JP2019008424A - Information processing device and program - Google Patents

Abstract

To provide an information processing device capable of enhancing movement efficiency of a mobile body.SOLUTION: An information processing device 2 includes: a peripheral vehicle position estimation section 10 for estimating a position relation between a first object existing in the periphery of an automatic driving vehicle 4a and the automatic driving vehicle 4a, and generating first position relation information indicating the estimated position relation; an inter-vehicle communication reception section 22 for receiving first position information indicating a position of an automatic driving vehicle 4b and second position relation information indicating a position relation between a second object existing in the periphery of the automatic driving vehicle 4b and the automatic driving vehicle 4b; and a travel method selection section 24 for identifying the automatic driving vehicle 4b as a transmission source of the first position information and the second position relation information on the basis of a position relation indicated by the first position relation information and a position relation indicated by the second position relation information, and outputting control information to control a movement of the automatic driving vehicle 4a on the basis of the first position information of the identified automatic driving vehicle 4b.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an information processing apparatus and a program mounted on a moving body such as an autonomous driving vehicle.

  2. Description of the Related Art There is known an automatic driving vehicle (so-called robot car) that autonomously travels by automatically performing these driving operations even when the driver does not perform driving operations such as an accelerator, a brake, and a steering wheel. As an inter-vehicle communication, the autonomous driving vehicle transmits / receives a vehicle-to-vehicle communication packet storing vehicle braking information and the like to / from a vehicle (hereinafter referred to as “corresponding vehicle”) corresponding to the vehicle-to-vehicle communication existing around. . The autonomous driving vehicle performs traveling control such as braking based on the braking information stored in the received inter-vehicle communication packet. In addition, vehicle-to-vehicle communication is wireless communication performed via a vehicle-to-vehicle wireless network between a plurality of corresponding vehicles.

  However, for example, a) When a vehicle that does not support inter-vehicle communication (hereinafter referred to as “non-compliant vehicle”) and a compatible vehicle are mixed around the autonomous driving vehicle, or b) the vehicle body of the autonomous driving vehicle is When the position coordinates of multiple autonomous driving vehicles are close to each other by drastically downsizing, it is not possible to identify the autonomous driving vehicle that is the source of the inter-vehicle communication packet, It becomes difficult to perform the traveling control based on this. Therefore, in such a case, the autonomous driving vehicle needs to detect position information indicating the position of the surrounding vehicle by a distance measuring sensor such as an optical sensor or a positioning radar, and perform traveling control based on the detected position information. is there.

  Further, in Patent Document 1, position information stored in a vehicle-to-vehicle communication packet is compared with position information detected by a distance measurement sensor, and i) a distance measurement sensor and a vehicle based on an error in the position information. Techniques have been proposed for selecting one of travel control based on inter-vehicle communication, ii) travel control based on only a distance measurement sensor, and iii) travel control based only on inter-vehicle communication.

Japanese Patent Laid-Open No. 2006-224867

  However, in Patent Document 1, for example, when a plurality of autonomous driving vehicles are traveling close to each other, switching from traveling control based on inter-vehicle communication and a distance measuring sensor to traveling control based only on the distance measuring sensor frequently occurs. There is a risk. In general, the accuracy of the travel control based only on the distance measurement sensor is lower than the accuracy of the travel control based on the inter-vehicle communication and the distance measurement sensor. Therefore, in patent document 1, the subject that the driving | running | working efficiency (for example, a fuel consumption, a travel required time, etc.) of an autonomous driving vehicle falls arises because the precision of driving control falls.

  Therefore, the present invention provides an information processing apparatus and a program that can improve the movement efficiency of a moving object.

  An information processing apparatus according to an aspect of the present invention is an information processing apparatus mounted on a first moving body, the first object existing around the first moving body and the first moving body. And an estimation unit that generates first positional relationship information that indicates the estimated positional relationship, and first positional information that indicates a position of a second moving body different from the first moving body, A receiving unit that receives second positional relationship information indicating a positional relationship between the second object existing in the vicinity of the second moving body and the second moving body; and the first positional relationship. Based on the positional relationship indicated by the information and the positional relationship indicated by the second positional relationship information, the second moving body is identified as a transmission source of the first positional information and the second positional relationship information Based on the first position information of the specifying unit and the specified second moving body, And an output unit which outputs control information for controlling the movement of the serial first mobile.

  These comprehensive or specific modes may be realized by a recording medium such as a system, method, integrated circuit, computer program, or computer-readable CD-ROM (Compact Disc-Read Only Memory). The present invention may be realized by any combination of a system, a method, an integrated circuit, a computer program, and a recording medium.

  According to the information processing apparatus according to one embodiment of the present invention, the moving efficiency of the moving body can be increased.

It is a figure which shows the example of application of the information processing apparatus which concerns on embodiment. It is a block diagram which shows the structure of the information processing apparatus which concerns on embodiment. It is a figure which shows an example of the vehicle-to-vehicle communication packet which concerns on embodiment. It is a flowchart which shows the flow of a process of the vehicle-to-vehicle communication transmission part which concerns on embodiment. It is a flowchart which shows the flow of a process of the traveling system selection part which concerns on embodiment. It is a figure which shows an example of the error range by the positioning system of a positioning coordinate. It is a figure which shows the specific example 1 of the process of step S42 of FIG. It is a figure which shows the specific example 2 of the process of step S42 of FIG. It is a figure which shows the specific example 3 of the process of step S42 of FIG. It is a figure which shows the specific example 4 of the process of step S42 of FIG. It is a figure which shows the specific example 4 of the process of step S42 of FIG. It is a figure which shows the specific example 5 of the process of step S42 of FIG. It is a figure which shows the specific example 5 of the process of step S42 of FIG.

  An information processing apparatus according to an aspect of the present invention is an information processing apparatus mounted on a first moving body, the first object existing around the first moving body and the first moving body. And an estimation unit that generates first positional relationship information that indicates the estimated positional relationship, and first positional information that indicates a position of a second moving body different from the first moving body, A receiving unit that receives second positional relationship information indicating a positional relationship between the second object existing in the vicinity of the second moving body and the second moving body; and the first positional relationship. Based on the positional relationship indicated by the information and the positional relationship indicated by the second positional relationship information, the second moving body is identified as a transmission source of the first positional information and the second positional relationship information Based on the first position information of the specifying unit and the specified second moving body, And an output unit which outputs control information for controlling the movement of the serial first mobile.

  According to this aspect, based on the positional relationship indicated by the first positional relationship information and the positional relationship indicated by the second positional relationship information, as the transmission source of the first positional information and the second positional relationship information The second moving body can be specified. Thereby, for example, even when a plurality of moving objects are moving close to each other, the movement control based on the inter-vehicle communication can be utilized to the maximum extent. As a result, the movement efficiency (for example, fuel consumption and time required for movement) of the first moving body can be improved.

  For example, the positional relationship indicated by the first positional relationship information is the orientation of the first object viewed from the first moving body, and the positional relationship indicated by the second positional relationship information is You may comprise so that it may be the direction of the said 2nd object seen from the 2nd moving body.

  According to this aspect, the positional relationship can be defined by the orientation.

  For example, the specifying unit is a virtual arrangement that indicates a virtual arrangement of the first moving body, the second moving body, and the first object based on an orientation indicated by the first positional relationship information. Information is generated, and based on the consistency between the orientation indicated by the second positional relationship information on the arrangement indicated by the virtual arrangement information and the position of the first object, the first position information and You may comprise so that the said 2nd mobile body may be specified as a transmission source of said 2nd positional relationship information.

  According to this aspect, it is possible to identify the second moving body as the transmission source of the first position information and the second positional relationship information by a relatively simple method.

  For example, there are a plurality of the second moving bodies around the first moving body, and the estimation unit further estimates the position of each of the plurality of second moving bodies, Generating a plurality of second position information indicating the respective positions, and the specifying unit generates an overlapping region in which each of the regions based on the error of the first position information for each of the plurality of second position information overlaps. When the position indicated by the first position information is extracted and included in the overlapping area, the first position information and the second position relation information are transmitted from the plurality of second moving objects. You may comprise so that the origin may be specified.

  According to this aspect, when the predetermined condition is satisfied, the transmission source of the first position information and the second positional relationship information is specified from among the plurality of second moving bodies, so that the calculation processing load of the specifying unit Can be reduced.

  For example, the estimation unit further estimates the type of the first object, generates first identification information indicating the estimated type of the first object in association with the first positional relationship information, The receiving unit further receives second identification information indicating the type of the second object associated with the second positional relationship information, and the specifying unit is indicated by the first identification information. And the type indicated by the second identification information match the positional relationship indicated by the first positional relationship information and the positional relationship indicated by the second positional relationship information, You may comprise so that the said 2nd moving body may be specified as a transmission source of said 1st positional information and said 2nd positional relationship information.

  According to this aspect, it is possible to more accurately identify the second moving body as the transmission source of the first position information and the second positional relationship information.

  For example, the specifying unit may use the second movement as a transmission source of the first positional information and the second positional relation information based on a temporal change in the positional relation indicated by the second positional relation information. You may comprise so that a body may be specified.

  According to this aspect, it is possible to more accurately identify the second moving body as the transmission source of the first position information and the second positional relationship information.

  For example, when the second positional relationship information changes to indicate the positional relationship between the first moving body and the second moving body, the specifying unit may change the first positional information and the first positional information. You may comprise so that the said 2nd moving body may be specified as a transmission source of 2 positional relationship information.

  According to this aspect, it is possible to more accurately identify the second moving body as the transmission source of the first position information and the second positional relationship information.

  For example, in a state where the positional relationship between the first moving body and the second moving body does not change, the specifying unit serves as the transmission source of the first positional information and the second positional relationship information. When the moving body cannot be specified, the output unit may output the control information for moving the first moving body with respect to the second moving body.

  According to this aspect, by moving the first moving body, the second moving body can be specified as the transmission source of the first position information and the second positional relationship information.

  Further, a program according to an aspect of the present invention is a program for controlling an information processing device mounted on a first moving body, and the first moving body with respect to a computer of the information processing device A step of estimating a positional relationship between a first object existing in the vicinity of the first moving body and the first moving body, and generating first positional relationship information indicating the estimated positional relationship; and different from the first moving body 1st positional information which shows the position of a 2nd moving body, and 2nd positional relationship information which shows the positional relationship of the 2nd object which exists in the circumference | surroundings of the said 2nd moving body, and the said 2nd moving body And, based on the positional relationship indicated by the first positional relationship information and the positional relationship indicated by the second positional relationship information, the first positional information and the second positional information The second mobile unit is specified as the transmission source of the relationship information. A step of, based on the first position information of the specified second mobile, and outputting control information for controlling the movement of the first movable body, thereby to execute.

  According to this aspect, based on the positional relationship indicated by the first positional relationship information and the positional relationship indicated by the second positional relationship information, as the transmission source of the first positional information and the second positional relationship information The second moving body can be specified. Thereby, for example, even when a plurality of moving objects are moving close to each other, the movement control based on the inter-vehicle communication can be utilized to the maximum extent. As a result, the moving efficiency of the first moving body can be increased.

  Hereinafter, embodiments will be specifically described with reference to the drawings.

  It should be noted that each of the embodiments described below shows a comprehensive or specific example. Numerical values, shapes, materials, components, arrangement positions and connection forms of components, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present invention. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept are described as optional constituent elements.

(Embodiment)
[1. Configuration of information processing apparatus]
First, the configuration of the information processing apparatus 2 according to the embodiment will be described with reference to FIGS. FIG. 1 is a diagram illustrating an application example of the information processing apparatus 2 according to the embodiment. FIG. 2 is a block diagram illustrating a configuration of the information processing apparatus 2 according to the embodiment. FIG. 3 is a diagram illustrating an example of a vehicle-to-vehicle communication packet according to the embodiment.

  As shown in FIG. 1, the information processing apparatus 2 includes an automatic driving vehicle 4a (an example of a first moving body) and another automatic driving vehicle 4b (a second moving body) existing around the automatic driving vehicle 4a. It is mounted on each (example). The information processing device 2 mounted on the autonomous driving vehicle 4a performs inter-vehicle communication with the information processing device 2 mounted on the autonomous driving vehicle 4b via the vehicle-to-vehicle wireless network. Is controlled to autonomously travel (an example of movement). The information processing apparatus 2 mounted on each of the autonomous driving vehicles 4a and 4b has the same configuration. Hereinafter, the configuration of the information processing apparatus 2 mounted on the autonomous driving vehicle 4a will be described.

  As illustrated in FIG. 2, the information processing apparatus 2 includes an optical sensor 6, a positioning radar 8, a surrounding vehicle position estimation unit 10 (an example of an estimation unit), and a surrounding vehicle travel direction estimation unit 12 (an example of an estimation unit). A GNSS (Global Navigation Satellite System) receiver 14, a compass 16, a host vehicle positioning unit 18, an inter-vehicle communication transmitter 20, and an inter-vehicle communication receiver 22 (an example of a receiver). And a traveling system selection unit 24 (an example of a specifying unit and an output unit) and a vehicle control unit 26.

  The surrounding vehicle position estimation unit 10, the surrounding vehicle traveling direction estimation unit 12, the own vehicle positioning unit 18, the inter-vehicle communication transmission unit 20, the inter-vehicle communication reception unit 22, the traveling method selection unit 24, and the vehicle control unit 26 are mounted on the vehicle. They are connected to each other via a network 28.

  The optical sensor 6 is a distance measuring sensor for receiving, for example, light in each region of visible light, near infrared light, short wavelength infrared light, or thermal infrared light with a lens. The optical sensor 6 transmits an optical signal indicating the received light to each of the surrounding vehicle position estimation unit 10 and the surrounding vehicle traveling direction estimation unit 12.

  The positioning radar 8 is a distance measuring sensor for measuring the distance to the target object and the direction of the target object by transmitting the radio wave toward the target object and measuring the radio wave reflected by the target object. The positioning radar 8 transmits a positioning signal indicating the measured distance and direction to each of the surrounding vehicle position estimation unit 10 and the surrounding vehicle traveling direction estimation unit 12.

  The surrounding vehicle position estimation unit 10 acquires an optical signal from the optical sensor 6 and a positioning signal from the positioning radar 8. The surrounding vehicle position estimation unit 10 detects the number of surrounding vehicles (an example of the first object) existing around the autonomous driving vehicle 4a by imaging the acquired optical signal and positioning signal, and automatically driving the vehicle. The position (positioning coordinate) and azimuth | direction of the surrounding vehicle seen from 4a are estimated. Accordingly, the surrounding vehicle position estimation unit 10 includes position information (an example of second position information) indicating the estimated position of the surrounding vehicle, and the estimated direction of the surrounding vehicle (the positional relationship between the autonomous driving vehicle 4a and the surrounding vehicle). Azimuth information (an example of first positional relationship information) indicating an example). The surrounding vehicle position estimation unit 10 includes position information indicating the position of an object (for example, a person, a road sign, an obstacle, etc.) other than the vehicle existing around the autonomous driving vehicle 4a, and an orientation indicating the direction of the object. Information may be generated.

  The peripheral vehicle traveling direction estimation unit 12 acquires the optical signal from the optical sensor 6 and the positioning signal from the positioning radar 8, and presents the acquired optical signal and positioning signal in the vicinity of the autonomous driving vehicle 4a. Estimate the running direction of the surrounding vehicle. Thereby, the surrounding vehicle traveling direction estimation unit 12 generates direction information indicating the estimated traveling direction of the surrounding vehicle.

  In addition, in each estimation process of the surrounding vehicle position estimation unit 10 and the surrounding vehicle travel direction estimation unit 12, for example, an inference using a neural network (Neural Network) learned by deep learning technology is used.

  The GNSS receiving unit 14 receives a positioning signal transmitted from an artificial satellite in the global positioning satellite system and indicating the current position of the autonomous driving vehicle 4a, and transmits the received positioning signal to the own vehicle positioning unit 18.

  The compass 16 measures the traveling direction of the autonomous driving vehicle 4a using geomagnetism, and transmits an orientation signal indicating the measured traveling direction to the own vehicle positioning unit 18.

  The own vehicle positioning unit 18 processes the positioning signal from the GNSS receiving unit 14 and the azimuth signal from the compass 16 to thereby position information indicating the positioning coordinates of the own vehicle (automatic driving vehicle 4a) and azimuth information indicating the traveling direction. Is generated.

  The inter-vehicle communication transmission unit 20 generates an inter-vehicle communication packet based on the direction information generated by the surrounding vehicle position estimation unit 10 and the position information and direction information generated by the own vehicle positioning unit 18. The inter-vehicle communication transmission unit 20 transmits the generated inter-vehicle communication packet to a corresponding vehicle (such as the automatic driving vehicle 4b) existing around the automatic driving vehicle 4a via the inter-vehicle wireless network to which the automatic driving vehicle 4a belongs. Send. Specific processing of the inter-vehicle communication transmission unit 20 will be described later.

  The vehicle-to-vehicle communication receiving unit 22 receives a vehicle-to-vehicle communication packet transmitted from a nearby corresponding vehicle (such as the automatic driving vehicle 4b) via the vehicle-to-vehicle wireless network to which the autonomous driving vehicle 4a belongs.

  Here, an example of the inter-vehicle communication packet received from the autonomous driving vehicle 4b will be described with reference to FIG. In the example illustrated in FIG. 3, vehicle ID (Identification) information 30, time information 32, position information 34 (an example of first position information), direction information 36, and the like are stored in the inter-vehicle communication packet.

  The vehicle ID information 30 is information indicating a unique ID for identifying the transmission source of the inter-vehicle communication packet in the inter-vehicle wireless network. The time information 32 is information indicating the time when the inter-vehicle communication packet is generated. The position information 34 is positioning information of the own vehicle (automatic driving vehicle 4b) generated based on the position information from the own vehicle positioning unit 18 of the autonomous driving vehicle 4b. For example, latitude information, longitude information, altitude information, positioning It includes system information (type, number, signal type, correction coordinates, etc. of navigation satellites used for positioning) and local information (weather, high-rise objects, etc.). In the example illustrated in FIG. 3, the position information 34 does not store a value indicating altitude information because altitude information is not supported. However, if the altitude information is supported, the position information 34 is a value indicating altitude information. Is stored.

  The azimuth information 36 includes azimuth information 38 indicating the traveling azimuth of the own vehicle (automated driving vehicle 4b) generated based on the azimuth information from the own vehicle positioning unit 18 of the autonomous driving vehicle 4b, and surrounding vehicles of the autonomous driving vehicle 4b. Direction indicating the direction of the surrounding vehicle (an example of the second object) viewed from the host vehicle (an example of the positional relationship between the autonomous driving vehicle 4b and the surrounding vehicle) generated based on the direction information from the position estimation unit 10 Information 40 (an example of second positional relationship information). In the example illustrated in FIG. 3, the azimuth information 36 is represented by azimuth angles in which the north is 0 ° (= 360 °) and the east is 90 °, the south is 180 °, and the west is 270 °. In addition to the azimuth information 38 and 40, the azimuth information 36 may include azimuth information indicating the azimuth of an object other than the vehicle (for example, a person, a road sign, an obstacle, and the like). In addition to the azimuth information 38 and 40, the azimuth information 36 may include distance information indicating the distance between the host vehicle and the surrounding vehicle.

  In addition, in the inter-vehicle communication packet, in addition to the vehicle ID information 30, the time information 32, the position information 34, and the azimuth information 36, various information related to the own vehicle, for example, the traveling speed, traveling acceleration, braking information, and the like of the own vehicle are indicated. Travel information or the like may be stored.

  The traveling method selection unit 24 identifies the transmission source of the inter-vehicle communication packet received by the inter-vehicle communication receiving unit 22. Based on the above-described specific results, the traveling method selection unit 24 sets i) traveling control based on inter-vehicle communication and a distance measurement sensor (optical sensor 6 and positioning radar 8), and ii as a traveling method of the autonomous driving vehicle 4a. ) Select one of the driving controls based on the distance sensor only. The traveling method selection unit 24 outputs control information for traveling control of the autonomous driving vehicle 4a to the vehicle control unit 26 based on the selected traveling method. Specific processing of the traveling method selection unit 24 will be described later.

  The vehicle control unit 26 performs traveling control (for example, braking or the like) on the autonomous driving vehicle 4 a based on the control information from the traveling method selection unit 24.

[2. Processing of information processing apparatus]
[2-1. Processing of inter-vehicle communication transmitter]
Next, the process of the vehicle-to-vehicle communication transmitter 20 will be described with reference to FIG. FIG. 4 is a flowchart showing a process flow of the inter-vehicle communication transmission unit 20 according to the embodiment.

  As shown in FIG. 4, first, the inter-vehicle communication transmitter 20 acquires the position information 34 and the direction information 38 of the host vehicle from the host vehicle positioning unit 18 (S11). Next, the vehicle-to-vehicle communication transmission unit 20 acquires the direction information 40 of the surrounding vehicle from the surrounding vehicle position estimation unit 10 (S12).

  Next, the inter-vehicle communication transmitting unit 20 a) vehicle ID information 30, b) time information 32, c) own vehicle position information 34 and direction information 38 acquired in step S11, and d) step S12. A vehicle-to-vehicle communication packet including the azimuth information 40 and the like of the surrounding vehicle acquired in step S13 is generated (S13).

  Next, the vehicle-to-vehicle communication transmission unit 20 transmits the generated vehicle-to-vehicle communication packet to the corresponding vehicle existing in the vicinity via the vehicle-to-vehicle wireless network to which the host vehicle belongs (S14).

[2-2. Processing of travel system selection unit]
Next, processing of the traveling method selection unit 24 will be described with reference to FIGS. 5 and 6. FIG. 5 is a flowchart showing a process flow of the traveling method selection unit 24 according to the embodiment. FIG. 6 is a diagram illustrating an example of an error range by the positioning coordinate positioning system.

  As shown in FIG. 5, when the vehicle-to-vehicle communication receiving unit 22 receives the vehicle-to-vehicle communication packet, the traveling method selecting unit 24 acquires the vehicle-to-vehicle communication packet from the vehicle-to-vehicle communication receiving unit 22 (S31).

  Next, the traveling method selection unit 24 determines whether or not the transmission source of the acquired inter-vehicle communication packet is determined based on a predetermined condition (S32). The predetermined conditions are: i) the type of vehicle ID information of the inter-vehicle communication packet including the number of surrounding vehicles detected by the surrounding vehicle position estimating unit 10 and the positioning coordinates close to the detected position of the surrounding vehicles. And ii) the position information based on the positioning coordinates of each of the plurality of surrounding vehicles estimated by the surrounding vehicle position estimating unit 10 based on the position information 34 of the inter-vehicle communication packet. 34, the error range in the positioning system according to 34 is not included in the overlapping region. That is, the fact that the position indicated by the position information 34 is not included in the overlap area corresponds to the fact that the transmission source of the inter-vehicle communication packet is determined.

  Note that the traveling method selection unit 24 stores in advance a table in which positioning system information and the radius of the error range are associated with each other as shown in FIG. 6, for example. In the example shown in FIG. 6, when the positioning system information is “none”, the radius of the error range is “horizontal 3.5 m”, and the positioning system information is “number of supplementary satellites: 8 or less, positioning reinforcement signal: L1. In the case of “signal”, the radius of the error range is “horizontal 2.0 m”. The error range may be determined in advance based on regional information (such as weather and high-rise objects). Based on the table shown in FIG. 6, the traveling method selection unit 24 overlaps the error ranges related to the position information 34 based on the positioning coordinates of each of the plurality of surrounding vehicles estimated by the surrounding vehicle position estimation unit 10. To extract.

  Returning to step S32 in FIG. 5, the traveling method selection unit 24 determines that the transmission source of the acquired inter-vehicle communication packet is confirmed when the predetermined condition is satisfied (YES in S32). In this case, the traveling method selection unit 24 determines whether or not all the surrounding vehicles detected by the surrounding vehicle position estimation unit 10 are compatible vehicles (S33).

  When all the surrounding vehicles are compatible vehicles (YES in S33), the traveling method selection unit 24 selects the traveling control based on the inter-vehicle communication and the distance measuring sensor (S34). On the other hand, when all the surrounding vehicles are non-compliant vehicles (NO in S33, YES in S35), the traveling method selection unit 24 selects traveling control based only on the distance measuring sensor (S36). If the surrounding vehicle includes both a compatible vehicle and a non-compatible vehicle (NO in S33, NO in S35), the traveling method selection unit 24 moves the host vehicle to the lane in which another corresponding vehicle travels, Control information for instructing the other corresponding vehicle to follow the vehicle is transmitted to the vehicle control unit 26 (S37), and the process proceeds to step S34.

  Returning to step S32, when the predetermined condition is not satisfied, the traveling method selection unit 24 determines that the transmission source of the acquired inter-vehicle communication packet has not been determined (NO in S32). In this case, the traveling method selection unit 24 acquires the direction information 36 of the inter-vehicle communication packet (S38).

  The traveling method selection unit 24 determines the transmission source of the acquired inter-vehicle communication packet based on the direction information 38 of the host vehicle in the inter-vehicle communication packet (S39). Specifically, when the direction information 38 of the own vehicle in the inter-vehicle communication packet and the direction information of the surrounding vehicle generated by the surrounding vehicle traveling direction estimation unit 12 coincide with each other for a preset period, the traveling method is selected. The unit 24 determines that the surrounding vehicle is a transmission source of the inter-vehicle communication packet. Thereby, when the surrounding vehicle and the inter-vehicle communication packet are linked (YES in S40), the process proceeds to step S33.

  On the other hand, in step S40, for example, when the traveling directions of a plurality of surrounding vehicles are the same, and the surrounding vehicle and the inter-vehicle communication packet are not linked (NO in S40), the traveling method selection unit 24 Determines whether or not the direction information 40 of the surrounding vehicle of the inter-vehicle communication packet exists (S41). If the direction information 40 of the surrounding vehicle in the inter-vehicle communication packet does not exist (NO in S41), the process proceeds to step S36.

  On the other hand, if there is azimuth information 40 of the surrounding vehicle in the inter-vehicle communication packet in step S41 (YES in S41), the traveling method selection unit 24 is based on the azimuth information 40 of the surrounding vehicle in the inter-vehicle communication packet. The transmission source of the acquired inter-vehicle communication packet is determined (S42). Specifically, the traveling method selection unit 24 includes the position information and direction information of the host vehicle generated by the host vehicle positioning unit 18, and the position information and direction information of the surrounding vehicle generated by the surrounding vehicle position estimation unit 10. Based on the above, a virtual layout map (an example of virtual layout information) is generated, and an arrow indicating azimuth information 40 of surrounding vehicles of the vehicle-to-vehicle communication packet is projected onto the virtual layout map, so that the acquired vehicle-to-vehicle communication packet Determine the source. That is, the traveling method selection unit 24 determines the transmission source of the acquired inter-vehicle communication packet based on the consistency between the direction information 40 of the surrounding vehicle of the inter-vehicle communication packet on the virtual layout map and the position information of the surrounding vehicle. To do. A specific example of the process in step S42 will be described later.

  Thereby, when the surrounding vehicle and the inter-vehicle communication packet are linked (YES in S43), the process proceeds to step S33. On the other hand, for example, when the plurality of surrounding vehicles are all non-compliant vehicles, and the surrounding vehicle and the inter-vehicle communication packet are not linked (NO in S43), the process proceeds to step S36.

[2-3. Specific example of processing in step S42]
[2-3-1. Specific Example 1]
Next, specific example 1 of the process of step S42 in FIG. 5 will be described with reference to FIG. FIG. 7 is a diagram showing a specific example 1 of the process of step S42 of FIG.

  As shown in FIG. 7, in the first specific example, the inter-vehicle communication receiving unit 22 of the own vehicle 42 receives one type of inter-vehicle communication packet, and the surrounding vehicle position estimating unit 10 of the own vehicle 42 includes two surrounding vehicles. This is an example when 44 and 46 are detected. Further, it is assumed that the azimuth information 40 of two neighboring vehicles is stored in the inter-vehicle communication packet.

  As shown in FIG. 7, it is assumed that the relative coordinate position of the transmission source of the inter-vehicle communication packet starting from the own vehicle 42 is the position P1 from the latitude information and the longitude information of the position information 34 of the inter-vehicle communication packet. In addition, the position P1 is an overlap region 52 (hatched in FIG. 7) where error ranges 48 and 50 related to the position information 34 based on the positioning coordinates of the surrounding vehicles 44 and 46 estimated by the surrounding vehicle position estimation unit 10 overlap. (Regions marked with). That is, in the specific example 1, since the predetermined condition described above is not satisfied, it is unknown which of the surrounding vehicles 44 and 46 is the transmission source of the inter-vehicle communication packet.

  The traveling method selection unit 24 uses the position information and direction information of the host vehicle 42 generated by the host vehicle positioning unit 18 and the position information and direction information of the surrounding vehicles 44 and 46 generated by the surrounding vehicle position estimation unit 10. Based on this, a virtual layout diagram 54 as shown in FIG. 7 is generated. In the virtual layout diagram 54, the host vehicle 42 and the surrounding vehicles 44 and 46 are virtually arranged. The traveling method selection unit 24 projects two arrows 56 and 58 indicating the azimuth information 40 of the surrounding vehicles for two inter-vehicle communication packets on each of the surrounding vehicles 44 and 46 on the virtual layout map 54.

  As a result, the traveling method selection unit 24 compares the two arrows 56 and 58 projected on the surrounding vehicle 44 with the two arrows 56 and 58 projected on the surrounding vehicle 46 on the virtual layout map 54. To do. As a result, the arrow 56 projected on the surrounding vehicle 44 indicates the direction of the surrounding vehicle 46 viewed from the surrounding vehicle 44, and the arrow 58 projected on the surrounding vehicle 44 indicates the direction of the own vehicle 42 viewed from the surrounding vehicle 44. Therefore, the traveling method selection unit 24 determines that the transmission source of the inter-vehicle communication packet is the surrounding vehicle 44. Therefore, the traveling method selection unit 24 selects the traveling method on the assumption that the surrounding vehicle 44 is a compatible vehicle and the surrounding vehicle 46 is a non-compliant vehicle.

  The traveling method selection unit 24 may continue to capture the surrounding vehicle 44 by the distance measuring sensor after associating the inter-vehicle communication packet with the surrounding vehicle 44. Thus, the inter-vehicle communication packet storing the same vehicle ID information can be excluded from the determination processing in step S42 of FIG. 5 until the distance measuring sensor cannot capture the surrounding vehicle 44. As a result, it is possible to reduce the processing load on the travel method selection unit 24.

[2-3-2. Specific Example 2]
Next, specific example 2 of the process of step S42 in FIG. 5 will be described with reference to FIG. FIG. 8 is a diagram showing a specific example 2 of the process of step S42 of FIG.

  As shown in FIG. 8, in the second specific example, the inter-vehicle communication receiving unit 22 of the own vehicle 42 receives two types of inter-vehicle communication packets PC1 and PC2, and two surrounding vehicle position estimating units 10 of the own vehicle 42 are provided. This is a case where the surrounding vehicles 44 and 46 are detected. In addition, it is assumed that azimuth information 40 of two neighboring vehicles is stored in each of the inter-vehicle communication packets PC1 and PC2. For convenience of explanation, it is assumed that the same positioning system is used in the inter-vehicle communication packets PC1 and PC2.

  As shown in FIG. 8, based on the latitude information and the longitude information of the position information 34 of the inter-vehicle communication packet PC1, the relative coordinate position of the transmission source of the inter-vehicle communication packet PC1 starting from the own vehicle 42 is the position P2. . Further, based on the latitude information and the longitude information of the position information 34 of the inter-vehicle communication packet PC2, it is assumed that the relative coordinate position of the transmission source of the inter-vehicle communication packet PC2 starting from the own vehicle 42 is the position P3. Each of the positions P2 and P3 is in an overlapping region 52 where error ranges 48 and 50 related to the position information 34 based on the positioning coordinates of the surrounding vehicles 44 and 46 estimated by the surrounding vehicle position estimation unit 10 overlap. include. That is, in the specific example 2, since the predetermined condition described above is not satisfied, it is unknown which of the surrounding vehicles 44 and 46 is the transmission source of each of the inter-vehicle communication packets PC1 and PC2.

  The traveling method selection unit 24 uses the position information and direction information of the host vehicle 42 generated by the host vehicle positioning unit 18 and the position information and direction information of the surrounding vehicles 44 and 46 generated by the surrounding vehicle position estimation unit 10. Based on this, a virtual layout diagram 60 as shown in FIG. 8 is generated. In the virtual layout diagram 60, the host vehicle 42 and the surrounding vehicles 44 and 46 are virtually arranged. The traveling method selection unit 24 includes two arrows 62 and 64 indicating azimuth information 40 of two neighboring vehicles in the inter-vehicle communication packet PC1 on each of the neighboring vehicles 44 and 46 on the virtual layout map 60, Two arrows 66 and 68 indicating the direction information 40 of the surrounding vehicles of the two inter-vehicle communication packet PC2 are projected.

  As a result, the traveling method selection unit 24 compares the two arrows 62 and 64 projected on the surrounding vehicle 44 with the two arrows 62 and 64 projected on the surrounding vehicle 46 on the virtual layout map 60. To do. As a result, the arrow 62 projected on the surrounding vehicle 44 indicates the direction of the surrounding vehicle 46 viewed from the surrounding vehicle 44, and the arrow 64 projected on the surrounding vehicle 44 indicates the direction of the host vehicle 42 viewed from the surrounding vehicle 44. Therefore, the traveling method selection unit 24 determines that the transmission source of the inter-vehicle communication packet PC1 is the surrounding vehicle 44.

  In addition, the traveling method selection unit 24 compares the two arrows 66 and 68 projected onto the surrounding vehicle 44 with the two arrows 66 and 68 projected onto the surrounding vehicle 46. As a result, the arrow 66 projected on the surrounding vehicle 46 indicates the direction of the surrounding vehicle 44 viewed from the surrounding vehicle 46, and the arrow 68 projected on the surrounding vehicle 46 indicates the direction of the own vehicle 42 viewed from the surrounding vehicle 46. Therefore, the traveling method selection unit 24 determines that the transmission source of the inter-vehicle communication packet PC2 is the surrounding vehicle 46.

  Therefore, the traveling method selection unit 24 selects the traveling method on the assumption that both the surrounding vehicles 44 and 46 are compatible vehicles.

[2-3-3. Specific Example 3]
Next, specific example 3 of the process of step S42 in FIG. 5 will be described with reference to FIG. FIG. 9 is a diagram illustrating a specific example 3 of the process of step S42 of FIG.

  As shown in FIG. 9, in the third specific example, the inter-vehicle communication receiving unit 22 of the own vehicle 42 receives one type of inter-vehicle communication packet, and the surrounding vehicle position estimating unit 10 of the own vehicle 42 includes two surrounding vehicles. This is a case where 44 and 46 and one person 70 are detected. In addition, it is assumed that the direction information 40 of two neighboring vehicles and the direction information of one person are stored in the inter-vehicle communication packet.

  The surrounding vehicle position estimation unit 10 of the host vehicle 42 estimates the detected object type (vehicle, person, etc.) and generates first identification information indicating the estimated object type in association with the azimuth information. The inter-vehicle communication packet stores second identification information indicating the type of object (vehicle, person, etc.) associated with each of the position information 34 and the direction information 36.

  As shown in FIG. 9, it is assumed that the relative coordinate position of the transmission source of the inter-vehicle communication packet starting from the own vehicle 42 is the position P4 from the latitude information and the longitude information of the position information 34 of the inter-vehicle communication packet. The position P4 is included in the overlapping region 52 where the error ranges 48 and 50 related to the position information 34 based on the positioning coordinates of the surrounding vehicles 44 and 46 estimated by the surrounding vehicle position estimating unit 10 overlap. . That is, in the specific example 3, since the predetermined condition described above is not satisfied, it is unknown which of the surrounding vehicles 44 and 46 is the transmission source of the inter-vehicle communication packet.

  The traveling method selection unit 24 includes the position information and direction information of the own vehicle 42 generated by the own vehicle positioning unit 18, the position information and direction information of the surrounding vehicles 44 and 46 generated by the surrounding vehicle position estimation unit 10, and Based on the position information and direction information of the person 70 generated by the surrounding vehicle position estimation unit 10, a virtual layout diagram 72 as shown in FIG. 9 is generated. In the virtual layout diagram 72, the host vehicle 42, surrounding vehicles 44 and 46, and a person 70 are virtually arranged. The traveling method selection unit 24 includes two arrows 74 and 76 indicating azimuth information 40 of surrounding vehicles for two vehicles in the inter-vehicle communication packet for each of the surrounding vehicles 44 and 46 on the virtual layout diagram 72, and One arrow 78 indicating the direction information of one person 70 in the communication packet is projected.

  As a result, the traveling method selection unit 24 compares the three arrows 74, 76, and 78 projected on the surrounding vehicle 44 with the three arrows 74, 76, and 78 projected on the surrounding vehicle 46.

  As a result, the arrow 74 projected on the surrounding vehicle 44 indicates the direction of the surrounding vehicle 46 viewed from the surrounding vehicle 44, and the arrow 76 projected on the surrounding vehicle 44 indicates the direction of the host vehicle 42 viewed from the surrounding vehicle 44. ing. In addition, the first identification information corresponding to the surrounding vehicle 44 on the virtual layout diagram 72 and the second identification information corresponding to each of the arrows 74 and 76 match with “vehicle”.

  Further, an arrow 78 projected on the surrounding vehicle 44 indicates the direction of the person 70 viewed from the surrounding vehicle 44. In addition, the first identification information corresponding to the person 70 on the virtual layout diagram 72 and the second identification information corresponding to the arrow 78 match with “person”.

  Thereby, the traveling method selection unit 24 determines that the transmission source of the inter-vehicle communication packet is the surrounding vehicle 44. Therefore, the traveling method selection unit 24 selects the traveling method on the assumption that the surrounding vehicle 44 is a compatible vehicle and the surrounding vehicle 46 is a non-compliant vehicle.

[2-3-4. Specific Example 4]
Next, a specific example 4 of the process of step S42 in FIG. 5 will be described with reference to FIGS. 10A and 10B. Each of FIG. 10A and FIG. 10B is a diagram showing a specific example 4 of the process of step S42 of FIG.

  As illustrated in FIG. 10A, in the fourth specific example, the inter-vehicle communication receiving unit 22 of the own vehicle 42 receives one type of inter-vehicle communication packet, and the surrounding vehicle position estimating unit 10 of the own vehicle 42 includes one surrounding vehicle. This is an example when 80 is detected. At this time, only one peripheral vehicle 80 exists within the detectable range 82 of the optical sensor 6 and the positioning radar 8 of the own vehicle 42, and two peripheral vehicles 84 and 86 exist outside the detectable range 82. To do. The surrounding vehicles 86, 84, 80 and the host vehicle 42 are lined up in this order from the north, and are traveling toward the north in a row on the same lane. Further, it is assumed that the azimuth information 40 of one nearby vehicle is stored in the inter-vehicle communication packet. Note that the upward direction in the plane of FIG. 10A represents the north direction.

  As shown in FIG. 10A, it is assumed that the relative coordinate position of the transmission source of the inter-vehicle communication packet starting from the own vehicle 42 is the position P5 from the latitude information and the longitude information of the position information 34 of the inter-vehicle communication packet. The position P5 is included in the error range 88 related to the position information 34 based on the positioning coordinates of the surrounding vehicle 80 estimated by the surrounding vehicle position estimation unit 10.

  The traveling method selection unit 24 is based on the position information and direction information of the own vehicle 42 generated by the own vehicle positioning unit 18 and the position information and direction information of the surrounding vehicle 80 generated by the surrounding vehicle position estimation unit 10. A virtual layout diagram 90 as shown in FIG. 10A is generated. In the virtual layout diagram 90, the host vehicle 42 and the surrounding vehicle 80 are virtually arranged. Further, in the virtual layout diagram 90, the surrounding vehicles 84 and 86 are not virtually arranged. In FIG. 10A, the peripheral vehicles 84 and 86 are indicated by a one-dot chain line on the virtual layout diagram 90 for convenience of describing the positional relationship between the peripheral vehicles 80, 84, 86 and the host vehicle 42 on the actual road. . The traveling method selection unit 24 has a single arrow 92 (double-headed arrow) indicating the direction information 40 of the surrounding vehicle for one vehicle-to-vehicle communication packet received at the current time t to the surrounding vehicle 80 on the virtual layout diagram 90. Project.

  At this time, since the arrow 92 indicates the north-south direction, it is unknown whether the transmission source of the inter-vehicle communication packet is the surrounding vehicle 80 or the surrounding vehicle 84 in front thereof. In this case, the traveling method selection unit 24 performs the determination process based on the temporal change of the direction information 40 of the surrounding vehicles in the inter-vehicle communication packet. Specifically, as shown in FIG. 10B, the above-described arrow 92 and the azimuth information 40 of the surrounding vehicles of the inter-vehicle communication packet received at time t−1 before the host vehicle 42 approaches the vehicle 80 ahead are shown. Compare arrows 94 or 96.

  As shown in FIG. 10B, when the arrow 94 points only to the north direction, the arrow 92 indicates the direction of the host vehicle 42 as viewed from the surrounding vehicle 80 when the host vehicle 42 approaches the vehicle 80 ahead. It has changed as shown. In this case, the traveling method selection unit 24 determines that the transmission source of the inter-vehicle communication packet is the surrounding vehicle 80 and selects the traveling method on the assumption that the surrounding vehicle 80 is a compatible vehicle.

  On the other hand, as shown in FIG. 10B, when the arrow 96 points in the north-south direction, the arrow 92 does not change even if the host vehicle 42 approaches the vehicle 80 ahead. In this case, the traveling method selection unit 24 determines that the transmission source of the inter-vehicle communication packet is not the surrounding vehicle 80 and selects the traveling method on the assumption that the surrounding vehicle 80 is a non-compliant vehicle. In this case, it is considered that the transmission source of the inter-vehicle packet is the peripheral vehicle 84 traveling in front of the peripheral vehicle 80.

  In addition, when the surrounding vehicle parallel running with the own vehicle 42 exists in the detectable range 82, the traveling method selection unit 24 changes temporally the direction information 40 of the surrounding vehicle running parallel in the inter-vehicle communication packet. The determination process may be performed based on the above. In order to increase the determination accuracy, the traveling method selection unit 24 may always perform the determination process based on the time-series change of the direction information 40 of the surrounding vehicles in the inter-vehicle communication packet.

[2-3-5. Specific Example 5]
Next, a specific example 5 of the process of step S42 in FIG. 5 will be described with reference to FIGS. 11A and 11B. Each of FIG. 11A and FIG. 11B is a diagram showing a specific example 5 of the process of step S42 of FIG.

  As illustrated in FIG. 11A, Specific Example 5 is a case where the inter-vehicle communication receiving unit 22 of the host vehicle 42 receives one type of inter-vehicle communication packet. It is assumed that the direction information 40 of five neighboring vehicles is stored in the inter-vehicle communication packet. The own vehicle 42 and the surrounding vehicles 98a, 98b, 98c, 98d, 98e, 98f, and 98g (98a to 98g) are stopped (parked or stopped) in a state in which a formation is formed in a parking lot or the like, for example. That is, the positional relationship between the host vehicle 42 and the surrounding vehicles 98a to 98g does not change.

  The traveling method selection unit 24 uses the position information and direction information of the host vehicle 42 generated by the host vehicle positioning unit 18 and the position information and direction information of the surrounding vehicles 98a to 98g generated by the surrounding vehicle position estimation unit 10. Based on this, a virtual layout diagram 100 as shown in FIG. 11A is generated. In the virtual layout diagram 100, the host vehicle 42 and surrounding vehicles 98a to 98g are virtually arranged. For ease of explanation, it is assumed that the transmission source of the inter-vehicle communication packet is one of the surrounding vehicles 98b and 98c.

  As illustrated in FIG. 11A, the traveling method selection unit 24 includes five arrows indicating azimuth information 40 of five neighboring vehicles in the inter-vehicle communication packet in each of the neighboring vehicles 98b and 98c on the virtual layout diagram 100. 102, 104, 106, 108 and 110 (102 to 110) are projected. However, even if the traveling method selection unit 24 compares the five arrows 102 to 110 projected on the surrounding vehicle 98b with the five arrows 102 to 110 projected on the surrounding vehicle 98c, the inter-vehicle communication packet It is impossible to determine which of the surrounding vehicles 98b and 98c is the transmission source.

  At this time, the traveling system selection unit 24 outputs to the vehicle control unit 26 control information for moving the host vehicle 42 rearward (in a direction away from the front peripheral vehicle 98b) with respect to the peripheral vehicles 98a to 98g. Thus, as shown in FIG. 11B, the vehicle control unit 26 moves the host vehicle 42 backward based on the control information from the traveling method selection unit 24. Thereby, only the azimuth | direction which the arrow 108 points out of the five arrows 102-110 projected on each of the surrounding vehicles 98b and 98c changes. Therefore, since it is determined that the arrow 108 projected on the surrounding vehicle 98c indicates the direction of the host vehicle 42 viewed from the surrounding vehicle 98c, the traveling method selection unit 24 determines that the transmission source of the inter-vehicle communication packet is the surrounding vehicle 98c. It is determined that Therefore, the traveling method selection unit 24 selects the traveling method on the assumption that only the surrounding vehicle 98c is a compatible vehicle.

  As a case where the positional relationship between the host vehicle 42 and the surrounding vehicles 98a to 98g does not change, the host vehicle 42 and the surrounding vehicles 98a to 98g travel at the same speed and in the same direction. A case where the surrounding vehicles 98a to 98g are relatively stopped is also conceivable. In this case, the traveling method selection unit 24 outputs the control information for braking (decelerating) the host vehicle 42 to the surrounding vehicles 98a to 98g to the vehicle control unit 26, thereby setting the transmission source of the inter-vehicle communication packet. Can be determined.

[3. effect]
As described above, the information processing apparatus 2 according to the present embodiment can easily specify the transmission source of the inter-vehicle communication packet by using the direction information 40 of the surrounding vehicles stored in the inter-vehicle communication packet. it can. As a result, for example, even when a plurality of autonomously driven vehicles 4a and 4b are traveling close to each other, traveling control based on inter-vehicle communication and a distance measuring sensor can be utilized to the maximum extent. The travel efficiency (for example, fuel efficiency, required travel time, etc.) of 4a (an example of travel efficiency) can be increased.

(Other variations)
As described above, the information processing apparatus according to one or more aspects has been described based on the above embodiment, but the present invention is not limited to the above embodiment. Unless it deviates from the gist of the present invention, the embodiment in which various modifications conceived by those skilled in the art have been made in the embodiment, or the form constructed by combining components in different embodiments is also within the scope of one or more aspects. May be included.

  In the above embodiment, the vehicle-to-vehicle communication receiving unit 22 has received the first position information and the second positional relationship information stored in the vehicle-to-vehicle communication packet in a batch, but the present invention is not limited to this. The position information and the second positional relationship information may be received separately.

  Further, in the above-described embodiment, the example in which the virtual layout map is generated to identify the vehicle that has transmitted the inter-vehicle communication packet has been described. However, the present invention is not limited to this, and the virtual layout map may not be generated. . For example, the vehicle may be identified based on the virtual arrangement coordinates or vector information.

  In the above embodiment, each component may be configured by dedicated hardware or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory. Here, the software that realizes the information processing apparatus according to the above embodiment is the following program.

  In other words, this program estimates the positional relationship between the first object and the first moving object existing around the first moving object with respect to the computer of the information processing apparatus, and indicates the estimated positional relationship. Generating a first positional relationship information; first positional information indicating a position of a second moving body different from the first moving body; a second object existing around the second moving body; Receiving the second positional relationship information indicating the positional relationship with the second moving body, based on the positional relationship indicated by the first positional relationship information and the positional relationship indicated by the second positional relationship information. , The step of identifying the second moving body as the transmission source of the first position information and the second positional relationship information, and the first movement based on the first position information of the identified second moving body Outputting control information for controlling movement of the body; To be executed.

  Furthermore, each component described in the above embodiments may be realized as software, or typically as an LSI (Large Scale Integration) that is an integrated circuit. These may be individually made into one chip, or may be made into one chip so as to include a part or all of them. The name used here is LSI, but it may also be called IC, system 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 Array) that can be programmed after manufacturing the LSI, or a reconfigurable processor that can reconfigure the connection or setting of circuit cells inside the LSI may be used. Furthermore, if integrated circuit technology that replaces LSI emerges as a result of advances in semiconductor technology or other derived technologies, it is naturally also possible to integrate components using that technology.

  A part or all of the constituent elements constituting each of the above devices may be constituted by 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.

  The present invention may be the method described above. Further, the present invention may be a computer program that realizes these methods by a computer, or may be a digital signal composed of the computer program. The present invention also provides a computer readable recording medium such as a flexible disk, hard disk, CD-ROM, MO, DVD, DVD-ROM, DVD-RAM, BD (Blu-ray (registered)). (Trademark) Disc), or recorded in a semiconductor memory or the like. Further, the digital signal may be recorded on these recording media. Further, the present invention may transmit the computer program or the digital signal via an electric communication line, a wireless or wired communication line, a network represented by the Internet, a data broadcast, or the like. The present invention may also be a computer system including a microprocessor and a memory, wherein the memory stores the computer program, and the microprocessor operates according to the computer program. In addition, the program or the digital signal is recorded on the recording medium and transferred, or the program or the digital signal is transferred via the network or the like, and is executed by another independent computer system. It is also good.

  The information processing apparatus according to the present invention can be mounted on, for example, an autonomous driving vehicle.

2 Information processing devices 4a and 4b Auto-driving vehicle 6 Optical sensor 8 Positioning radar 10 Peripheral vehicle position estimation unit 12 Peripheral vehicle travel direction estimation unit 14 GNSS reception unit 16 Compass 18 Self-vehicle positioning unit 20 Inter-vehicle communication transmission unit 22 Inter-vehicle communication Receiving unit 24 Traveling method selecting unit 26 Vehicle control unit 28 In-vehicle network 30 Vehicle ID information 32 Time information 34 Position information 36, 38, 40 Direction information 42 Own vehicle 44, 46, 80, 84, 86, 98a, 98b, 98c, 98d, 98e, 98f, 98g Peripheral vehicles 48, 50, 88 Error range 52 Overlapping region 54, 60, 72, 90, 100 Virtual layout 56, 58, 62, 64, 66, 68, 74, 76, 78, 92 , 94, 96, 102, 104, 106, 108, 110 Arrow 70 Person 82 Detectable range

Claims (9)

An information processing apparatus mounted on a first moving body,
An estimation unit that estimates a positional relationship between a first object existing around the first moving body and the first moving body, and generates first positional relationship information indicating the estimated positional relationship;
First positional information indicating a position of a second moving body different from the first moving body, and a positional relationship between the second object existing around the second moving body and the second moving body A second positional relationship information indicating: a receiving unit that receives:
Based on the positional relationship indicated by the first positional relationship information and the positional relationship indicated by the second positional relationship information, the first positional information and the second positional relationship information as the transmission source of the first A specifying unit for specifying two moving objects;
An output unit that outputs control information for controlling movement of the first moving body based on the first position information of the identified second moving body. The positional relationship indicated by the first positional relationship information is an orientation of the first object viewed from the first moving body,
The information processing apparatus according to claim 1, wherein the positional relationship indicated by the second positional relationship information is an orientation of the second object viewed from the second moving body. The specifying unit is configured to display virtual arrangement information indicating a virtual arrangement of the first moving body, the second moving body, and the first object based on an orientation indicated by the first positional relationship information. The first position information and the first position information are generated based on the consistency between the orientation indicated by the second positional relationship information on the arrangement indicated by the virtual arrangement information and the position of the first object. The information processing apparatus according to claim 2, wherein the second moving body is specified as a transmission source of the second positional relationship information. There are a plurality of the second moving bodies around the first moving body,
The estimation unit further estimates the position of each of the plurality of second moving bodies, and generates a plurality of second position information respectively indicating the estimated plurality of positions,
The specifying unit extracts an overlapping region where regions based on errors of the first position information for each of the plurality of second position information overlap, and the position indicated by the first position information is the position The transmission source of the first positional information and the second positional relationship information is specified from the plurality of second moving objects when included in the overlapping region. The information processing apparatus described. The estimation unit further estimates the type of the first object, generates first identification information indicating the estimated type of the first object in association with the first positional relationship information,
The receiving unit further receives second identification information indicating the type of the second object associated with the second positional relationship information,
When the type indicated by the first identification information matches the type indicated by the second identification information, the specifying unit determines the positional relationship indicated by the first positional relationship information and the second The second mobile body is specified as a transmission source of the first positional information and the second positional relation information based on the positional relation indicated by the positional relation information. The information processing apparatus described in 1. The specifying unit uses the second moving body as a transmission source of the first positional information and the second positional relation information based on a temporal change in the positional relation indicated by the second positional relation information. The information processing apparatus according to any one of claims 1 to 5. When the second positional relationship information changes to indicate the positional relationship between the first moving body and the second moving body, the specifying unit is configured to change the first positional information and the second positional information. The information processing apparatus according to claim 6, wherein the second moving body is specified as a transmission source of the positional relationship information. In a state where the positional relationship between the first moving body and the second moving body does not change, the specifying unit uses the second movement as a transmission source of the first positional information and the second positional relationship information. The said output part outputs the said control information for moving a said 1st moving body with respect to a said 2nd moving body, when a body cannot be specified, The any one of Claims 1-7. Information processing device. A program for controlling an information processing apparatus mounted on a first moving body,
For the computer of the information processing apparatus,
Estimating a positional relationship between the first object existing around the first moving body and the first moving body, and generating first positional relationship information indicating the estimated positional relationship;
First positional information indicating a position of a second moving body different from the first moving body, and a positional relationship between the second object existing around the second moving body and the second moving body Receiving second positional relationship information indicating:
Based on the positional relationship indicated by the first positional relationship information and the positional relationship indicated by the second positional relationship information, the first positional information and the second positional relationship information as the transmission source of the first Identifying two moving objects;
A step of outputting control information for controlling movement of the first moving body based on the first position information of the specified second moving body.

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