefore, when the information processing system SYS is in the dilemma zone DIZ, it is desirable to control the vehicle CA, warn the driver, or give advice to the driver. For example, if a warning is given in advance in the case of the dilemma zone DIZ, the driver can take time to think in advance, and therefore, an erroneous determination can be prevented. For example, in the case of the dilemma zone DIZ, if the driver is advised to “accelerate” or “decelerate”, the driver can be prevented from making an erroneous determination. Furthermore, if control for accelerating, decelerating, or maintaining the speed of the vehicle CA is determined by the information processing system SYS, traffic accidents caused by the dilemma zone DIZ can be reduced.

<Functional configuration example>
FIG. 21 is a functional block diagram illustrating a functional configuration example of an information processing system according to an embodiment of the present invention. For example, as illustrated, the information processing system SYS has a functional configuration including a first reception unit FRE1, a second reception unit FRE2, a data generation unit FDM, a time acquisition unit FTM, and a data sharing unit FDS. is there. As illustrated, the information processing system SYS includes a calculation unit FCA, a collision determination unit FCJ, a signal state data acquisition unit FDT, a first time data acquisition unit F1T, a first determination unit F1J, and a railroad crossing state. It is desirable that the functional configuration further includes a data acquisition unit FDL, a second time data acquisition unit F2T, and a second determination unit F2J. Hereinafter, a functional configuration as illustrated will be described as an example.

  The first reception unit FRE1 performs a first reception procedure for receiving a first satellite signal transmitted from a first satellite such as the GPS satellite SA1 that can specify the position of each moving body. For example, the first receiving unit FRE1 is realized by the first antenna AT1 (see FIG. 2), the first processing ICIC1 (see FIG. 2), and the like.

  The second reception unit FRE2 performs a second reception procedure for receiving a second satellite signal transmitted from a second satellite such as the quasi-zenith satellite SA2 that can identify the position of each moving body. For example, the second receiving unit FRE2 is realized by the second antenna AT2 (see FIG. 2), the second processing ICIC2 (see FIG. 2), and the like.

  The time acquisition unit FTM performs a time acquisition procedure for acquiring the time when the first reception unit FRE1 receives the first satellite signal and the second reception unit FRE2 receives the second satellite signal. For example, the time acquisition unit FTM is realized by an arithmetic device CLM (see FIG. 2) or the like. The time is stored and notified by, for example, time data DTM (see FIG. 1).

  The data generation unit FDM receives position data DPOS (see FIG. 1) indicating the position of the moving body based on the first satellite signal received by the first reception unit FRE1 and the second satellite signal received by the second reception unit FRE2. Perform the data generation procedure to be generated. For example, the data generation unit FDM is realized by an arithmetic device CLM (see FIG. 2) or the like.

  The data sharing unit FDS is a data sharing unit that shares position data DPOS and the like acquired from each mobile unit based on the position data DPOS generated by the data generation unit FDM and the time data DTM generated by the time acquisition unit FTM. Do the procedure. For example, the data sharing unit FDS is realized by a network I / FNIF (see FIG. 3), a storage device MEM (see FIG. 3), and the like.

  The calculation unit FCA calculates the speed or acceleration at which the moving body moves based on the time data DTM generated by the time acquisition unit FTM and the position data DPOS shared by the data sharing unit FDS. For example, the velocity or acceleration calculated by the calculation unit FCA is indicated by a velocity vector, an acceleration vector, or the like. The calculation unit FCA is realized by, for example, a CPU CLT (see FIG. 3).

  The collision determination unit FCJ performs a collision determination process for determining whether or not each mobile body collides based on the speed or acceleration calculated by the calculation unit FCA. For example, the collision determination unit FCJ is realized by, for example, a CPU CLT (see FIG. 3).

  The signal state data acquisition unit FDT acquires signal state data DTS indicating the state of the traffic light TLG installed at the intersection or in the vicinity of the intersection when there is an intersection at the destination to which the moving body moves. For example, the signal state data acquisition unit FDT is realized by a network I / FNIF (see FIG. 3), a storage device MEM (see FIG. 3), and the like.

  The first time data acquisition unit F1T acquires first time data D1T indicating a change in the traffic light TLG with respect to time. For example, the first time data acquisition unit F1T is realized by a network I / FNIF (see FIG. 3), a storage device MEM (see FIG. 3), and the like.

  For example, the first determination unit F1J performs the determination as illustrated in FIG. 16 based on the signal state data DTS acquired by the signal state data acquisition unit FDT and the first time data D1T acquired by the first time data acquisition unit F1T. Do. The first determination unit F1J is realized by, for example, a CPU CLT (see FIG. 3).

  The level crossing state data acquisition unit FDL acquires level crossing state data DLC indicating the state of the level crossing LCR when there is a level crossing at the destination to which the moving body moves. For example, the crossing state data acquisition unit FDL is realized by a network I / FNIF (see FIG. 3), a storage device MEM (see FIG. 3), and the like.

  The second time data acquisition unit F2T acquires second time data D2T indicating a change in the crossing LCR with respect to time. For example, the second time data acquisition unit F2T is realized by a network I / FNIF (see FIG. 3), a storage device MEM (see FIG. 3), and the like.

  For example, the second determination unit F2J performs the determination as illustrated in FIG. 20 based on the crossing state data DLC acquired by the crossing state data acquisition unit FDL and the second time data D2T acquired by the second time data acquisition unit F2T. Do. The second determination unit F2J is realized by, for example, a CPU CLT (see FIG. 3).

<Modification>
The information processing system SYS may be applied to a crossing LCR in which a so-called breaker is not installed. The vehicle CA can acquire information indicating whether or not the train TRI (see FIG. 20) is approaching. If there is such information, if the train TRI approaches and the vehicle CA is in a dangerous state, the information processing system SYS performs, for example, a warning or control as shown in FIG.

  Furthermore, information that the train TRI is approaching the vehicle CA may be acquired. For example, it is assumed that there is a state where the vehicle CA has stopped due to a failure or the like in the railroad crossing LCR (in the example shown in FIG. 20, the intersection section CRS). In such a case, the information processing system SYS issues a warning or the like to the train TRI. Note that the information processing system SYS may perform control such as stopping the train TRI based on information on the vehicle CA.

  Information is transmitted and received via a traffic control center or the like using a network, for example.

  In particular, in a railroad crossing LCR in which no breaker is installed, the vehicle CA and the train TRI are in an environment in which it is difficult to check the mutual state. Therefore, as described above, in the case of a dangerous state, the information processing system SYS notifies the danger state by a warning or the like. In this way, the information processing system SYS can further ensure the safety of the moving object including the railway.

<Summary>
First, the information processing system SYS can generate the position data DPOS by the first reception unit FRE1, the second reception unit FRE2, and the data generation unit FDM. In particular, when the second receiving unit FRE2 receives the second satellite signal from the quasi-zenith satellite, the position data DPOS can indicate the position of the moving body with higher accuracy than when the GPS satellite signal or the like is used. In addition, when the second satellite signal is used, an effect as shown in FIG. 5 is produced. Furthermore, using satellite signals, the information processing system SYS shows the position, etc. with high accuracy even if there is a slip, etc., based on the position, speed, and acceleration calculated based on the steering angle or rotation speed of the tire. Can do.

  Specifically, for example, it is assumed that the moving body is moving at a speed of 60 kilometers per hour (that is, about 16.7 meters per second). In this case, when the second satellite signal is used, the information processing system SYS can make the speed error about 0.1% to 0.2%. Further, when the moving body is moving at a speed of 10 km / h, the information processing system SYS can make the speed error about 0.6% to 1.2%.

  Next, the information processing system SYS can acquire the time when each position data DPOS was generated by the time acquisition unit FTM.

  Then, the information processing system SYS shares the position data DPOS of each moving body by the data generation unit FDM. In this way, when the position data DPOS of each moving body is shared, the information processing system SYS can grasp the various states because the position of each vehicle is known.

  For example, the information processing system SYS can calculate the speed or acceleration of the moving object by the calculation unit FCA. Specifically, when there is position data DPOS and time data DTM, the information processing system SYS can calculate a change in position per predetermined time or unit time. In this way, the information processing system SYS can calculate a velocity vector, an acceleration vector, or the like. Therefore, the information processing system SYS can determine whether or not each vehicle has a possibility of collision as illustrated in FIG. 6 by the collision determination unit FCJ.

  In addition, as shown in FIG. 16, when there is an intersection at the destination to which the moving body moves, the information processing system SYS uses the signal state data acquisition unit FDT and the first time data acquisition unit F1T to Signal state data DTS, first time data D1T, and the like are acquired. In this way, the information processing system SYS can grasp the switching timing TCH as shown in FIG. Next, in the information processing system SYS, the first determination unit F1J makes a progress in which the moving body proceeds to the intersection section CRS at the timing when the traffic light is in the “red light” state, for example, as shown in FIG. It is determined whether it is timing.

  In some cases, the moving body may be in a dangerous state when it is in the “red light” state, or at the progress timing when the mobile body travels in the crossing section CRS or in the dilemma zone DIZ. Therefore, when the first determination process is performed by the first determination unit F1J, the information processing system SYS can grasp whether or not the moving body is in a dangerous state.

  Furthermore, as shown in FIG. 20, when there is a railroad crossing at the destination where the moving body moves, the information processing system SYS uses the railroad crossing state data acquisition unit FDL and the second time data acquisition unit F2T to Data DLC, second time data D2T, and the like are acquired. In this way, the information processing system SYS can grasp the switching timing TCH as shown in FIG. Next, in the information processing system SYS, the second determination unit F2J, for example, as shown in FIG. It is determined whether or not.

  In some cases, the moving body may be in a dangerous state when it is in the “closed” state, or at a progress timing at which the mobile body proceeds to the intersection section CRS, or at a progress timing in the dilemma zone DIZ. Therefore, when the second determination process is performed by the second determination unit F2J, the information processing system SYS can grasp whether or not the moving body is in a dangerous state.

<Other embodiments>
The position data may be data indicating other than the position. For example, the position data may indicate a velocity obtained by differentiating the position once or an acceleration obtained by differentiating the position twice. In addition, the information processing apparatus that has acquired the position data may calculate the position, speed, acceleration, or a combination thereof by differentiating or integrating the speed or acceleration.

  Further, the second satellite may be a satellite other than “MICHIBIKI”. For example, the second satellite may be a satellite capable of positioning with higher accuracy for each region. Specifically, satellites described in “Trends of Satellite Positioning System in the World, Journal of Japan Aerospace Society Vol.61 No.6 20133.6 pp.201-206 Kono” may be used. In addition, there are cases where the GPS satellite is restricted to lower accuracy depending on the purpose of use. An accurate satellite signal from which such a restriction is removed may be used as the second satellite signal.

  In addition, each function may exist in a server, for example. For example, a functional configuration in which the server generates position data and the server acquires time may be used.

  In addition, a mobile body is not restricted to a vehicle, Other types may be sufficient. A plurality of types of mobile objects may be mixed. Moreover, the mobile body should just be 2 or more.

  Furthermore, the moving body may perform so-called automatic driving or the like. That is, the moving body may be of a type that does not always require an operation by the driver. For example, the moving body may be a vehicle having a vehicle-mounted camera or the like, and when the destination is set, the vehicle may move to the destination without any operation by the driver.

  Further, the server may be composed of two or more information processing apparatuses connected in a wired or wireless manner. On the other hand, the server may be integrated with the in-vehicle device. That is, the whole structure by which the vehicle-mounted apparatus mounted in any vehicle among several vehicles becomes a server may be sufficient.

  Furthermore, the first to third embodiments may be implemented by combining any of the embodiments.

  In addition, each process may be realized by a program for executing an information processing method on a computer such as an information processing apparatus or an information processing system. The program can be distributed via a computer-readable recording medium or a network. Note that the recording medium is, for example, an optical disc, a flash memory, or an auxiliary storage device.

  Further, the processes described above may not be performed in the order shown. That is, each process may be performed at a timing other than the timing shown in the drawing. Each process may be performed redundantly, distributed, parallel, virtualized, or a combination thereof.

  As mentioned above, although the preferable Example of this invention was explained in full detail, this invention is not limited to the specific embodiment which concerns. Therefore, various modifications or changes can be made within the scope of the gist of the present invention described in the claims.

SYS Information processing system CA Vehicle SA1 GPS satellite SA2 Quasi-zenith satellite SIG1 GPS signal SIG2 Quasi-zenith satellite signal SER Server TLG Traffic light LCR Railroad crossing DPOS Time data DTM Time data DTS Signal state data DLC Railroad crossing state data D1T First time data D2T Second time Data NW network V1 first speed vector V2 second speed vector TCH switching timing TRU progress timing

Claims (11)

An information processing system having at least a plurality of mobile objects and at least one information processing apparatus that communicates with the mobile objects,
A first receiver for receiving a first satellite signal transmitted from a first satellite, wherein the position of each of the mobile bodies can be specified;
A second receiving unit capable of specifying the position and receiving a second satellite signal transmitted from a second satellite other than the first satellite;
A time acquisition unit for acquiring a time at which the first satellite signal and the second satellite signal are received;
A data generation unit for generating position data indicating the position based on the first satellite signal and the second satellite signal;
An information processing system including a data sharing unit that at least shares the position data based on the position data and the time. A calculation unit for calculating a speed or acceleration at which the moving body moves based on the time and the position data;
The information processing system according to claim 1, further comprising: a collision determination unit that determines whether or not the moving body collides based on the speed or the acceleration.   3. The information processing according to claim 2, wherein when the velocity vector indicating the velocity, the acceleration vector indicating the acceleration, or an extension line of the velocity vector or the acceleration vector intersects, the collision determination unit determines that the moving body collides. system.   The information processing system according to claim 1, wherein the second satellite signal is a signal from a quasi-zenith satellite. When there is an intersection at the destination to which the moving body moves, a signal state data acquisition unit that acquires signal state data indicating a state of a traffic light installed at or near the intersection; and
A first time data acquisition unit for acquiring first time data indicating a change in the state of the traffic light with respect to time;
A first determination unit configured to make a determination based on a switching timing at which the state of the traffic light changes based on the signal state data and the first time data and a progress timing at which the moving body travels to the intersection; The information processing system according to any one of claims 1 to 4. The first determination unit includes:
The information processing system according to claim 5, wherein warning, advice, or the moving body is controlled based on the switching timing and the progress timing. When there is a railroad crossing at the destination to which the moving body moves, a railroad crossing state data acquisition unit that acquires railroad crossing state data indicating the state of the railroad crossing,
A second time data acquisition unit for acquiring second time data indicating a change in the state of the railroad crossing with respect to time;
A second determination unit configured to make a determination based on a switching timing at which the state of the crossing changes based on the crossing state data and the second time data, and a progress timing at which the moving body proceeds to the crossing; The information processing system according to any one of claims 1 to 6. The second determination unit includes
The information processing system according to claim 7, wherein warning, advice, or the moving body is controlled based on the switching timing and the progress timing. An information processing apparatus that communicates with a plurality of mobile objects,
Based on a first satellite signal transmitted from a first satellite and a second satellite signal transmitted from a second satellite other than the first satellite, the position of each of the mobile bodies can be identified; A data generation unit for generating position data indicating the position;
A time acquisition unit for acquiring a time at which the first satellite signal and the second satellite signal are received;
An information processing apparatus including a data sharing unit that shares at least the position data based on the position data and the time. An information processing method performed by an information processing system having at least a plurality of mobile objects and at least one information processing apparatus that communicates with the mobile objects,
A first reception procedure for receiving a first satellite signal transmitted from a first satellite, wherein the information processing system is capable of specifying a position of each of the moving objects;
A second reception procedure in which the information processing system can identify the position and receives a second satellite signal transmitted from a second satellite other than the first satellite;
A time acquisition procedure for acquiring a time at which the information processing system receives the first satellite signal and the second satellite signal;
A data generation procedure in which the information processing system generates position data indicating the position based on the first satellite signal and the second satellite signal;
An information processing method, wherein the information processing system includes a data sharing procedure for sharing at least the position data based on the position data and the time. A program for causing a computer having at least a plurality of mobile objects and at least one information processing apparatus that communicates with the mobile objects to execute an information processing method,
A first receiving procedure for receiving a first satellite signal transmitted from a first satellite, wherein the computer is capable of specifying a position of each of the moving objects;
A second receiving procedure in which the computer can identify the position and receives a second satellite signal transmitted from a second satellite other than the first satellite;
A time acquisition procedure for acquiring a time at which the computer receives the first satellite signal and the second satellite signal;
A data generation procedure in which the computer generates position data indicating the position based on the first satellite signal and the second satellite signal;
A program for causing the computer to execute at least a data sharing procedure for sharing the position data based on the position data and the time.

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