JP2018136917A - Information processing apparatus, information processing method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information processing apparatus that appropriately supports traveling of a moving object even in a situation where sensing of a course by a sensor of the moving object such as a vehicle cannot be appropriately performed.SOLUTION: An information processing apparatus 100 A of a vehicle 1 A is comprised of: an acquiring unit 110 A that acquires a sensing result from a sensor that senses a course; a communication unit 120 A that receives a sensing result of the course of the vehicle 1 A from an external device (for example, a vehicle 1B); a determination unit 130 that determines whether or not a situation of the vehicle 1 A at a specific time point is a first situation where a sensing result acquired from the sensor satisfies a predetermined condition; a generation unit 140 for generating first information for controlling a movement of the vehicle 1 A based on the sensing result acquired from the sensor when the determination unit 130 determines that the first situation is established, and for generating first information based on a sensing result received from an external device when the determination unit 130 determines that the first situation is not established; and an output unit 150 for outputting the first information.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a technique for supporting movement of a moving body based on a sensing result of a course of the moving body by a sensor.

  The automobile includes, for example, devices such as various sensors, various actuators, and various electronic control units (ECUs). Various ECUs connected to actuators, in-vehicle sensors, and the like are connected to each other via an in-vehicle network, and perform various types of information processing (data input / output, computation, etc.). Various ECUs function as a vehicle control device that controls a vehicle such as an automobile, for example, or function as an information processing device that performs information processing necessary for the control by exchanging data via an in-vehicle network and cooperating with each other. obtain. For example, a plurality of ECUs realize respective functions of an advanced driver assistance system (ADAS: Advanced Driver Assistance System) (for example, a parking assistance function, a lane maintenance assistance function, a collision avoidance assistance function, and the like) by cooperation. For example, in the collision avoidance support function, an ECU that is connected to a vehicle-mounted sensor and detects obstacles on the course, an ECU that functions as an information processing device that determines the possibility of collision with an obstacle and issues an emergency brake control instruction, ECU etc. which work as a vehicle control device which controls a brake according to a control instruction of emergency brake cooperate.

  Advanced driver assistance systems, etc., detect obstacles using the results of sensing (observation, etc.) by in-vehicle sensors (for example, radar, image sensors, etc.) and support functions for driving the vehicle (collision avoidance support function). Etc.), for example, when the result of sensing by the in-vehicle sensor has low accuracy or is incorrect, it is not possible to appropriately perform driving support of the vehicle. For example, in a system that supports driving by detecting the size, position, etc. of an obstacle in front of the vehicle by image processing based on an image generated by an image sensor that captures the front of the vehicle in the traveling direction, the vehicle enters the tunnel Immediately after that, obstacles may not be detected properly. In situations where the inside of the tunnel is extremely dark compared to the brightness of the outside of the tunnel (for example, in the daytime in fine weather), when the vehicle enters the tunnel at a somewhat high speed, the image sensor installed in the vehicle has an automatic sensitivity adjustment function. However, the sensitivity cannot be adjusted in time, and an unclear image is generated immediately after entering the tunnel. As a result, the obstacle cannot be detected properly.

  Conventionally, in a traveling safety device that avoids contact between the host vehicle and a front obstacle, control logic is used so that risk avoidance measures are taken earlier than the other times during a predetermined time immediately after the host vehicle enters the tunnel. Is known (see Patent Document 1). This is a technique for performing risk avoidance measures at an early stage because the driver's vision cannot cope with a sudden change in brightness immediately after the vehicle enters the tunnel and the driving operation becomes dull.

JP-A-6-44499

  The technique of Patent Document 1 deals with an approach to an obstacle at an early stage, but even if this technique is used, if the accuracy or accuracy of sensing by the in-vehicle sensor is reduced, it is appropriate. Cannot cope with.

  Therefore, the present disclosure is intended to appropriately support movement (running) of a moving body even in a situation where a sensor (for example, a vehicle-mounted sensor) mounted on the moving body cannot properly sense the course of the moving body. An information processing apparatus is provided. The information processing apparatus that supports the traveling of the moving body is, for example, an information processing apparatus mounted on the moving body (vehicle or the like) or an information processing mounted on a moving body (another vehicle or the like) different from the moving body. Device. In addition, the present disclosure provides information processing for appropriately performing control related to traveling of a moving object even in a situation where a sensor mounted on the moving object such as a vehicle cannot appropriately sense the course of the moving object. A method and a program for causing a computer (for example, an in-vehicle computer such as an ECU) mounted on a moving body to perform the method and information processing thereof are provided.

  In order to solve the above-described problem, an information processing apparatus according to an aspect of the present invention is an information processing apparatus mounted on a moving body, and sensing is performed from a sensor mounted on the moving body and sensing the course of the moving body. An acquisition unit that acquires a result, a communication unit that receives a sensing result about the course of the moving body from an external device outside the moving body, and a sensing result in which the situation of the moving body at a specific time is acquired from the sensor A determination unit that determines whether or not the first condition satisfies a predetermined condition, and the sensor when the determination unit determines that the state of the moving body at the specific time is the first situation Based on the sensing result acquired from the first information, the first information for controlling the movement of the moving body is generated, and the determination unit determines that the state of the moving body at the specific time point is not the first state. If provided with a generating unit for generating the first information based on the sensing result received from the external device, and an output unit for outputting the first information.

  In order to solve the above-described problem, an information processing method according to one aspect of the present invention is an information processing method for supporting movement of a moving object in a moving object, and a sensor that senses a course of the moving object. An acquisition step of acquiring a sensing result from the receiver, a receiving step of receiving a sensing result about a course of the moving object from an external device outside the moving object, and a situation of the moving object at a specific time point are acquired from the sensor. When the sensing result is a first situation that satisfies a predetermined condition, the first information for controlling the movement of the moving body is generated based on the sensing result acquired from the sensor, and the first information at the specific time point is generated. A generating step of generating the first information based on a sensing result received from the external device when the situation of the moving object is not the first situation; No.

  In order to solve the above problem, a program according to an aspect of the present invention is a program for causing a computer mounted on a mobile body to perform predetermined information processing, and the predetermined information processing is a course of the mobile body. An acquisition step of acquiring a sensing result from a sensor that senses a signal, a receiving step of receiving a sensing result about a path of the moving body from an external device outside the moving body, and a situation of the moving body at a specific time point If the sensing result acquired from the first condition satisfies the predetermined condition, first information for controlling the movement of the moving body is generated based on the sensing result acquired from the sensor, and the identification If the status of the mobile object at the time of is not the first status, the first information is based on the sensing result received from the external device. And a generation step of generating.

  In order to solve the above-described problem, an information processing apparatus according to an aspect of the present invention is an information processing apparatus mounted on a first moving body, and includes the first sensor or the first movement in the first moving body. An acquisition unit that acquires a sensing result about the outside of the first moving body from a second sensor around the body, and a situation at a specific time point of the second moving body are mounted on the second moving body and the first A determination unit that determines whether a sensing result acquired from a third sensor that senses the path of the two moving bodies is a first situation that satisfies a predetermined condition; and a situation of the second moving body at the specific time point A communication unit that transmits a sensing result acquired from the first sensor or the second sensor acquired by the acquisition unit in response to a determination that the situation is not one.

  ADVANTAGE OF THE INVENTION According to this invention, the driving | running | working of the vehicle can be appropriately supported also in the condition where the course of the vehicle of a vehicle cannot be appropriately sensed by a vehicle-mounted sensor, for example.

It is a figure which shows the vehicle etc. which are drive | working near the entrance / exit of a tunnel. It is a lineblock diagram of each vehicle carrying an information processor which communicates mutually. It is a figure which shows the example of the image imaged with the image sensor mounted in the vehicle which approachs a tunnel. 4 is a flowchart illustrating an example of information processing for driving support of the vehicle by the information processing device mounted on the vehicle according to Embodiment 1; 6 is a flowchart illustrating an example of information processing for driving support for a vehicle according to a second embodiment. 12 is a flowchart illustrating an example of information processing for driving support for a vehicle according to a third embodiment. It is a flowchart which shows an example of the process for the driving assistance of the other vehicle by the information processing apparatus mounted in the vehicle.

  In order to support driving of a vehicle, driving support information for supporting driving of the vehicle (obstacles on the route, on the basis of the sensing result of the vehicle's route by a sensor (vehicle-mounted sensor) mounted on the vehicle) Information related to road surface conditions, etc.) and presenting the driving support information to a vehicle user (driver) by display on the display or the like, or using the driving support information as a control signal as a vehicle control device ( It is useful to transmit to an ECU, etc. that controls the engine, brakes, steering, etc. However, in a situation where the accuracy of sensing the course of the vehicle by the in-vehicle sensor is reduced, obstacles on the path (for example, pedestrians, other vehicles, falling rocks, falling objects from the vehicles, etc.), road surface conditions (for example, unevenness) , Puddles, frozen parts), fires on the course, etc. cannot be detected properly, and the vehicle cannot be supported properly. For example, a vehicle equipped with an advanced driver support system that detects an obstacle or the like by image processing based on an image generated by an image sensor (camera) that captures a route ahead of the vehicle, etc., at daytime in fine weather at 60 km / h. When entering the tunnel, the image suddenly becomes dark immediately after entering the tunnel, so that the sensitivity adjustment of the image sensor is delayed and an image with poor image quality is temporarily generated. Immediately after the vehicle exits the tunnel, the brightness suddenly increases, so the image sensor temporarily generates an image with poor image quality. Therefore, when the quality of the sensing results from the in-vehicle sensor deteriorates, such as when passing near the entrance of a tunnel, an information processing method such as a control method for receiving the sensing results from the outside of the vehicle and using it for driving support of the vehicle is conceived. did.

  In the information processing apparatus and the like according to one aspect of the present invention, the method determines whether a sensing result that satisfies a predetermined criterion is acquired from a vehicle-mounted sensor that senses the course of the vehicle (normal situation). If not, a sensing result about the course of the vehicle is received from outside the vehicle (for example, an oncoming vehicle, a preceding vehicle, a roadside machine, etc.) and used for driving support. Thereby, when the quality of the sensing result of the vehicle-mounted sensor such as the entrance and exit of the tunnel is lowered, it is possible to reduce the possibility of an accident due to generation of inappropriate driving support information. Here, the vehicle driving support is mainly described. However, when the quality of the sensing result by the in-vehicle sensor is deteriorated, the information processing method for receiving the sensing result from the outside of the vehicle and using it for the driving support of the vehicle is other than the vehicle. The present invention can also be applied to a moving body (for example, a moving robot).

  An information processing apparatus according to an aspect of the present invention is an information processing apparatus mounted on a moving body, and an acquisition unit that acquires a sensing result from a sensor that is mounted on the moving body and senses a route of the moving body; A communication unit that receives a sensing result about the path of the moving body from an external device outside the moving body, and a state of the moving body at a specific point in time, a sensing result acquired from the sensor satisfies a first condition Based on a sensing result acquired from the sensor when the determination unit determines whether or not the situation is the situation, and the determination unit determines that the situation of the moving body at the specific time is the first situation Generating the first information for controlling the movement of the moving body, and if the determination unit determines that the state of the moving body at the specific time point is not the first state, Comprising a generator configured to generate the first information based on the received sensing result, and an output unit for outputting the first information. Predetermined conditions are criteria for distinguishing whether or not the sensing result is information that appropriately represents the actual state of the sensing target, and is defined so that it is satisfied if it is appropriate and is not satisfied if it is not appropriate. Just do it. The determination by the determination unit may be made based on a sensing result acquired by the acquisition unit (for example, by analysis of an image as a sensing result by an in-vehicle image sensor when the moving body is a vehicle) or other methods (for example, It may be presumed that the vehicle passes through the vicinity of the entrance / exit of the tunnel where the sensing accuracy of the image sensor temporarily decreases due to a sudden change in brightness based on positioning information, map information, and the like. As a result, in the first situation, that is, in the normal situation, the sensing result of the sensor such as the vehicle-mounted sensor is appropriate, so that appropriate movement support can be performed using the sensing result. For example, appropriate movement support can be performed by using an external sensing result instead of or in preference to a sensor sensing result.

  The sensor may include an image sensor, and the sensing result may include image information.

  In addition, the determination of the first situation may include determining whether the moving body moves between two consecutive regions where the difference in brightness within each region is greater than or equal to a predetermined level. For example, determining whether the moving body moves between the two areas is based on the measurement result of the position of the moving body and position information indicating the location of the two areas. It may include determining whether the boundary between the two regions is approached.

  As a result, it can be determined relatively easily using the position whether or not the moving body is traveling in a portion with a large difference in brightness, such as near the entrance of a tunnel. Accordingly, information (sensing result) that should be the basis for generating the first information can be appropriately selected.

  Alternatively, determining whether the moving body moves between the two areas may include determining whether a boundary between the two areas is reflected in an image indicated by image information acquired from the image sensor. .

  Thereby, it can be determined using the image sensor which is an existing structure that a moving body moves the boundary of 2 area | regions. Therefore, an increase in cost can be suppressed. Further, when the moving body moves between two consecutive areas where the brightness difference in each area is larger than a predetermined level (for example, when the moving body moves between the inner and outer areas of the tunnel), the information processing of the moving body is performed. Since the device generates the first information based on the sensing result received from the external device even if the sensor sensing cannot be performed properly temporarily, appropriate movement support is possible. That is, since the information processing apparatus generates the first information based on the sensing result of the external device even if the state of the moving body is not the first state, appropriate movement support can be performed.

  For example, the determination of the first situation may include determining whether a sensing result that satisfies the predetermined condition is acquired from the image sensor. Thereby, since it determines based on the actual sensing result by an image sensor, it can distinguish appropriately whether the information received from the external device should be used for the production | generation of 1st information.

  In addition, for example, the determination of the first situation may include a comparison between a result of statistical processing on a pixel value of an image generated as a sensing result by the image sensor and a threshold value. Thereby, it can be distinguished whether the image imaged with the image sensor mounted in the moving body has sufficient quality (accuracy, etc.) to detect an obstacle or the like on the path of the moving body.

  Further, for example, the predetermined condition may not be satisfied when a predetermined number of pixel values of an image generated by the image sensor fall within a predetermined range, but may be satisfied when the predetermined value exceeds the predetermined range. As a result, for example, when an image having sufficient resolution cannot be obtained by imaging, the state of the moving body is not the first situation and is different from the first situation (for example, received from an external device). The first information is generated based on the sensing result. For this reason, appropriate movement support according to the situation becomes possible.

  In addition, for example, when the determination unit determines that the state of the moving body at the specific time point is not the first state, the generation unit does not based on the sensing result acquired from the sensor. Information may be generated. Thereby, if the state of the moving body at a specific time is the first situation (for example, a normal situation), the moving body is supported based on the sensing result of the sensor. If the situation is not the first situation, the sensing of the sensor is performed. Since the result is not used for the generation of the first information, it is possible to prevent the occurrence of an adverse effect due to an erroneous detection of an obstacle on the route, a road surface state, or the like based on the sensing result of the sensor in the case of not being in the first situation, or a detection omission.

  In addition, for example, when the determination unit determines that the state of the moving body at the specific time point is not the first state, the generation unit is configured to detect the sensor based on a sensing result acquired from the sensor. It is good also as suppressing the influence which the said sensing result from gives to said 1st information rather than the case where the said determination part determines that the condition of the said mobile body at the said specific time is the said 1st condition. Thereby, when the situation of the moving body at a specific time point is not the first situation (for example, the normal situation), the first information is generated by using the sensing result of the sensor and the sensing result received from the external device in combination. Further, the occurrence of adverse effects such as obstacles on the course, erroneous detection of road surface conditions, omission of detection, and the like can be reduced.

  In addition, for example, the communication unit may cause the path of the moving body to move to the external device before or during the movement of the moving body between two consecutive areas in which the brightness difference in each area is equal to or greater than a predetermined level. It is good also as transmitting the transmission request | requirement of the sensing result about. Thereby, the information processing apparatus can give an opportunity to transmit the sensing result to the external apparatus as necessary. For this reason, the external device does not have to repeat transmission of the sensing result at all times, and does not have to have a configuration for determining the timing to be transmitted independently.

  An information processing method according to an aspect of the present invention is an information processing method for supporting movement of the moving object in a moving object, and obtains a sensing result from a sensor that senses the path of the moving object. Receiving a sensing result about the course of the moving body from an external device outside the moving body, and the state of the moving body at a specific point in time, the sensing result acquired from the sensor satisfies a predetermined condition In the case of the first situation, first information for controlling the movement of the moving body is generated based on the sensing result acquired from the sensor, and the situation of the moving body at the specific time point is the first state. If the situation is not one, the generation step includes generating the first information based on a sensing result received from the external device. Thus, in the first situation where the sensing result of the sensor satisfies the predetermined condition, that is, the appropriate situation, the sensing result is used, and in the situation not satisfying the predetermined condition, that is, the inappropriate situation, the sensing result received from the outside is used. As a result, it is possible to appropriately support the movement of the moving object.

  A program according to one embodiment of the present invention is a program for causing a computer mounted on a moving body to perform predetermined information processing, and the predetermined information processing is performed by sensing a result of a sensor that senses the course of the moving body. A receiving step for receiving a sensing result about the course of the moving body from an external device outside the moving body, and a sensing result obtained from the sensor for the status of the moving body at a specific time point. If the first situation satisfies a predetermined condition, first information for controlling movement of the moving body is generated based on a sensing result acquired from the sensor, and the moving body at the specific time point is generated. A generation step of generating the first information based on a sensing result received from the external device when the situation is not the first situation; Including. By installing this program in a computer or the like (an apparatus having a processor) mounted on the moving body, the processor (microprocessor) executes the program, thereby realizing appropriate movement support to the moving body. .

  An information processing apparatus according to an aspect of the present invention is an information processing apparatus mounted on a first moving body, and is a first sensor in the first moving body or a second sensor around the first moving body. An acquisition unit for acquiring a sensing result about the outside of the first moving body, and a situation at a specific time point of the second moving body is mounted on the second moving body to sense the course of the second moving body A determination unit that determines whether a sensing result acquired from the third sensor is a first condition that satisfies a predetermined condition, and a condition of the second moving body at the specific time point is determined not to be the first condition According to circumstances, a communication unit that transmits a sensing result acquired from the first sensor or the second sensor by the acquisition unit. As a result, in a situation where sensing by the third sensor mounted on the second mobile body cannot be performed properly, that is, in a first situation where the sensing result of the third sensor does not satisfy the predetermined condition, the second mobile body (second movement Since the body information processing apparatus and the like can receive the sensing result from the first moving body, it is possible to appropriately support the movement of the second moving body by using the received sensing result.

  In addition, for example, the acquisition unit acquires a sensing result about a path of the second moving body from the first sensor or the second sensor, and the state of the second moving body at the specific time point is the first sensor. Determining whether the situation is a situation includes determining whether the second moving body moves in two consecutive areas where the difference in brightness within each area is greater than or equal to a predetermined level. It is good also as transmitting the sensing result acquired from the said 1st sensor or the said 2nd sensor according to one moving body approaching the boundary of the said 2 area | region. Accordingly, the second moving body can receive the sensing result from the first moving body when necessary without requesting.

  Also, for example, the determination as to whether the state of the second mobile unit at the specific time point is the first state determines whether the communication unit has received a sensing result transmission request from the second mobile unit. The communication unit may transmit a sensing result acquired from the first sensor or the second sensor in response to receiving the transmission request from the second moving body. As a result, the information processing apparatus of the first moving body can efficiently support the traveling of the second moving body.

  These general or specific aspects may be realized by a system, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM. The system, method, integrated circuit, computer You may implement | achieve with arbitrary combinations of a program or a recording medium.

  Hereinafter, an information processing apparatus using the information processing method according to the embodiment will be described with reference to the drawings. Each of the embodiments shown here shows a specific example of the present invention. Therefore, numerical values, components, arrangement and connection forms of components, and steps (processes) and order of steps shown in the following embodiments are merely examples, and do not limit the present invention. Among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims can be arbitrarily added. Each figure is a mimetic diagram and is not necessarily illustrated strictly.

(Embodiment 1)
Hereinafter, as an embodiment of the present invention, an information processing apparatus and the like mounted on a vehicle and constituting an advanced driver assistance system will be described with reference to the drawings.

[1.1 Change in situation due to vehicle travel]
First, an example in which a vehicle changes from a normal state (a state in which a sensing result satisfying a predetermined standard is acquired from an in-vehicle sensor) to a non-normal state by traveling is described with reference to FIG. FIG. 1 is a schematic view of the tunnel ceiling seen from above, showing a vehicle or the like traveling near the entrance of the tunnel. The above-mentioned predetermined standard is also called a predetermined condition, and the normal situation is a first situation where the sensing result acquired from the sensor satisfies the predetermined condition.

  In FIG. 1, the vehicle 1 </ b> A travels outside the tunnel 10 and approaches the doorway in an attempt to enter the tunnel 10. Assuming sunny daytime, the exterior of the tunnel 10 is bright and the interior of the tunnel 10 is dark. In the tunnel 10, a vehicle 1B that is an oncoming vehicle travels in the opposite direction to the vehicle 1A. Further, an obstacle 11 such as a vehicle (for example, a trailer) stopped due to a failure or the like exists in the tunnel 10 in front of the vehicle 1A. The vehicle 1A includes an advanced driver assistance system, and displays obstacles on the route, road surface conditions, and the like by image processing based on an image obtained by imaging the route of the vehicle using an image sensor (camera) that is an in-vehicle sensor. It detects, and produces | generates the driving assistance information according to the detection result. The driving support information is used for vehicle control, notification to a user (driver), and the like. The image sensor of the vehicle 1A captures images with normal sensitivity when the vehicle 1A is traveling outside the tunnel 10, and automatically when the vehicle 1A is traveling in a dark place such as the inside of the tunnel 10. Imaging is performed with high sensitivity by the sensitivity adjustment function. The travel support information described above is information for controlling the movement of a moving body such as a vehicle, and is also referred to as travel support information or first information.

  Immediately after the vehicle 1A enters the tunnel 10, the adjustment of the automatic sensitivity adjustment function of the image sensor of the vehicle 1A is delayed, and the image generated by the image sensor temporarily, for example, the brightness of each pixel is very low, etc. It can be an image with poor image quality. If an image with poor image quality is used, there is a possibility that an obstacle on the course cannot be detected properly. In the case of the example of FIG. 1, when the vehicle speed of the vehicle 1A is high to some extent, the detection of the obstacle 11 based on the sensing result of the image sensor of the vehicle 1A is delayed due to a rapid change in brightness immediately after entering the tunnel 10. An accident could occur. However, the vehicle 1A and the vehicle 1B have a vehicle-to-vehicle communication function, and the vehicle 1A has a function of preventing this accident from occurring through communication with the vehicle 1B.

[1.2 Vehicle system configuration]
Hereinafter, the configuration of the vehicle 1A and the vehicle 1B will be described mainly focusing on the configuration related to the travel support of the vehicle 1A (sensing about the course of the vehicle 1A, etc.).

  FIG. 2 shows the configuration of a vehicle 1A and a vehicle 1B equipped with information processing apparatuses that communicate with each other.

  As shown in the figure, the vehicle 1A includes an information processing device 100A, an in-vehicle sensor 200A, and a vehicle control device 210.

  The in-vehicle sensor 200A is one or a plurality of sensors that sense the course of the vehicle 1A, and the number of sensors may be any number. For example, an image sensor, a radar, a rider (LIDAR), or the like is used for sensing the course. Here, as an example, the vehicle-mounted sensor 200A will be described as including an image sensor (camera). The in-vehicle sensor 200A transmits a sensing result (an image or the like) to the information processing apparatus 100A by sensing the course (for example, the front) of the vehicle 1A (taking an image by the image sensor to generate an image).

  The information processing apparatus 100A includes a single electronic control unit (ECU) or a plurality of ECUs connected by an in-vehicle network (such as a bus), and travel support information is obtained based on sensing results obtained from the in-vehicle sensor 200A. It has a function to generate and output.

  The vehicle control device 210 is composed of one or a plurality of ECUs (for example, an ECU that controls a vehicle engine, a brake, a steering, etc.), and when a control signal is transmitted from the information processing device 100A, according to the control signal, The vehicle is controlled by driving an actuator connected to some ECUs.

  The ECU is a device including, for example, a processor (microprocessor), a digital circuit such as a memory, an analog circuit, a communication circuit, and an input / output interface. The memory is a ROM, a RAM, or the like, and can store a program (computer program as software) executed by the processor. For example, when the processor operates according to a program (computer program), the ECU realizes various functions such as functions as the information processing apparatus 100A or the vehicle control apparatus 210. The computer program is configured by combining a plurality of instruction codes indicating instructions for the processor in order to achieve a predetermined function. The ECU can exchange information with other ECUs in the same vehicle via an in-vehicle network such as a bus. Some ECUs constituting the information processing apparatus 100A have functions (such as a vehicle-to-vehicle communication function and a road-to-vehicle communication function) that communicate with a device outside the vehicle (external device) of the vehicle 1A. Some ECUs constituting the information processing apparatus 100A include a device that presents information to the user, such as a display.

  As illustrated in FIG. 2, the information processing apparatus 100 </ b> A has a function for generating and outputting the driving support information, and as illustrated in FIG. 2, the acquisition unit 110 </ b> A, the communication unit 120 </ b> A, the determination unit 130, and the generation unit 140. And an output unit 150.

  110 A of acquisition parts are implement | achieved by the input interface which receives a sensing result from 200 A of vehicle-mounted sensors in ECU, the processor which performs a program, etc., and acquire a sensing result from 200 A of vehicle-mounted sensors. The sensing result acquired by the acquiring unit 110A includes an image generated by the image sensor. By performing image processing based on the image acquired by the acquisition unit 110A, it may be possible to detect an obstacle on the path of the vehicle 1A, a road surface state, and the like.

  120 A of communication parts are implement | achieved by the processor, communication circuit, etc. which run the program in ECU, communicate with the external apparatus outside the vehicle 1A, and receive the sensing result about the course of the vehicle 1A. For example, the communication unit 120A transmits a transmission request for a sensing result (sensing result for the course of the vehicle 1A) to the external device located around the vehicle 1A by using a short-range wireless communication technique or the like, and receives the transmission request. The sensing result transmitted from the external device (for example, the information processing device 100B of the vehicle 1B that is the oncoming vehicle of the vehicle 1A) is received. The transmission request includes, for example, identification information of the vehicle 1A, position information of the vehicle 1A (for example, information generated by a positioning sensor or the like for measuring the vehicle position in the in-vehicle sensor 200A), and the like. The positioning sensor is, for example, a GPS (Global Positioning System) receiver, a gyro sensor, or the like. When the vehicle 1A moves between two consecutive areas where the difference in brightness within each area is greater than a predetermined level (for example, from the area outside the tunnel 10 to the area inside the tunnel 10), the communication unit 120A When entering beyond the boundary), a transmission request is transmitted to an external device located near the vehicle 1A. The external device may be a moving device (for example, the information processing device 100B of the vehicle 1B that is an oncoming vehicle, an in-vehicle device of a preceding vehicle that travels in the same direction), or a device that does not move (for example, a roadside device installed near a light / dark boundary) However, here, when the information processing apparatus 100B of the vehicle 1B receives the transmission request, the sensing result about the course of the vehicle 1A in front of the vehicle 1B is transmitted to the information processing apparatus 100A of the vehicle 1A. It will be explained as a thing. It should be noted that the vehicle 1A, the vehicle preceding the vehicle 1B, the vehicle following the vehicle 1B, and other surrounding vehicles (that is, the in-vehicle device of the vehicle) may transfer the transmission request from the vehicle 1A to another vehicle. The vehicle that has received the transmission request may transmit the sensing result of the route of the vehicle 1A to the vehicle 1A directly or indirectly through another vehicle having a transfer function. The transmission of the transmission request by the communication unit 120A is usefully performed within a period before and after exceeding the boundary between regions where the difference in brightness is large. Here, for example, a description will be given using an example in which the vehicle 1A transmits immediately after crossing a light / dark boundary such as the entrance / exit of the tunnel 10, but for example, immediately before the vehicle 1A passes the entrance / exit of the tunnel 10 (for example, several seconds of passage). Before, several tens of seconds before). As described above, in the present embodiment, communication unit 120A causes vehicle to connect to an external device before or during movement of vehicle 1A between two consecutive regions where the difference in brightness within each region is greater than or equal to a predetermined level. A sensing result transmission request for the route of 1A is transmitted.

  The determination unit 130 is realized by a processor or the like that executes a program in the ECU, and determines whether or not the state of the vehicle 1A is a normal state in which a sensing result that satisfies a predetermined criterion is acquired from the in-vehicle sensor 200A. In other words, the determination unit 130 determines whether or not the situation of the vehicle 1A at a specific time is a first situation where the sensing result acquired from the sensor satisfies a predetermined condition. For example, when the vehicle 1A moves between the areas where the difference in brightness in each area is larger than a predetermined level and the boundary between the two consecutive areas exceeds the boundary between the two areas, the determination unit 130 is not in a normal state. It can be determined. That is, the determination of the first situation includes determining whether the vehicle 1A moves between two consecutive regions where the difference in brightness within each region is greater than or equal to a predetermined level. The predetermined standard is a standard for discriminating whether or not the sensing result is information appropriately representing the actual state of the sensing target, and is satisfied if it is appropriate, and is not satisfied if it is not appropriate. The predetermined standard is, for example, an evaluation standard such as accuracy, precision, reliability, etc., and any evaluation method may be used. Here, as an example, the luminance distribution of each pixel of the image which is the sensing result of the image sensor as the in-vehicle sensor 200A is too bright as a whole (for example, when the representable luminance range is 0 to 100%, When the brightness is 90% or more) or too dark (for example, when the expressible brightness range is 0 to 100%, for example, the brightness of all pixels is 10% or less), the predetermined standard is not satisfied, and other cases Shall meet the prescribed criteria.

  The determination unit 130 determines, based on a sensing result (for example, an image) from the in-vehicle sensor 200A (for example, an image sensor) actually acquired by the acquisition unit 110A, for example, whether or not the normal state is obtained by image analysis or the like. Or it is good also as determining whether it is in a normal state presumably by other methods (detection etc. of whether the vehicle 1A is approaching the entrance / exit of the tunnel 10). Here, the determination unit 130 is in a normal state based on whether or not a sensing result (image) satisfying a predetermined criterion is acquired by analyzing the image generated by the image sensor acquired by the acquisition unit 110A. The description will be continued assuming that it is determined whether or not. For example, the determination unit 130 determines whether or not a sensing result that satisfies a predetermined criterion has been acquired by comparing a result of statistical processing for each pixel value of an image acquired from the image sensor by the acquisition unit 110A with a threshold value. As an example, the predetermined criterion is not satisfied when a predetermined number of pixel values of an image generated by the image sensor falls within a predetermined range, but is satisfied when the predetermined value exceeds the predetermined range. As a more specific example, the predetermined criterion is that the luminance value as the pixel value of almost all the images generated by the image sensor (for example, about 95% or more, or about 90% or more) is a predetermined narrow range ( When the luminance value is represented by 0 to 255, it is not satisfied when it falls within a narrow range (0 to 20 or 235 to 255), and is satisfied when it is widely distributed beyond the predetermined narrow range. In this case, if the luminance values of almost all the pixels are all 20 or less or all are 250 or more, the predetermined standard is not satisfied. For example, in the case where the luminance value is represented by 0 to 255, the average value of the pixel value (luminance value) for each pixel, the calculation of the median value, and the like are performed as statistical processing, and the calculation result is 20 or less. Alternatively, it may be defined that the predetermined standard is not satisfied if it is 250 or more, and the predetermined standard is satisfied otherwise. The image sensor has an automatic sensitivity adjustment function. However, due to a delay in following the change in light and dark, the image quality of the image that is too bright or too dark may temporarily occur. Therefore, the determination unit 130 determines whether or not the vehicle 1A is in a normal state by determining whether or not a predetermined criterion is satisfied for the image, for example, by comparing a pixel value with a threshold value.

  As described above, in the present embodiment, the determination of the first situation includes determining whether or not a sensing result satisfying a predetermined condition is acquired from the image sensor. Specifically, the determination of the first situation includes a comparison between a result of statistical processing on a pixel value of an image generated as a sensing result by the image sensor and a threshold value. The predetermined condition is not satisfied when a predetermined number of pixel values of an image generated by the image sensor are within a predetermined range, but is satisfied when the predetermined value exceeds the predetermined range.

  The generation unit 140 is realized by a processor or the like that executes a program in the ECU, and based on the sensing result acquired from the in-vehicle sensor 200A via the acquisition unit 110A when the determination unit 130 determines that the vehicle 1A is in a normal state. When the determination unit 130 determines that the vehicle 1A is not in a normal situation, the external device (for example, the information processing device 100B of the vehicle 1B) is not based on the sensing result acquired from the in-vehicle sensor 200A. ) To generate driving support information based on the sensing result received from). As a specific example, when the vehicle 1A is not in a normal situation in which a sensing result satisfying a predetermined standard is acquired from the in-vehicle sensor 200A, for example, immediately after entering the tunnel 10, an image as a sensing result by the in-vehicle sensor 200A is displayed. Since the accuracy is low, the sensing result is not used for generating the driving support information, but the sensing result transmitted from the vehicle 1B or the like is received and used in response to the transmission request. Thereby, even when the accuracy of the sensing result of the in-vehicle sensor 200A is low, it is possible to prevent an obstacle on the path of the vehicle 1A, a false detection of a road surface condition, a detection omission, and the like. When the vehicle 1A is in a normal state, the generation unit 140 may or may not use the sensing result received from the external device for generating the driving support information. When the sensing result received from the external device is used when the vehicle 1A is in a normal state, the sensing result from the in-vehicle sensor 200A may be used preferentially as long as the sensing result from the in-vehicle sensor 200A satisfies a predetermined standard. Useful.

  As described above, in the present embodiment, when the determination unit 130 determines that the situation of the vehicle 1A at the specific time point is the first situation, the generation unit 140 determines the vehicle based on the sensing result acquired from the sensor. First information for controlling the movement of 1A is generated, and when the determination unit 130 determines that the situation of the vehicle 1A at a specific time point is not the first situation, the first information is based on the sensing result received from the external device. Generate information.

  The output unit 150 is realized by an output interface or the like in the ECU, and outputs the travel support information generated by the generation unit 140 from the information processing apparatus 100A. For example, the output unit 150 presents information to the user by outputting travel support information (for example, information on the distance to the obstacle, the type of the obstacle, etc.) via a user interface device such as a display ( Display). In addition, for example, the output unit 150 transmits (that is, transmits) the travel support information as a control signal to the vehicle control device 210, thereby controlling the vehicle 1A to travel (engine, brake). , Steering, etc.).

  As shown in FIG. 2, the vehicle 1B includes an information processing device 100B and an in-vehicle sensor 200B. Here, since the vehicle 1A is focused on driving support, the vehicle control device or the like is omitted in the vehicle 1B, but the vehicle 1B may have the same configuration as the vehicle 1A described above. Conversely, the vehicle 1A may have the same configuration as the vehicle 1B.

  The vehicle-mounted sensor 200B of the vehicle 1B is, for example, a sensor (for example, an image sensor, a radar, a rider, or the like) that senses a range outside the vehicle 1B (eg, ahead) and including the course of the oncoming vehicle (vehicle 1A). The in-vehicle sensor 200B transmits the sensing result to the information processing apparatus 100B by sensing the course of the vehicle 1A.

  The information processing apparatus 100B includes a single electronic control unit (ECU) in the vehicle 1B or a plurality of ECUs connected by an in-vehicle network (such as a bus), and has an acquisition unit 110B and a communication unit 120B in terms of functions. . The information processing apparatus 100B may include the same configuration as the information processing apparatus 100A described above. Conversely, the information processing apparatus 100A also includes the same configuration as the information processing apparatus 100B. Also good.

  The acquisition unit 110B is realized by an input interface or the like in the ECU, and acquires a sensing result obtained from the in-vehicle sensor 200B.

  The communication unit 120B is realized by a communication circuit in the ECU, a processor that executes a program, and the like, and in other vehicles (here, the vehicle 1A) traveling within a predetermined short distance range (for example, within several tens of meters) from the vehicle 1B. When a situation where the sensing of the vehicle cannot be performed properly occurs, the sensing result from the in-vehicle sensor 200B is transmitted to the other vehicle (vehicle 1A). Specifically, when the communication unit 120B receives a transmission request from the vehicle 1A, the vehicle-mounted sensor acquired by the acquisition unit 110B is assumed to be a time when a situation in which the route sensing cannot be performed properly in the vehicle 1A occurs. The sensing result from 200B is transmitted to the vehicle 1A.

[1.3 Example of Image Captured by In-Vehicle Sensor 200A of Vehicle 1A]
FIG. 3 shows an example of an image captured by the image sensor (vehicle-mounted sensor 200 </ b> A) of the vehicle 1 </ b> A entering the tunnel 10. (A), (b), and (c) of FIG. 3 are examples of images taken in this order by the image sensor of the vehicle 1A. Note that the image sensor repeatedly captures images during the time between these three images.

  FIG. 3A shows an image captured by the in-vehicle sensor 200A when the vehicle 1A is approaching the entrance / exit from the outside of the tunnel 10 (that is, an image generated by imaging). The inside of the tunnel 10 is extremely dark with respect to the outside of the tunnel 10 in a sunny daytime or the like, and an image taken from the outside of the tunnel 10 cannot sufficiently represent the inside. FIG. 3B shows an image captured by the in-vehicle sensor 200A immediately after the vehicle 1A passes through the entrance of the tunnel 10 and enters the inside. Immediately after entering the tunnel 10, the automatic sensitivity adjustment of the image sensor is delayed due to a rapid change in brightness, and thus a dark image is generated in which the luminance value of each pixel of the captured image is extremely low. From this image, it becomes difficult to properly detect obstacles on the course of the vehicle 1A by image analysis. FIG. 3 (c) shows an image captured when the vehicle 1A passes through the entrance / exit of the tunnel 10 and enters the interior, and ten or more seconds have elapsed. In this image, the sensitivity is appropriately adjusted, and it is possible to appropriately detect an obstacle (for example, a failed vehicle) on the path of the vehicle 1A by image analysis, and to detect the position, size, etc. of the obstacle. Become. Any image analysis technique may be used to detect an obstacle or the like from the image.

  When the image shown in FIG. 3B is generated by the in-vehicle sensor 200A, it is not appropriate to generate travel support information for assisting the travel of the vehicle 1A based on this image. Therefore, in such a case, the information processing apparatus 100A of the vehicle 1A determines that the vehicle 1A is not in a normal situation in which an image satisfying a predetermined criterion is acquired based on the luminance value of each pixel of the image. Then, a sensing result transmission request for the course of the vehicle 1A is transmitted to the vehicle 1B and the like, for example, the sensing result is received from the vehicle 1B, and is used to generate travel support information. Thereby, the information processing apparatus 100A can appropriately perform the driving assistance of the vehicle 1A even during the time when the image as shown in FIG. 3B is captured.

[1.4 Operation of Information Processing Apparatus 100A]
FIG. 4 is a flowchart illustrating an example of information processing for driving support of the vehicle 1A by the information processing apparatus 100A. Hereinafter, the operation of the information processing apparatus 100 </ b> A will be described with reference to FIG. 4, taking as an example the case where the vehicle 1 </ b> A enters the tunnel 10 in the daytime in fine weather (see FIG. 1).

  Information processing apparatus 100A of vehicle 1A acquires a sensing result (image or the like) from in-vehicle sensor 200A (image sensor or the like) that senses the course of vehicle 1A by acquisition unit 110A (step S11).

  Next, whether or not the information processing apparatus 100A is in a normal state in which the determination unit 130 acquires an image (for example, an appropriate image that is not too dark and not too bright) as a sensing result that satisfies a predetermined criterion from the in-vehicle sensor 200A. Is determined (step S12).

  Before the vehicle 1A reaches the tunnel 10, or after a sufficient time (for example, ten seconds or more) has passed after passing through the entrance and exit of the tunnel 10, an image (appropriate image) satisfying a predetermined standard is obtained from the in-vehicle sensor 200A. As a result, it is determined that the vehicle 1A is in a normal state.

  If it is determined in step S12 that the situation is normal, the information processing apparatus 100A causes the generation unit 140 to perform obstacles and the like by image processing based on the image as the sensing result from the in-vehicle sensor 200A acquired by the acquisition unit 110A. And driving support information is generated based on the detection result (step S13). Subsequently, the information processing apparatus 100A outputs (for example, sends to the vehicle control apparatus 210, displays on the display, etc.) the generated driving support information by the output unit 150 (step S14), and returns to the process in step S11. .

  Immediately after the vehicle 1A passes through the entrance and exit of the tunnel 10 and enters the dark region from the bright region, an image satisfying the predetermined standard is not obtained from the in-vehicle sensor 200A, and it is determined that the vehicle 1A is not in a normal state.

  If it is determined in step S12 that the situation is not normal, the information processing apparatus 100A sends an external device (for example, the information processing apparatus 100B of the vehicle 1B that is an oncoming vehicle) to the sensing result about the course of the vehicle 1A by the communication unit 120A. A transmission request is transmitted (step S15). In the vehicle 1B, since the information processing apparatus 100B transmits the sensing result acquired by the in-vehicle sensor 200B in response to the transmission request, the communication unit 120A receives the sensing result transmitted from the vehicle 1B (step S16). Next, based on the sensing result received from the vehicle 1B (information processing apparatus 100B), the generation unit 140 detects obstacles on the course of the vehicle 1A and generates driving support information indicating the detection result and the like. (Step S17). That is, when the determination unit 130 determines that the situation of the vehicle 1A at a specific time is not the first situation, the generation unit 140 generates the first information without being based on the sensing result acquired from the sensor. Subsequently, the information processing apparatus 100A outputs the generated travel support information by the output unit 150 (step S14), and returns to the process in step S11.

  As described above, the information processing apparatus 100A has a case where the vehicle 1A is not in a normal state (a state in which an image as a sensing result satisfying a predetermined standard is acquired from the in-vehicle sensor 200A), that is, the accuracy of the sensing result by the in-vehicle sensor 200A. Even in the case of a significant decrease, the driving support information can be appropriately generated by receiving the sensing result from the external device.

(Embodiment 2)
Hereinafter, an embodiment in which the operation of the information processing apparatus 100A according to Embodiment 1 described above is partially modified will be described.

[2.1 Vehicle system configuration]
In the present embodiment, the system configuration of the vehicle 1A on which the information processing apparatus 100A is mounted and the vehicle 1B traveling near the vehicle 1A is substantially the same as that shown in the first embodiment (see FIG. 2). Therefore, the reference numerals shown in FIG. 2 are used for the configuration of each vehicle and the description thereof is omitted as appropriate. That is, the configurations of the vehicle 1A and the vehicle 1B are the same as those of the first embodiment, except that they are not particularly shown here.

  In the first embodiment, the information processing apparatus 100A is in a normal state in which the vehicle 1A can acquire a sensing result that satisfies a predetermined criterion based on the luminance of each pixel of an image captured by the image sensor included in the in-vehicle sensor 200A. An example has been shown in which it is determined whether or not a sensing result transmission request is transmitted to an external device when the normal state is not present. On the other hand, in this embodiment, the information processing apparatus 100A obtains a sensing result that satisfies a predetermined criterion by another method before making a determination based on the luminance of each pixel of the image captured by the image sensor. It is determined whether or not the situation is difficult. If the situation is difficult, a sensing result transmission request is transmitted to the external device.

[2.2 Operation of information processing apparatus 100A]
FIG. 5 is a flowchart illustrating an example of information processing for driving support of the vehicle 1A by the information processing apparatus 100A according to the present embodiment. Hereinafter, the operation of the information processing apparatus 100 </ b> A will be described with reference to FIG. 5, taking as an example the case where the vehicle 1 </ b> A enters the tunnel 10 in the daytime in fine weather (see FIG. 1).

  The information processing apparatus 100A of the vehicle 1A acquires a sensing result (image or the like) from the in-vehicle sensor 200A (image sensor or the like) that senses the course of the vehicle 1A by the acquisition unit 110A (step S21).

  In the information processing apparatus 100A, it is difficult to acquire an image as a sensing result that satisfies a predetermined criterion from the in-vehicle sensor 200A (for example, a situation where the vehicle 1A is traveling near the boundary between two consecutive regions having greatly different brightnesses). It is determined whether or not (step S22). Specifically, for example, the information processing apparatus 100A determines that the situation in which the vehicle 1A is traveling near the entrance / exit of the tunnel 10 is a situation in which it is difficult to acquire an image satisfying a predetermined criterion from the in-vehicle sensor 200A. Whether or not the vehicle 1A is traveling near the entrance / exit of the tunnel 10 is determined by, for example, the characteristics of a predetermined image of the entrance / exit of the tunnel 10 (the tunnel as viewed from the outside of the tunnel as shown in FIG. 3A). It is possible to discriminate by image processing or the like that compares a feature or the like relating to the appearance of the doorway) and a feature or the like extracted from the image generated by the image sensor. Moreover, you may discriminate | determine by whether the roadside machine installed in the entrance / exit of the tunnel 10 can receive the beacon etc. which are transmitted by near field communication technology. Moreover, you may discriminate | determine by comparing the measurement result of the position of the vehicle 1A by a positioning sensor, and the positional information (map information) which shows the location position of the entrance / exit of the tunnel 10. FIG. That is, determining whether the vehicle 1A moves between the two areas described above is based on the measurement result of the position of the vehicle 1A and the position information indicating the location of the two areas. Determining whether the boundary is approached. As a result, the sensing result received from the external device, which is necessary when it is determined in step S25 to be described later that it is not a normal situation in which the sensing result satisfying the predetermined standard is acquired from the in-vehicle sensor 200A, is obtained.

  Note that determining whether the vehicle 1A moves between the two regions described above may include determining whether a boundary between the two regions is reflected in an image indicated by image information acquired from the image sensor. For example, the information processing apparatus 100A determines that the vehicle 1A moves between two areas if a tunnel is reflected in the image, and determines that the vehicle 1A does not move between the two areas if no tunnel is reflected. Thereby, it can be determined using the image sensor which is the existing configuration that the vehicle 1A moves between the boundaries of the two regions. Therefore, an increase in cost can be suppressed.

  If it is determined in step S22 that it is difficult to obtain an image satisfying the predetermined standard from the in-vehicle sensor 200A, the information processing apparatus 100A causes the communication unit 120A to execute an external device (for example, the information processing apparatus 100B of the vehicle 1B). ) Transmits a sensing result transmission request for the route of the vehicle 1A (step S23). Then, the communication unit 120A receives the sensing result transmitted from the vehicle 1B (step S24). When the information processing apparatus 100 </ b> A determines in step S <b> 22 that it is not difficult to acquire an image satisfying the predetermined standard from the in-vehicle sensor 200 </ b> A (for example, the vehicle 1 </ b> A traveling toward the tunnel 10 is still near the entrance / exit of the tunnel 10. In the case where it has not reached, the processing in steps S23 and S24 is skipped.

  The information processing apparatus 100A determines whether or not the determination unit 130 is in a normal state in which an image (for example, an appropriate image that is neither too dark nor too bright) is acquired as a sensing result that satisfies a predetermined criterion from the in-vehicle sensor 200A. (Step S25). This determination is the same as the determination in step S12 shown in the first embodiment. However, in step S25, the information processing apparatus 100A does not determine whether the luminance of the image captured by the image sensor of the vehicle 1A is too bright or too dark, and the like, using the same method as the determination in step S22 described above. It is good also as determining whether it is a normal condition. That is, the information processing apparatus 100A considers that the situation is not normal when it is determined that it is difficult to acquire an image that satisfies the predetermined criteria, and assumes that the situation is normal when it is determined that the situation is not difficult. It may be determined whether or not it is a normal state in step S25 by hesitating.

  As a result of the determination in step S25, when the vehicle 1A is in a normal state, the information processing apparatus 100A generates travel support information based on the image obtained from the in-vehicle sensor 200A by the generation unit 140 ( In step S26, the driving support information is output by the output unit 150 (step S27). Further, when the vehicle 1A is not in a normal state, the information processing apparatus 100A causes the generation unit 140 to drive the driving support information based on the sensing result received from the external apparatus (for example, the information processing apparatus 100B of the vehicle 1B) in step S24. Is generated (step S28), and the driving support information is output by the output unit 150 (step S27). Further, the information processing apparatus 100A returns to the process in step S21 after the output in step S27.

  As described above, the information processing apparatus 100A estimates that it is difficult to acquire an image as a sensing result that satisfies a predetermined criterion from the vehicle-mounted sensor 200A when the vehicle 1A moves between areas where the difference in brightness is large. In the situation), a sensing result transmission request for the course of the vehicle 1A is transmitted to an external device (a vehicle such as the vehicle 1B or a roadside machine), and the sensing result is received from the external device. Thereby, even if the image as a sensing result satisfying the predetermined criterion is not acquired from the in-vehicle sensor 200A, the information processing apparatus 100A can appropriately generate the driving support information using the received sensing result. In addition, for an external device, by waiting for a transmission request, it is possible to transmit a sensing result only when necessary, and unnecessary communication can be suppressed.

(Embodiment 3)
Hereinafter, another embodiment in which the operation of the information processing apparatus 100A according to the first embodiment is partially modified will be described.

[3.1 Vehicle system configuration]
Also in the present embodiment, the system configuration of the vehicle 1A on which the information processing apparatus 100A is mounted and the vehicle 1B that travels near the vehicle 1A is substantially the same as that shown in the first embodiment (see FIG. 2). Therefore, the reference numerals shown in FIG. 2 are used for the configuration of each vehicle and the description thereof is omitted as appropriate. That is, the configurations of the vehicle 1A and the vehicle 1B are the same as those of the first embodiment, except that they are not particularly shown here.

  In the first embodiment, the information processing apparatus 100A is in a normal state in which the vehicle 1A can acquire a sensing result that satisfies a predetermined criterion based on the luminance of each pixel of an image captured by the image sensor included in the in-vehicle sensor 200A. An example has been shown in which it is determined whether or not a sensing result transmission request is transmitted to an external device when the normal state is not present. On the other hand, in the present embodiment, the external device spontaneously transmits the sensing result, and the information processing apparatus 100A receives the sensing result from the external device without transmitting the transmission request.

[3.2 Operation of Information Processing Device 100A]
FIG. 6 is a flowchart illustrating an example of information processing for driving support of the vehicle 1A by the information processing apparatus 100A according to the present embodiment. Hereinafter, the operation of the information processing apparatus 100 </ b> A will be described with reference to FIG. 6, taking as an example the case where the vehicle 1 </ b> A enters the tunnel 10 in the daytime in fine weather (see FIG. 1).

  Information processing apparatus 100A of vehicle 1A acquires a sensing result (image or the like) from in-vehicle sensor 200A (image sensor or the like) that senses the course of vehicle 1A by acquisition unit 110A (step S31).

  In addition, the information processing apparatus 100 </ b> A has a sensing result when the communication unit 120 </ b> A transmits a sensing result about the course of the vehicle 1 </ b> A from an external device (an apparatus such as a vehicle or a roadside machine) by the short-range wireless communication technology. Is received (step S32). Here, it is assumed that the external device transmits a sensing result obtained by sensing in the vicinity of the entrance / exit of the tunnel 10. The transmission of the sensing result by the information processing apparatus 100B of the vehicle 1B as one of the external apparatuses will be described later with reference to FIG. Note that the external device may transmit the sensing result to be transmitted with additional information such as the sensed position.

  Next, whether or not the information processing apparatus 100A is in a normal state in which the determination unit 130 acquires an image (for example, an appropriate image that is not too dark and not too bright) as a sensing result that satisfies a predetermined criterion from the in-vehicle sensor 200A. Is determined (step S33).

  Before the vehicle 1A reaches the tunnel 10, or after a sufficient time (for example, ten seconds or more) has passed after passing through the entrance and exit of the tunnel 10, an image (appropriate image) satisfying a predetermined standard is obtained from the in-vehicle sensor 200A. As a result, it is determined that the vehicle 1A is in a normal state.

  If it is determined in step S33 that the situation is normal, the information processing apparatus 100A causes the generation unit 140 to perform obstacles and the like by image processing based on the image as the sensing result from the in-vehicle sensor 200A acquired by the acquisition unit 110A. And driving support information is generated based on the detection result (step S34). Subsequently, the information processing apparatus 100A outputs (for example, sends to the vehicle control apparatus 210, displays on the display, etc.) the generated driving support information by the output unit 150 (step S35), and returns to the process in step S31. .

  Immediately after the vehicle 1A passes through the entrance and exit of the tunnel 10 and enters the dark region from the bright region, an image satisfying the predetermined standard is not obtained from the in-vehicle sensor 200A, and it is determined that the vehicle 1A is not in a normal state.

  If it is determined in step S33 that the situation is not normal, the information processing apparatus 100A determines the course of the vehicle 1A from the external device (for example, the information processing apparatus 100B of the vehicle 1B that is an oncoming vehicle) received by the communication unit 120A in step S32. Based on the sensing result for, an obstacle on the course of the vehicle 1A is detected, and driving support information indicating the detection result is generated (step S36). Subsequently, the information processing apparatus 100A outputs the generated travel support information by the output unit 150 (step S35), and returns to the process in step S31.

  Note that if the vehicle 1A traveling toward the tunnel 10 has not yet reached the vicinity of the entrance / exit of the tunnel 10, the information processing apparatus 100A may fail to receive the sensing result in step S32. In this case, an image or the like as a sensing result by the in-vehicle sensor 200A such as an image sensor should be appropriately acquired, and the process proceeds to step S34, and an appropriate image (from the in-vehicle sensor 200A for driving support of the vehicle 1A ( That is, the driving support information can be appropriately generated based on the sensing result that satisfies the predetermined standard. For the vehicle 1A, the driving support information is preferentially based on the sensing result (image or the like) from the in-vehicle sensor 200A as long as a sensing result (for example, an image captured by the image sensor) satisfying a predetermined standard is obtained from the in-vehicle sensor 200A. It is useful to generate

[3.3 Operation of Information Processing Apparatus 100B]
Hereinafter, the information processing apparatus 100B of the vehicle 1B that is the oncoming vehicle (see FIG. 1) of the vehicle 1A will be described.

  There is a situation in which the communication unit 120B of the information processing apparatus 100B of the vehicle 1B cannot properly sense the course in another vehicle (for example, the vehicle 1A) that travels in a short distance (for example, within a predetermined short distance range such as several tens of meters). When it occurs, the sensing result from the in-vehicle sensor 200B is transmitted to another vehicle. In the first embodiment, communication unit 120B receives a transmission request from vehicle 1A (that is, information processing apparatus 100A of vehicle 1A) when a situation occurs in which vehicle 1A cannot properly sense the course. As described above, the sensing result from the in-vehicle sensor 200B acquired by the acquisition unit 110B is transmitted to the vehicle 1A. However, in the present embodiment, when the communication unit 120B of the vehicle 1B approaches two consecutive regions where the brightness difference in each region is greater than a predetermined level (here, as an example, the communication unit 120B approaches the vicinity of the entrance / exit of the tunnel 10) ), The sensing result from the in-vehicle sensor 200B is transmitted, assuming that the situation where the sensing of the course cannot be performed properly in the vehicle 1A occurs. The sensing result may be transmitted only when an abnormality occurs around the vehicle 1B or on the course of the vehicle 1A. For example, the communication unit 120B of the vehicle 1B transmits the sensing result only when an accident, collapse, or traffic jam occurs around the vehicle 1B or on the course of the vehicle 1A. Moreover, the presence or absence of sensing may be controlled according to the occurrence of the abnormality.

  Any method may be used as a method by which the information processing apparatus 100B determines whether the vehicle 1B traveling in the tunnel 10 has approached the vicinity of the entrance / exit of the tunnel 10. Whether or not the vehicle 1B has approached the vicinity of the entrance / exit of the tunnel 10 is generated by, for example, predetermined image features of the entrance / exit of the tunnel 10 (features related to the entrance / exit of the tunnel viewed from inside the tunnel) and an image sensor. It can be determined by image processing or the like that compares features extracted from the extracted images. In addition, the information processing apparatus 100B can receive whether or not the vehicle 1B has approached the vicinity of the entrance / exit of the tunnel 10 and can receive a beacon transmitted by the short-range wireless communication technology by a roadside device installed at the entrance / exit of the tunnel 10 It may be determined depending on the situation. Moreover, you may discriminate | determine by comparing the measurement result of the position of the vehicle 1B, and the positional information (map information) which shows the location position of the entrance / exit of the tunnel 10. FIG.

  FIG. 7 is a flowchart illustrating an example of processing for driving assistance of another vehicle by the information processing apparatus 100B of the vehicle 1B. Hereinafter, the operation of the information processing apparatus 100B will be described with reference to FIG. 7, taking as an example the case where the vehicle 1B traveling in the tunnel 10 approaches the vicinity of the entrance / exit of the tunnel 10 (see FIG. 1).

  The information processing apparatus 100B of the vehicle 1B repeatedly determines whether or not the vehicle traveling in a short distance cannot properly sense the course (step S41). For example, in the vicinity of the entrance / exit of the tunnel 10, a boundary between areas having greatly different brightness occurs, and in an image sensor of a vehicle that has passed through the boundary, an appropriate image (an image that is neither too bright nor too dark) is temporarily displayed immediately after the passage. May not be generated automatically. For this reason, as an example, when the vehicle 1B traveling in the tunnel 10 approaches the vicinity of the entrance / exit of the tunnel 10, the information processing apparatus 100B senses the route of the vehicle (for example, the vehicle 1A) at a short distance from the vehicle 1B. Is determined to be in a situation where it is impossible to properly perform.

  If it is determined in step S41 that the vehicle traveling in a short distance (for example, the vehicle 1A) cannot properly sense the course, the information processing apparatus 100B uses the acquisition unit 110B to move the vehicle from the in-vehicle sensor 200B. A sensing result of a range including the course of a vehicle (for example, vehicle 1A) at a distance is acquired (step S42).

  Subsequently, the information processing apparatus 100B transmits the sensing result acquired in step S42 to the vehicle in the short distance by the communication unit 120B using the short-range wireless communication technology (step S43).

  As described above, in the present embodiment, the information processing apparatus 100B includes the acquisition unit 110B that acquires the sensing result about the outside of the vehicle 1B from the first sensor in the vehicle 1B or the second sensor around the vehicle 1B, and the vehicle 1A. A determination unit for determining whether the sensing result obtained from the third sensor that is mounted on the vehicle 1A and senses the course of the vehicle 1A is a first condition that satisfies a predetermined condition; A communication unit 120B that transmits a sensing result acquired from the first sensor or the second sensor by the acquisition unit 110B in response to determining that the situation of the vehicle 1A at the time is not the first situation. Specifically, the acquisition unit 110B acquires a sensing result about the course of the vehicle 1B from the first sensor or the second sensor, and determines whether the situation of the vehicle 1A at a specific time is the first situation. Including determining whether the vehicle 1A moves in two consecutive areas where the difference in brightness within the area is greater than or equal to a predetermined level, and the communication unit 120B determines that the vehicle 1B has approached the boundary between the two areas A sensing result acquired from the first sensor or the second sensor is transmitted. The determination of whether the situation of the vehicle 1A is the first situation includes determining whether the communication unit 120B has received a sensing result transmission request from the vehicle 1A, and the communication unit 120B transmits a transmission request from the vehicle 1A. The sensing result acquired from the first sensor or the second sensor may be transmitted in response to receiving the signal.

  As a result, when the vehicle 1B traveling inside the tunnel 10 approaches the doorway of the tunnel 10, a result (sensing result) sensed by the vehicle 1B is transmitted from the vehicle 1B, and this sensing result is transmitted from the outside of the tunnel 10. The vehicle 1A moving to the inside of the tunnel 10 receives it. For this reason, the information processing apparatus 100A of the vehicle 1A can receive the sensing result in step S32 shown in FIG. 6, and appropriate driving support is realized even immediately after the vehicle 1A enters the tunnel 10. .

(Modifications, etc.)
As described above, Embodiments 1 to 3 have been described as examples of the technology according to the present invention. However, the technology according to the present invention is not limited to this, and can also be applied to embodiments in which changes, replacements, additions, omissions, etc. are made as appropriate. For example, the following modifications are also included in one embodiment of the present invention.

  (1) In the above embodiment, the information processing apparatus 100A determines whether or not the vehicle 1A is in a normal state (a state in which an image as a sensing result that satisfies a predetermined criterion is acquired from the in-vehicle sensor 200A). The example performed based on each luminance value of the image which the image sensor in in-vehicle sensor 200A generated was shown. Moreover, the example which performs the determination preferentially based on whether it approached the vicinity of the entrance / exit of a tunnel was shown. This is an example for dealing with a decrease in the accuracy (for example, the resolution of a subject) of an image generated by an image sensor due to a sudden change in brightness. However, the situation where a sudden change in brightness may occur is not limited to traveling near the entrance of a tunnel. That is, the vehicle 1A is illuminated with illumination from a dark area at the time of passing through the entrance of the tunnel 10, underground parking lot, indoor parking lot, etc. (when entering the tunnel 10, etc. and exiting from the tunnel 10, etc.). Even when the vehicle enters a bright area, or when it is suddenly illuminated by illumination (for example, a headlight of an oncoming vehicle) at night, the vehicle 1A is in an abnormal state. Therefore, the information processing apparatus 100 </ b> A may determine whether or not it is in a normal state based on whether or not an entrance to an underground parking lot or an indoor parking lot is approached. Similarly, the vehicle 1B shown in the third embodiment may transmit the sensing result by the in-vehicle sensor 200B to another vehicle when it is estimated that the other vehicle is not in a normal state, such as an underground parking lot When approaching the doorway of the vehicle, when a strong light (high beam) is irradiated to the oncoming vehicle, which is another vehicle, at night by a headlamp, the sensing result may be transmitted. Further, if the vehicle 1B has a vehicle body that is difficult to be seen in a dark place such as a black vehicle body, the vehicle 1B is a vehicle at a short distance as a result of sensing including the location of the vehicle 1B while the vehicle 1B is traveling in a dark place. If the vehicle 1B has a vehicle body that easily reflects light, such as a white vehicle body, the vehicle 1B travels in a bright place and the vehicle 1B It is good also as transmitting to the vehicle of distance. Thereby, when it is difficult to observe the vehicle 1B from the vehicle 1A such as an oncoming vehicle running around, the information processing apparatus 100A of the vehicle 1A does not collide with the vehicle 1B based on the sensing result transmitted from the vehicle 1B. Thus, it becomes possible to appropriately support the traveling of the vehicle 1A.

  (2) In the above embodiment, when the determination unit 130 determines that the vehicle 1A is not in a normal state, the generation unit 140 of the information processing device 100A is not based on an image as a sensing result from the in-vehicle sensor 200A. The driving support information is generated based on the sensing result received from the external device. However, even when the vehicle 1A is not in a normal state, the driving support information may be generated based on both the image as the sensing result from the in-vehicle sensor 200A and the sensing result received from the external device. However, when the vehicle is not in the normal state, the influence of the sensing result acquired from the in-vehicle sensor 200A on the driving support information is suppressed compared to the case where the determination unit 130 determines that the vehicle 1A is in the normal state. It is useful to generate information. As a specific example, the information processing apparatus 100A uses 100% of the sensing result (image) from the in-vehicle sensor 200A in a normal state or uses it together with the sensing result received from the external device, but the two sensing results conflict. For example, the sensing result of the in-vehicle sensor 200A is preferentially used, and in a non-normal situation, the sensing result received from the external device and the sensing result of the in-vehicle sensor 200A are reduced by, for example, a weighted average. It is good also as using it giving priority and using the sensing result received from the external device when both results conflict. As described above, when the determination unit 130 determines that the situation of the vehicle 1A at the specific time point is not the first situation, the generation unit 140 determines that the sensing result from the sensor is based on the sensing result acquired from the sensor. You may suppress the influence which acts on 1st information from the case where the determination part 130 determines with the condition of the vehicle 1A of a specific time being a 1st condition.

  (3) In the above embodiment, the information processing apparatus 100A mounted on the vehicle 1A travels on the vehicle 1A based on the sensing result received from the external device when the sensing result from the sensor mounted on the vehicle 1A is not appropriate. Or an example in which the information processing apparatus 100B mounted on the vehicle 1B supports the traveling of the vehicle 1A by transmitting sensing by a sensor mounted on the vehicle 1B to the vehicle 1A. However, such an information processing apparatus may be an apparatus mounted on a moving body (for example, a moving robot) other than the vehicle. For example, in the information processing apparatus 100A mounted on one moving body, a sensing result (for example, an image captured by an image sensor) that satisfies a predetermined standard is acquired from a sensor (moving body mounting sensor) mounted on the moving body. In the situation, movement support information (running support information, etc.) that supports the movement of the moving body (running, etc.) is generated based on the sensing result, and in the non-normal situation, the sensing result received from the external device It is also possible to generate movement support information (travel support information, etc.) that supports the movement (travel, etc.) of the mobile body based on the above. In addition, for example, the information processing apparatus 100B mounted on the first moving body senses the sensing result of the moving body mounting sensor in the first moving body (or the roadside machine acquired from the roadside machine around the first moving body, etc. The sensing result of the sensor (2) may be transmitted to the second moving body when a situation occurs where the second moving body traveling in a short distance cannot properly sense the course. Transmission to the second mobile unit may be transmission of information that does not specify a destination (so-called broadcast). That is, the vehicle 1B described in the above embodiment may be a moving body other than the vehicle (first moving body), and the vehicle 1A may be a moving body other than the vehicle (second moving body).

  (4) The order of execution of the various processing procedures shown in the above-described embodiment (for example, the processing procedures shown in FIGS. 4 to 7) is not necessarily limited to the order described above. The execution order can be changed, a plurality of procedures can be performed in parallel, or a part of the procedures can be omitted without departing from the gist. Further, the information processing apparatuses 100A and 100B communicate with an external server apparatus or the like to perform a part of the information processing method (for example, some steps in FIGS. 4 to 7) related to the vehicle or the like. You may share with an apparatus etc. Further, when the roadside machine transmits a sensing result about the course of the vehicle 1A as in the case of the vehicle 1B, the sensing result may be transmitted to the vehicle 1A via an external server device or the like.

  (5) In the above embodiment, the information processing apparatus 100A is an example of determining whether or not the vehicle 1A is in a normal state (a state in which a sensing result satisfying a predetermined standard is acquired from the in-vehicle sensor 200A). An example of determination based on the pixel value of each pixel of an image generated by the sensor by the sensor, or determination based on whether or not the boundary between areas having a large difference in brightness (for example, the entrance / exit of the tunnel 10) is shown. . This is an example paying attention to the point that the accuracy of the image generated by the image sensor as the in-vehicle sensor 200A is temporarily lowered when the brightness suddenly changes. However, similarly, as an example in which the accuracy of the sensing result of the image sensor as the in-vehicle sensor 200A is reduced, there is a case where fog or heavy rain occurs in the course of the vehicle 1A. In order to cope with the case of fog, heavy rain, etc., if the information processing apparatus 100A is in a blurred state with a low resolution of the subject, for example, by analyzing an image generated by the image sensor, the vehicle 1A You may comprise so that it may determine with not being in a normal condition, and determining with being in a normal condition in other cases. Moreover, you may prescribe | regulate not satisfy | filling a predetermined reference | standard when the precision of the sensing (observation) by sensors (for example, radar, a rider, etc.) other than an image sensor falls as in-vehicle sensor 200A. That is, when the accuracy of sensing by the in-vehicle sensor 200A is lowered due to the traveling environment of the vehicle 1A, the information processing apparatus 100A determines that the vehicle 1A is not in a normal state, and information (sensing) by sensing (observation) from an external device. Result) and driving support information for driving support of the vehicle 1A may be generated based on the received sensing result.

  (6) The information processing apparatuses 100A and 100B according to the above-described embodiment include an ECU including a memory, a processor, and the like, and an example is shown in which various functions are realized by a processor that executes a program (software) stored in the memory. However, the function may be realized by dedicated hardware (digital circuit or the like) without using software.

(7) Part or all of the constituent elements constituting each device in the above embodiment may be constituted by one system LSI (Large Scale Integration). The system LSI is an ultra-multifunctional LSI manufactured by integrating a plurality of components on a single chip. Specifically, the system LSI is a computer system including a microprocessor, a ROM, a RAM, and the like. . A computer program is recorded in the RAM. The system LSI achieves its functions by the microprocessor operating according to the computer program. In addition, each part of the constituent elements constituting each of the above devices may be individually made into one chip, or may be made into one chip so as to include a part or all of them. Although the system LSI is used here, it may be called IC, LSI, super LSI, or ultra LSI depending on the degree of integration. Further, the method of circuit integration is not limited to LSI's, and implementation using dedicated circuitry or general purpose processors is also possible. An FPGA (Field Programmable Gate Array) that can be programmed after manufacturing the LSI, or a reconfigurable processor that can reconfigure the connection and setting of circuit cells inside the LSI may be used. Furthermore, if integrated circuit technology comes out to replace LSI's as a result of the advancement of semiconductor technology or a derivative other technology, it is naturally also possible to carry out function block integration using this technology. Biotechnology can be applied as a possibility.

  (8) A part or all of the constituent elements constituting each of the above devices may be configured as an IC card or a single module that can be attached to and detached from each device. The IC card or the module is a computer system including a microprocessor, a ROM, a RAM, and the like. The IC card or the module may include the super multifunctional LSI described above. The IC card or the module achieves its function by the microprocessor operating according to the computer program. This IC card or this module may have tamper resistance.

(9) As one aspect of the present invention, for example, an information processing method including all or part of the processing procedures shown in FIGS. For example, in the information processing method, as a method for performing control related to traveling in the vehicle 1A (moving body), an acquisition step of acquiring a sensing result from an in-vehicle sensor 200A (moving body mounted sensor) that senses the course of the vehicle 1A ( For example, step S11 etc.), the receiving step (for example, step S16 etc.) which receives the sensing result about the course of the vehicle 1A from the external device outside the vehicle 1A, and the situation of the vehicle 1A satisfy the predetermined standard from the in-vehicle sensor 200A. When the sensing result is a normal condition acquired, driving support information used for controlling the driving of the vehicle 1A is generated based on the sensing result acquired from the in-vehicle sensor 200A, and when the vehicle 1A is not in a normal condition Generation step for generating driving support information based on a sensing result received from an external device For example and a step S12, S13, S17, etc.). In addition, as an aspect of the present invention, the information processing method (predetermined information processing) may be a computer program that realizes the processing by a computer, or may be a digital signal including the computer program. In one embodiment of the present invention, the computer program or the digital signal can be read by a computer, such as a flexible disk, a hard disk, a CD-ROM, an MO, a DVD, a DVD-ROM, a DVD-RAM, and a BD. (Blu-ray (registered trademark) Disc), recorded on a semiconductor memory, or the like. The digital signal may be recorded on these recording media. Further, as one aspect of the present invention, the computer program or the digital signal may be transmitted via an electric communication line, a wireless or wired communication line, a network typified by the Internet, data broadcasting, or the like. Further, an aspect of the present invention may be a computer system including a microprocessor and a memory, the memory recording the computer program, and the microprocessor operating according to the computer program. . Also, by recording and transferring the program or the digital signal on the recording medium, or by transferring the program or the digital signal via the network or the like, by another independent computer system It may be carried out.

  (10) Embodiments realized by arbitrarily combining the constituent elements and functions shown in the embodiment and the modified examples are also included in the scope of the present invention.

  The present invention can be used to support traveling of a moving body such as a vehicle.

1A, 1B Vehicle 10 Tunnel 11 Obstacle 100A, 100B Information processing device 110A, 110B Acquisition unit 120A, 120B Communication unit 130 Determination unit 140 Generation unit 150 Output unit 200A, 200B In-vehicle sensor 210 Vehicle control device

Claims (16)

An information processing apparatus mounted on a moving body,
An acquisition unit that acquires a sensing result from a sensor that is mounted on the moving body and senses the course of the moving body;
A communication unit that receives a sensing result about a path of the moving body from an external device outside the moving body;
A determination unit that determines whether the state of the moving body at a specific time is a first state in which a sensing result acquired from the sensor satisfies a predetermined condition;
When the determination unit determines that the state of the moving body at the specific time point is the first state, a first for controlling movement of the moving body based on a sensing result acquired from the sensor Generating information to generate the first information based on a sensing result received from the external device when the determination unit determines that the state of the moving object at the specific time point is not the first state And
An information processing apparatus comprising: an output unit that outputs the first information. The sensor includes an image sensor,
The information processing apparatus according to claim 1, wherein the sensing result includes image information. The information processing apparatus according to claim 2, wherein the determination of the first situation includes determining whether the moving body moves between two consecutive areas in which a difference in brightness within each area is greater than or equal to a predetermined level. . It is determined whether the moving body moves between the two areas based on a measurement result of the position of the moving body and position information indicating a location of the two areas. Including determining whether they are approaching the boundary of
The information processing apparatus according to claim 3. The determining whether the moving body moves between the two regions includes determining whether a boundary between the two regions is reflected in an image indicated by image information acquired from the image sensor. The information processing apparatus described. The information processing apparatus according to claim 2, wherein the determination of the first situation includes determining whether a sensing result that satisfies the predetermined condition is acquired from the image sensor. The information processing apparatus according to claim 6, wherein the determination of the first situation includes a comparison between a statistical processing result and a threshold value regarding a pixel value of an image generated as a sensing result by the image sensor. The information processing apparatus according to claim 6, wherein the predetermined condition is not satisfied when a predetermined number of pixel values of an image generated by the image sensor are within a predetermined range, but is satisfied when the predetermined value exceeds the predetermined range. The generation unit generates the first information without being based on a sensing result acquired from the sensor when the determination unit determines that the state of the moving body at the specific time point is not the first state. The information processing apparatus according to any one of claims 2 to 8. When the determination unit determines that the state of the moving body at the specific time point is not the first state, the generation unit detects the sensing from the sensor based on the sensing result acquired from the sensor. The influence which a result gives to said 1st information is suppressed rather than the case where the above-mentioned judgment part judges that the situation of the above-mentioned mobile object of the above-mentioned specific time is the above-mentioned 1st situation. The information processing apparatus described. The communication unit detects a result of sensing the path of the moving body to the external device before or during the movement of the moving body between two consecutive areas where the brightness difference in each area is a predetermined level or more. The information processing apparatus according to any one of claims 2 to 8. An information processing method executed by a processor mounted on a mobile object,
An acquisition step of acquiring a sensing result from a sensor that senses the path of the moving body;
A receiving step of receiving a sensing result about a path of the moving body from an external device outside the moving body;
When the state of the moving body at a specific time is the first state in which the sensing result acquired from the sensor satisfies a predetermined condition, the moving body is moved based on the sensing result acquired from the sensor. Generation of generating first information for controlling, and generating the first information based on a sensing result received from the external device when the state of the moving body at the specific time is not the first state An information processing method including steps. A program for causing a computer mounted on a mobile body to perform predetermined information processing,
The predetermined information processing
An acquisition step of acquiring a sensing result from a sensor that senses the path of the moving body;
A receiving step of receiving a sensing result about a path of the moving body from an external device outside the moving body;
When the state of the moving body at a specific time is the first state in which the sensing result acquired from the sensor satisfies a predetermined condition, the moving body is moved based on the sensing result acquired from the sensor. Generation of generating first information for controlling, and generating the first information based on a sensing result received from the external device when the state of the moving body at the specific time is not the first state A program that includes steps. An information processing apparatus mounted on a first moving body,
An acquisition unit that acquires a sensing result about the outside of the first moving body from a first sensor in the first moving body or a second sensor around the first moving body;
The situation at a specific time point of the second moving body is a first situation in which a sensing result obtained from a third sensor mounted on the second moving body and sensing the course of the second moving body satisfies a predetermined condition. A determination unit for determining whether there is,
Communication for transmitting a sensing result obtained from the first sensor or the second sensor by the obtaining unit in response to determining that the state of the second moving body at the specific time point is not the first situation An information processing apparatus. The acquisition unit acquires a sensing result about a path of the second moving body from the first sensor or the second sensor,
Whether or not the state of the second moving body at the specific time point is the first state is determined by moving the second moving body in two consecutive areas where the brightness difference in each area is equal to or greater than a predetermined level. Including determining whether to
The information processing apparatus according to claim 14, wherein the communication unit transmits a sensing result acquired from the first sensor or the second sensor in response to the first moving body approaching a boundary between the two regions. . Determining whether the status of the second mobile unit at the specific time is the first status includes determining whether the communication unit has received a sensing result transmission request from the second mobile unit,
The information processing apparatus according to claim 14, wherein the communication unit transmits a sensing result acquired from the first sensor or the second sensor in response to receiving the transmission request from the second moving body.

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