JP2019164599A - Server, information providing method, and computer program - Google Patents

Abstract

To provide a server capable of accurately grasping a dynamic object detected by a plurality of detection parts; and to provide an information providing method and a computer program thereof.SOLUTION: According to a server used for an information providing system provided with a plurality of detection parts configured to detect a dynamic object present inside an area where a person himself/herself is detectable, the server comprises: a generation part for generating an integration area composed of an area including a part or all of a detection area at each of the plurality of detection parts; and an association part for associating, on the integration area, first information about a first dynamic object indicated by a first detection result of a first detection part in an overlapping area, and second information about a second dynamic object indicated by a second detection result of a second detection part in the overlapping area, in a case where the overlapping area is present in the detection area at each of the first detection part and the second detection part among the plurality of detection parts with each other.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a server, an information providing method, and a computer program.

  Conventionally, a technique for generating a road map using information collected from a vehicle has been developed.

  For example, Patent Document 1 (Japanese Patent Application Laid-Open No. 2014-228637) discloses the following road information transmission device. That is, the road information transmitting device includes a communication device for performing communication between a travelable region that is a region in which the vehicle can travel and a server that generates a road map in which other regions are distinguished, and a vehicle A road information transmitting device used in a vehicle equipped with a distance measuring sensor for measuring a distance from a surrounding object to a surrounding object and a positioning sensor for measuring an absolute position and direction of the vehicle, the distance measured by the distance sensor In the distance measurement area that is the area where the distance is measured, based on the measurement result of the distance measurement sensor, an object whose height relative to the running surface is a predetermined determination threshold or more is detected as an obstacle, and the measurement is performed. A region extracting means for extracting a region excluding the portion where the obstacle exists from the distance region as a travelable region and generating information representing a partial map corresponding to a part of the road map; and the measurement A feature extraction unit that extracts a predetermined feature having a fixed absolute position from the distance measurement area based on a measurement result of the sensor and generates information representing the position of the feature in the partial map; Partial map information representing a map, characteristic object information representing the position of the characteristic object in the partial map, and information measured by the positioning sensor for specifying the position of the partial map in the road map Transmitting means for performing processing for transmitting the specific information from the communication device to the server.

JP 2014-228637 A

  In the road information transmitting device described in Patent Document 1, the positions of a plurality of partial maps including a predetermined feature with a fixed absolute position are matched (integrated) based on the positions of the feature in the partial map. Thus, although the above-mentioned characteristic object can be grasped, there is no disclosure or suggestion of grasping a dynamic object detected by a plurality of sensors (detecting units) whose absolute position is not fixed. .

  The present invention has been made to solve the above-described problems, and an object thereof is to provide a server, an information providing method, and a computer program capable of accurately grasping a dynamic object detected by a plurality of detection units. It is to be.

  (1) In order to solve the above-described problem, a server according to an aspect of the present invention is a server used in an information providing system including a plurality of detection units that detect a dynamic object existing in an area that can be detected by the server. A generating unit that generates an integrated region including a part or all of the detection regions of each of the plurality of detection units, and a first detection unit and a second detection unit of the plurality of detection units, respectively. When there is an overlap area in the detection area, the first information on the first dynamic object indicated by the first detection result of the first detection section in the overlap area and the second information of the second detection section in the overlap area And an associating unit that associates the second information related to the second dynamic object indicated by the two detection results on the integrated region.

  (7) In order to solve the above-described problem, an information providing method according to an aspect of the present invention provides information in an information providing system including a plurality of detection units that detect a dynamic object existing in an area that can be detected by itself. A providing method, the step of generating an integrated region composed of a region including part or all of the detection regions of each of the plurality of detection units, and a first detection unit and a second detection unit among the plurality of detection units When there is an overlap area in each detection area, the first information on the first dynamic object indicated by the first detection result of the first detection section in the overlap area and the second detection section in the overlap area Associating the second information related to the second dynamic object indicated by the second detection result on the integrated region.

  (8) In order to solve the above-described problem, a computer program according to an aspect of the present invention provides a computer as an information providing system including a plurality of detection units that detect a dynamic object existing in an area that can be detected by the computer program. A computer program for causing a function of the computer to generate an integrated region including a region including a part or all of a detection region of each of the plurality of detection units, and among the plurality of detection units When there is an overlap area in each of the detection areas of the first detector and the second detector, the first information on the first dynamic object indicated by the first detection result of the first detector in the overlap area; Associating the second information related to the second dynamic object indicated by the second detection result of the second detection unit in the overlapping region with each other on the integrated region And parts, to be to function.

  The present invention can be realized not only as a server, an information providing method, and a computer program including such a characteristic processing unit and characteristic processing, but also as a terminal device used in the server. it can. The present invention can also be realized as a semiconductor integrated circuit that realizes part or all of the server.

  According to the present invention, it is possible to accurately grasp a dynamic object detected by a plurality of detection units.

FIG. 1 is a diagram showing a configuration of an information providing system according to the first embodiment of the present invention. FIG. 2 is a diagram showing a configuration of a server in the information providing system according to the first embodiment of the present invention. FIG. 3 is a first explanatory diagram illustrating an example of the integrated area generated by the generation unit of the information providing system according to the first embodiment of the present invention. FIG. 4 is a second explanatory diagram illustrating an example of the integrated area generated by the generation unit of the information providing system according to the first embodiment of the present invention. FIG. 5 is a diagram showing a processing flow of the information providing system according to the first embodiment of the present invention. FIG. 6 is a diagram showing a configuration of an information providing system according to the second embodiment of the present invention. FIG. 7 is a diagram showing a configuration of a server in the information providing system according to the second embodiment of the present invention. FIG. 8 is an explanatory diagram illustrating an example of an integration area generated by the integration unit of the information providing system according to the second embodiment of the present invention. FIG. 9 is a diagram showing a processing flow of the information providing system according to the second embodiment of the present invention.

  First, the contents of the embodiment of the present invention will be listed and described.

  (1) A server according to an embodiment of the present invention is a server used in an information providing system including a plurality of detection units that detect a dynamic object existing in an area that can be detected by the server. There is an overlapping region in the detection region of each of the first detection unit and the second detection unit among the plurality of detection units, and a generation unit that generates an integrated region including a part or all of the detection region of each detection unit. When present, the first information related to the first dynamic object indicated by the first detection result of the first detection unit in the overlap region and the second detection result indicated by the second detection unit of the second detection unit in the overlap region. And an associating unit for associating the second information related to the dynamic object with each other on the integrated region.

  As described above, by associating the information related to the dynamic object detected in the overlapping region of the plurality of detection units with the integrated region, the dynamic object detected by the plurality of detection units can be accurately grasped.

  (2) Preferably, the association unit further sets the first dynamic object and the second dynamic object as the same object on the integrated region based on the first information and the second information. Associate.

  With such a configuration, when the dynamic objects detected by each of the plurality of detection units are the same, the associating unit can accurately determine these dynamic objects as the same object.

  (3) Preferably, the association unit determines whether or not a position of the first dynamic object and a position of the second dynamic object satisfy a predetermined condition, and based on the determination result The first dynamic object and the second dynamic object are associated on the integrated region as the same object.

  Thus, by determining whether or not the positions of the dynamic objects detected by each of the plurality of detection units satisfy a predetermined condition, it is possible to determine whether or not these dynamic objects are the same object. It can be judged accurately.

  (4) Preferably, the associating unit determines whether or not the characteristics of the first dynamic object and the characteristics of the second dynamic object satisfy a predetermined condition, and based on the determination result The first dynamic object and the second dynamic object are associated on the integrated region as the same object.

  Thus, by determining whether or not the characteristics of the dynamic objects detected by each of the plurality of detection units satisfy a predetermined condition, it is possible to determine whether or not these dynamic objects are the same object. It can be judged accurately.

  (5) Preferably, the integrated region is composed of a plurality of grids divided by a predetermined size, and the associating unit uses the first information and the second information as one of the plurality of grids. Associate with part or all grids.

  As described above, the integrated region is configured by the grid (grid map) and the first information and the second information are associated with each other in units of grids, so that the association unit can easily grasp, for example, the overlapping region. it can.

  (6) Preferably, the associating unit determines whether or not the first grid associated with the first information and the second grid associated with the second information satisfy a predetermined positional relationship. And the first dynamic object and the second dynamic object are related to the integrated region as the same object based on the determination result.

  In this way, by associating information on dynamic objects detected by each of the plurality of detection units on the integrated area in the grid unit, the association unit can determine whether or not these dynamic objects are the same object. It can be done easily.

  (7) An information providing method according to an embodiment of the present invention is an information providing method in an information providing system including a plurality of detection units that detect a dynamic object existing in an area that can be detected by the self, A step of generating an integrated region composed of a region including part or all of a detection region of each of the plurality of detection units, and an overlapping region in each of the detection regions of the first detection unit and the second detection unit of the plurality of detection units Is present, the first information related to the first dynamic object indicated by the first detection result of the first detection unit in the overlap region and the second detection result of the second detection unit in the overlap region are shown. Associating second information relating to two dynamic objects on the integrated region, respectively.

  As described above, by associating the information related to the dynamic object detected in the overlapping region of the plurality of detection units with the integrated region, the dynamic object detected by the plurality of detection units can be accurately grasped.

  (8) A computer program according to an embodiment of the present invention is a computer program for causing a computer to function as an information providing system including a plurality of detection units that detect a dynamic object existing in an area that can be detected by the computer program. A generating unit that generates an integrated region including a part or all of the detection regions of each of the plurality of detection units; a first detection unit and a second of the plurality of detection units; When there is an overlap area in each detection area of the detection unit, the first information on the first dynamic object indicated by the first detection result of the first detection part in the overlap area and the second detection in the overlap area The second information related to the second dynamic object indicated by the second detection result of each unit is caused to function as an associating unit that associates the second information on the integrated region.

  As described above, by associating the information related to the dynamic object detected in the overlapping region of the plurality of detection units with the integrated region, the dynamic object detected by the plurality of detection units can be accurately grasped.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals and description thereof will not be repeated. Moreover, you may combine arbitrarily at least one part of embodiment described below.

<First Embodiment>
FIG. 1 is a diagram showing a configuration of an information providing system according to the first embodiment of the present invention.

  With reference to FIG. 1, the information providing system 1 includes a server 10 and a plurality of detection units 20 (including a first detection unit 20 a and a second detection unit 20 b. The same shall apply hereinafter). In addition, when the alphabet in a code | symbol (for example, "a" in the 1st detection part 20a) is abbreviate | omitted (detection part 20), it shall point out the generic name of the object of the code | symbol. The same applies to the following description.

  The detection unit 20 is a sensor including, for example, a camera, LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), and the like, and is a dynamic object (not shown in FIG. 1) that exists in a region where it can be detected. Is detected. In addition, although the detection part 20 may be installed in the roadside or may be installed in the vehicle, 1st Embodiment demonstrates the case where the several detection part 20 is installed in the roadside.

  Reality detection region 21 that is a region that can be detected by detection unit 20 (first reality detection region 21a that is a region that can be detected by first detection unit 20a, and second reality detection that is a region that can be detected by second detection unit 20b) For example, the region 21b includes a radius of 40 meters centered on itself. The detection unit 20 transmits detection information relating to a dynamic object existing in the reality detection region 21 to the server 10. This detection information includes, for example, LiDAR point cloud detection information.

  The server 10 has position information of a plurality of detection units 20, for example. The position information includes, for example, coordinates (hereinafter simply referred to as “coordinates”) information on latitude and longitude based on GPS (Global Positioning System). For example, the detection unit 20 periodically transmits its position information to the server 10, and the server 10 acquires and manages the position information.

  When the detection unit 20 does not have position information, the operator of the server 10 may register the position information of the detection unit 20 in the server 10.

  The detection information transmitted by the detection unit 20 includes, for example, information on the position (coordinates), characteristics (size, shape, color) of the dynamic object. Details of the dynamic object will be described later.

  In 1st Embodiment, the area | region where the reality detection area 21 (1st reality detection area 21a and 2nd reality detection area 21b) of each of the 1st detection part 20a and the 2nd detection part 20b of the some detection part 20 overlaps. Assume that there is a reality overlap region 22 that is.

  FIG. 2 is a diagram showing a configuration of a server in the information providing system according to the first embodiment of the present invention.

  With reference to FIG. 2, the server 10 includes a communication unit 4 a, a generation unit 11, and an association unit 12.

  For example, the communication unit 4 a receives detection information from the plurality of detection units 20 and provides the detection information to the generation unit 11 or the association unit 12.

  The generation unit 11 includes an integrated region (FIG. 2) including a region including a part or all of the reality detection regions 21 (21a, 21b) of the first detection unit 20a and the second detection unit 20b among the plurality of detection units 20. (Not shown). Details will be described later.

  The associating unit 12 associates a predetermined area on the integrated area with a predetermined dynamic object. Details will be described later.

  FIG. 3 is a first explanatory diagram illustrating an example of the integrated area generated by the generation unit of the information providing system according to the first embodiment of the present invention.

  Referring to FIG. 3, the configuration of the plurality of detection units 20 (20a, 20b) is the same as the configuration shown in FIGS. 1-2, and the configuration of the reality detection area 21 (21a, 21b) is shown in FIG. The configuration is the same as that shown.

  The grid map 23 (the first grid map 23a in FIG. 3A and the second grid map 23b in FIG. 3B) integrates the detection unit 20 (20a, 20b) and the dynamic object 50 (50a, 50b). It is a partial map for associating with the region 24, and is composed of, for example, a plurality of grids (equally spaced grid lines) divided in a predetermined size. The size of one grid is, for example, 30 cm square. Details of the integrated region 24 will be described later.

  The generation unit 11 generates the grid map 23 so as to be inscribed or included in the reality detection area 21 (21a, 21b), for example. That is, for example, the generation unit 11 divides the reality detection region 21 by a plurality of grids with the position of the detection unit 20 as the origin, and extracts a square (square or rectangle) having the maximum size from the grid map 23. Is generated.

  The grid map 23 is also referred to as a management detection area 23 because it is a detection area that is processed so that the server 10 (association unit 12) can manage the reality detection area 21 easily. The reality detection area 21 (21a, 21b) and the management detection area 23 (23a, 23b) are collectively referred to as a detection area. Then, in the first embodiment, the server 10 (generation unit 11) is an integration made up of regions including part or all of the management detection regions 23 (23a, 23b) of the first detection unit 20a and the second detection unit 20b. It can be said that a region is generated.

  Further, an overlapping area in which the management detection areas 23 (the first management detection area 23a and the second management detection area 23b) of the first detection unit 20a and the second detection unit 20b overlap each other is referred to as a management overlap area 31. The real overlap area 22 and the management overlap area 31 are collectively referred to as an overlap area. Then, in 1st Embodiment, the case where the management duplication area | region 31 which is an area | region where the management detection area | region 23 (23a, 23b) of each of the 1st detection part 20a and the 2nd detection part 20b overlaps exists is assumed. It can also be said.

  Furthermore, if the server 10 has, for example, position information of the plurality of detection units 20, direction information detected by the plurality of detection units 20, the coordinates of the center points of all the grids constituting the grid map 23 are obtained. And the coordinates can correspond to the grid positions of the respective grids.

  Similar to the grid map (management detection area) 23 described above, the integrated area 24 is composed of, for example, a plurality of grids divided by a predetermined size. The size of the grid is, for example, the same as the size of the grid used for the grid map 23, but is not limited thereto, and may be different from the size of the grid used for the grid map 23, for example.

  For example, the server 10 (generating unit 11) creates the integrated area 24 as follows. That is, the generation unit 11 first draws the first grid map 23a and the second grid map 23b on one plane as shown in FIG.

  Next, when there is an overlapping area in each of the first grid map 23a and the second grid map 23b, the generation unit 11 uses the grid of the overlapping portion in the first grid map 23a (the hatched line in FIG. 3A). It is determined whether or not there is a deviation between the grid) and the grid of the overlapping portion in the second grid map 23b (the hatched grid in FIG. 3B). In this determination result, when there is no deviation, the generation unit 11 determines the positions of the first grid map 23a and the second grid map 23b on the plane. Here, it is assumed that no deviation occurs in the first embodiment.

  Finally, as illustrated in FIG. 3D, the generation unit 11 generates the first grid map 23 a and the second grid so that the smallest square including the first grid map 23 a and the second grid map 23 b is generated. A grid is added to an area other than the grid map 23b. By completing the generation of this rectangle, this rectangle becomes the integrated region 24.

  For example, as illustrated in FIGS. 3C and 3D, the generation unit 11 assigns a code such as an alphabet to each of the vertical column and the horizontal column of the grid constituting the integrated region 24. In the following description, a position formed by a combination of a code indicating a vertical column and a code indicating a horizontal column in the integrated region 24 is referred to as a grid position. For example, a grid whose grid position is “Bf” indicates a grid in which the horizontal column is “B” and the vertical column is “f”. The grid position is uniquely determined in the integrated region 24 and can be set based on the coordinate information included in the detection information.

  Here, an area composed of a grid of horizontal E to F columns and vertical e to f columns is a management overlap area 31 belonging to any of the grid maps (management detection areas) 23 (23a, 23b). On the other hand, a region composed of a grid of horizontal A to D columns and vertical a to d columns and a region composed of a grid of horizontal G to J columns and vertical g to j columns are grid maps (management detection regions) 23 (23a, 23b) A region (external region) which does not belong to any of them.

  The first dynamic object 50a and the second dynamic object 50b are dynamic objects, for example, humans. These may be vehicles, animals, and the like.

  Moreover, in 1st Embodiment, let the information regarding the 1st dynamic object 50a which the 1st detection result of the 1st detection part 20a which concerns on the 1st grid map 23a shows be 1st information. Furthermore, the information regarding the 2nd dynamic object 50b which the 2nd detection result of the 2nd detection part 20b which concerns on the 2nd grid map 23b shows is made into 2nd information.

  The first information includes, for example, information related to the position (detection position), characteristics (size, shape, color) of the first dynamic object 50a. The second information includes, for example, information related to the position (detection position), characteristics (size, shape, color) of the second dynamic object 50b.

  Specifically, the first information includes the detection position of the first dynamic object 50a, the size (height) is 1.7 meters, the shape is human, and the color (clothing color) is blue and black. Contains information such as In addition to the detection position of the second dynamic object 50b, the second information includes a size (height) of 1.7 meters, a shape of a human, and colors (colors of clothes) of blue and black. Information.

  When the above-described management overlap area 31 exists, the associating unit 12 includes a plurality of pieces of first information related to the first dynamic object 50a in the management overlap area 31 and second information related to the second dynamic object 50b. Associate with some or all of the grids (on integrated area 24). Specifically, the associating unit 12 converts the detection position of the first information into the grid position (the position of “Fe” in the management overlap area 31 in FIG. 3C), and sets the first grid in the grid position. The information is associated and converted from the detection position of the second information to the grid position (the position of “Ef” in the management overlap area 31 in FIG. 3C), and the second information is associated with the grid at the grid position.

  By the way, in the road information transmitting apparatus described in Patent Document 1 (Japanese Patent Application Laid-Open No. 2014-228737), the position of a plurality of partial maps including a predetermined characteristic object whose absolute position is fixed is determined as a partial map of the characteristic object. It is possible to grasp the above-mentioned features by matching (integrating) based on the position in the case of, but this is about grasping a dynamic object that is detected by a plurality of sensors (detection units) and whose absolute position is not fixed. Neither disclosed nor suggested in Patent Document 1.

  On the other hand, as described above, the server 10 according to the embodiment of the present invention includes an information providing system 1 that includes a plurality of detection units 20 that detect a dynamic object 50 present in a region that can be detected by the server 10. The server 10 used in the present invention is an integration comprising a region including a part or all of a detection region (actual detection region 21 (21a, 21b) or management detection region 23 (23a, 23b)) of each of the plurality of detection units 20. The detection unit (actual detection region 21 (21a, 21b) or management detection region 23 (23a) of each of the generation unit 11 that generates the region 24 and the first detection unit 20a and the second detection unit 20b among the plurality of detection units 20. , 23b)) and the first detection result of the first detection unit 20a in the overlap region indicates that the overlap region (the actual overlap region 22 or the management overlap region 31) exists. An associating unit 12 for associating the first information related to the dynamic object 50a and the second information related to the second dynamic object 50b indicated by the second detection result of the second detecting unit 20b in the overlapping region on the integrated region 24; Is provided.

  As described above, by associating the information on the dynamic object 50 detected in the overlapping region of the plurality of detection units 20 on the integrated region 24, the dynamic object 50 detected by the plurality of detection units 20 can be accurately grasped. Can do.

  Further, when the server 10 has a high-speed and high-speed arithmetic processing function, a high-speed and advanced information providing system can be provided by a configuration in which the processing performed by the generation unit 11 and the association unit 12 is performed by the server 10. it can.

  Further, in the server 10 according to the embodiment of the present invention, the integrated region 24 is configured by a plurality of grids divided by a predetermined size, and the associating unit 12 includes a plurality of first information and second information. Associate with some or all of the grids.

  As described above, the integrated area 24 is configured by the grid (grid map) and the first information and the second information are associated with each other in units of grids, so that the associating unit 12 can easily grasp, for example, the overlapping area. be able to.

<Modification 1>
Below, the server 10 used for the information provision system 1 suitable when a 1st dynamic object and a 2nd dynamic object are the same objects is demonstrated.

  FIG. 4 is a second explanatory diagram illustrating an example of the integrated area generated by the generation unit of the information providing system according to the first embodiment of the present invention.

  Referring to FIG. 4, it is assumed that the position of first dynamic object 50c is different from the position of first dynamic object 50a in FIG. 3, and other detection units 20 (20a, 20b) and reality detection region 21 (21a). , 21b), the management detection area (grid map) 23 (23a, 23b), the integration area 24, and the management overlap area 31 are the same as those shown in FIG. The position of the second dynamic object 50d is the same as the position of the second dynamic object 50b in FIG. Further, the procedure for creating the integrated region 24 is the same as that described above with reference to FIG.

  Here, when the first dynamic object 50c and the second dynamic object 50d are the same object, the associating unit 12 performs the first information on the first dynamic object 50c and the second information on the second dynamic object 50d. Based on the information, the first dynamic object 50c and the second dynamic object 50d are associated on the integrated region 24 as the same object 70.

  Specifically, for example, the associating unit 12 determines whether (1) the position of the first dynamic object 50c and the position of the second dynamic object 50d satisfy a predetermined condition, or (2) the first movement It is determined whether or not the characteristics of the physical object 50c and the characteristics of the second dynamic object 50d satisfy a predetermined condition, and the first dynamic object 50c and the second dynamic object are determined based on the determination result. 50d is associated with the integrated object 24 as the same object 70.

  Regarding (1) above, in more detail, the associating unit 12 includes the first grid associated with the first information (information regarding the first dynamic object 50c) and the second information (information regarding the second dynamic object 50d). It is determined whether or not the second grid associated with () satisfies a predetermined positional relationship.

  The predetermined positional relationship is, for example, that the first grid position where the first dynamic object 50c exists and the second grid position where the second dynamic object 50d exist are the same grid position (see FIG. In the case of 4, the relation of grid position “Ef”) is included. The predetermined positional relationship is not limited to the relationship between the same grid positions described above, and may be a relationship between adjacent grid positions (for example, grid position “Ef” and grid position “Ff” in FIG. 4). Good.

  In addition to the above (1), the associating unit 12 relates to a direction in which the plurality of detecting units 20 are, for example, LiDAR, and the dynamic object 50 (50c, 50d) faces the first information and the second information, respectively. If information (hereinafter also referred to as “orientation information”) is included, it is determined whether or not the first dynamic object 50c and the second dynamic object 50d are the same object 70 based on the information. You may do.

  More specifically, the associating unit 12 is based on, for example, position information of the first detection unit 20a, position information and direction (relative direction viewed from the first detection unit 20a) information of the first dynamic object 50c, and the like. Assume that the direction in which the first dynamic object 50c is facing is determined to be south. Similarly, based on the position information of the second detection unit 20b, the position information and direction (relative direction viewed from the second detection unit 20b) information of the second dynamic object 50d, and the like, the second dynamic object 50d. The first dynamic object 50c and the second dynamic object 50d may be set as the same object 70 when it is determined that the direction facing is south.

  Regarding (2) above, the above features are, for example, size (volume), shape, and color. When the plurality of detection units 20 are, for example, LiDAR, the size and shape of the dynamic object 50 (50c, 50d) can be recognized by the LiDAR. The associating unit 12 may determine whether or not the first dynamic object 50c and the second dynamic object 50d are the same object 70 based on the size and shape information.

  When the plurality of detection units 20 are, for example, cameras, the associating unit 12 analyzes the image data transmitted from the cameras, and based on the information about the colors (RGB values), the first dynamic object 50c and the second dynamic object 50c. It may be determined whether the dynamic object 50d is the same object 70 or not.

  Satisfying the predetermined condition means, for example, that a numerical value indicating the characteristic of the first dynamic object 50c matches a numerical value indicating the characteristic of the second dynamic object 50d, or a difference between these numerical values is included within a predetermined range. It means to be.

  More specifically, whether or not the predetermined condition is satisfied is determined by [1] The difference between the direction in which the first dynamic object 50c is facing and the direction in which the second dynamic object 50d is facing is 45 degrees, for example. [2] the size (volume) of the first dynamic object 50c and the second dynamic object, whether or not within the range (more preferably within 30 degrees, more preferably within 20 degrees, more preferably within 10 degrees). Whether or not the difference from the size (volume) of 50d is within 10% (more preferably within 5%, more preferably within 3%, more preferably within 1%), [3] First dynamic object The difference between the R value, G value, and B value between the color of 50c (RGB value) and the color of the second dynamic object 50d (RGB value) is within 10% (more preferably within 5%, more preferably 3%). Or less, and more preferably within 1%) No.

  [4] Regarding the determination of whether or not the shape of the first dynamic object 50c and the shape of the second dynamic object 50d satisfy a predetermined condition, for example, a shape pattern recognition technique (shape matching technique) Can be used.

  As described above, in the server 10 according to the embodiment of the present invention, the associating unit 12 further performs the first dynamic object 50c and the second dynamic object 50d based on the first information and the second information. Are associated with each other on the integrated region 24 as the same object 70.

  With such a configuration, when the dynamic objects 50 (50c, 50d) detected by the plurality of detection units 20 are the same, the associating unit 12 identifies these dynamic objects 50 (50c, 50d) as the same object. 70 can be accurately determined.

  In the server 10 according to the embodiment of the present invention, the associating unit 12 determines whether or not the position of the first dynamic object 50c and the position of the second dynamic object 50d satisfy a predetermined condition. And the first dynamic object 50c and the second dynamic object 50d are associated on the integrated region 24 as the same object 70 based on the determination result.

  Thus, by determining whether the position of the dynamic object 50 (50c, 50d) detected by each of the plurality of detection units 20 satisfies a predetermined condition, the dynamic object 50 (50c) , 50d) can more accurately determine whether or not they are the same object 70.

  In the server 10 according to the embodiment of the present invention, the associating unit 12 determines whether or not the feature of the first dynamic object 50c and the feature of the second dynamic object 50d satisfy a predetermined condition. And the first dynamic object 50c and the second dynamic object 50d are associated on the integrated region 24 as the same object 70 based on the determination result.

  In this way, by determining whether or not the characteristics of the dynamic objects 50 (50c, 50d) detected by each of the plurality of detection units 20 satisfy a predetermined condition, these dynamic objects 50 (50c) , 50d) can more accurately determine whether or not they are the same object 70.

  Moreover, in the server 10 according to the embodiment of the present invention, the associating unit 12 satisfies the predetermined positional relationship between the first grid associated with the first information and the second grid associated with the second information. The first dynamic object 50c and the second dynamic object 50d are associated on the integrated region 24 as the same object 70 based on the determination result.

  In this way, by associating information on the dynamic object 50 (50c, 50d) detected by each of the plurality of detection units 20 on the integrated region 24 in units of grids, these dynamic objects are the same for the association unit 12. It is possible to easily determine whether or not the object 70 is present.

<Processing Flow of Information Providing System According to First Embodiment>
FIG. 5 is a diagram showing a processing flow of the information providing system according to the first embodiment of the present invention.

  Referring to FIG. 5, first, the server 10 (generation unit 11) determines the detection areas (actual detection areas 21 (21 a, 21 b) or management detection areas 23 (23 a, 23 b) of the plurality of detection units 20 (20 a, 20 b). )) Is generated as an integrated region 24 including a part or all of the region (step S101).

  Next, the server 10 (association unit 12), for example, a detection area (actual detection area 21 (21a, 21b) or management detection area) of each of the first detection unit 20a and the second detection unit 20b among the plurality of detection units 20. 23 (23a, 23b)), when there is an overlapping area (the actual overlapping area 22 or the management overlapping area 31), the first dynamic object 50c indicated by the first detection result of the first detection unit 20a in the overlapping area is shown. 1st dynamic object 50c and 2nd dynamic object 50d are the same based on 1 information and the 2nd information regarding the 2nd dynamic object 50d which the 2nd detection result of the 2nd detection part 20b in an overlap area shows It associates with the integrated area | region 24 as the object 70 (step S102). Details of this association are the same as those described above with reference to FIG.

  Whether or not the first dynamic object 50c and the second dynamic object 50d are the same object is, for example, whether or not the position of each of the dynamic objects 50 satisfies a predetermined condition, Is determined based on the determination result. Details of this determination are also the same as those described above with reference to FIG.

  Note that the server 10 (association unit 12), when the first dynamic object 50a and the second dynamic object 50b are not the same object 70, simply performs the above-described first information and second information respectively in the integrated region. 24 may be associated with each other. That is, if the first dynamic object 50a and the second dynamic object 50b are not associated with the same object 70, and the first dynamic object 50a and the second dynamic object 50b are simply associated on the integrated region 24. Good. Details of the operation in this case are the same as those described above with reference to FIG.

  As described above, by associating the information on the dynamic object 50 detected in the overlapping region of the plurality of detection units 20 on the integrated region 24, the dynamic object 50 detected by the plurality of detection units 20 can be accurately grasped. Can do.

Second Embodiment
In the first embodiment described above, the configuration in which a plurality of detection units are installed on the road side has been described, but the present invention is not limited to this. In the second embodiment of the present invention, a configuration in which a part of a plurality of detection units is installed in a vehicle will be described. Below, it demonstrates centering on difference with 1st Embodiment.

  FIG. 6 is a diagram showing a configuration of an information providing system according to the second embodiment of the present invention.

  Referring to FIG. 6, the information providing system 1 includes a server (information providing apparatus) 13, a road detection unit 40 a, and a vehicle 2 equipped with an in-vehicle detection unit 40 b. Hereinafter, each of the detection units including the road detection unit 40a and the vehicle-mounted detection unit 40b is also referred to as “detection unit 40”.

  The road detection unit 40a is a sensor including, for example, a camera, a LiDAR, and the like, and is installed on the road and detects a dynamic object (not shown in FIG. 6) existing in an area that can be detected by itself.

  The in-vehicle detection unit 40b includes a sensor including, for example, a camera, LiDAR, and the like, and detects a dynamic object (not shown in FIG. 6) that exists in an area where it can be detected by this sensor.

  Reality detection area 25 (area that can be detected by road detection section 40a, first reality detection area 25a that can be detected by road detection section 40a and in-vehicle detection section 40b) The second reality detection region 25b) includes, for example, a radius of 40 meters centered on itself. The road detection unit 40 a and the vehicle-mounted detection unit 40 b transmit the detection information related to the dynamic object existing in the reality detection region 25 to the server 13. This detection information includes, for example, LiDAR point cloud detection information.

  The server 13 has, for example, position information of the road detection unit 40a and the vehicle-mounted detection unit 40b. The position information includes, for example, coordinate information based on GPS. For example, the road detection unit 40a and the vehicle-mounted detection unit 40b periodically transmit the position information to the server 13, and the server 13 acquires and manages the position information.

  The detection information transmitted by the road detection unit 40a and the vehicle-mounted detection unit 40b includes, for example, information related to the position (coordinates), features (size, shape, color) and the like of the dynamic object. The details of the dynamic object are the same as in the first embodiment (explanation of FIG. 3 and the like described above), and thus the description thereof is omitted.

  In 2nd Embodiment, when the reality overlap area 27 which is an area | region where the reality detection area 25 (1st reality detection area 25a and 2nd reality detection area 25b) of each of the road detection part 40a and the vehicle-mounted detection part 40b overlaps exists. Is assumed.

  FIG. 7 is a diagram showing a configuration of a server in the information providing system according to the second embodiment of the present invention.

  Referring to FIG. 7, server 13 includes a communication unit 4 b and an integration unit 80, and communication unit 4 b further includes an acquisition unit 14 and a transmission unit 15.

  The road detection unit 40a transmits road detection unit information including road detection position information indicating its own position and the road detection result detected by the road detection unit 40a to the server 13 (acquisition unit 14). The road detection position information includes coordinate information based on GPS, for example. The road detection result includes, for example, a result (detection information) indicating information on a dynamic object. The road detection unit 40a may transmit road detection unit information that does not include road detection position information. In this case, the operator of the server 13 inputs the position of the road detection unit 40a to the server, and the server 13 (acquisition unit 14) acquires this.

  The in-vehicle detection unit 40b (vehicle 2) transmits the in-vehicle detection unit information including the in-vehicle detection position information indicating its own position and the in-vehicle detection result detected by the in-vehicle detection unit 40b to the server 13 (acquisition unit 14). . The vehicle-mounted detection position information includes, for example, coordinate information based on GPS. The on-vehicle detection result includes, for example, a result (detection information) indicating information on a dynamic object.

  The acquisition unit 14 acquires road detection unit information transmitted from the road detection unit 40a and also acquires vehicle detection unit information transmitted from the vehicle detection unit 40b. The road detection result includes, for example, a result (detection information) indicating information on a dynamic object. The operations of the integration unit 80 and the transmission unit 15 will be described later.

  FIG. 8 is an explanatory diagram illustrating an example of an integration area generated by the integration unit of the information providing system according to the second embodiment of the present invention.

  Referring to FIG. 8, the configurations of road detection unit 40a and on-vehicle detection unit 40b are the same as those shown in FIGS. 6 to 7, and the configuration of reality detection region 25 (25a, 25b) is shown in FIG. The configuration is the same as that shown.

  The grid map 28 (the first grid map 28a in FIG. 8A and the second grid map 28b in FIG. 8B) integrates the detection unit 40 (40a, 40b) and the dynamic object 51 (51a to 51c). It is a partial map for associating with the area 26, and is composed of, for example, a plurality of grids divided by a predetermined size. The size of one grid is, for example, 30 cm square. Details of the integrated area 26 will be described later.

  The integration unit 80 generates the grid map 28 so as to be inscribed or included in the reality detection area 25 (25a, 25b), for example. That is, for example, the integration unit 80 divides the reality detection region 25 by a plurality of grids with the position of the detection unit 40 as the origin, and extracts a square (square or rectangle) having the maximum size from the grid map 28. Is generated.

  Since the grid map 28 is a detection area processed so that the server 13 (integration unit 80) can easily manage the reality detection area 25, the grid map 28 is also referred to as a management detection area 28 as in the first embodiment. The reality detection area 25 (25a, 25b) and the management detection area 28 (28a, 28b) are collectively referred to as a detection area. Then, in the second embodiment, the server 13 (integration unit 80) creates an integrated region composed of regions including part or all of the management detection regions 28 (28a, 28b) of the road detection unit 40a and the vehicle-mounted detection unit 40b. It can be said that it generates.

  Further, as in the first embodiment, management overlap is performed in the same manner as in the first embodiment. This is called area 32. The real overlap area 27 and the management overlap area 32 are collectively referred to as an overlap area. Then, in 2nd Embodiment, it can be said that the case where the management duplication area | region 32 which is an area | region where the management detection area | region 28 (28a, 28b) of each of the road detection part 40a and the vehicle-mounted detection part 40b overlaps exists is assumed. .

  Further, if the server 13 has, for example, position information of the plurality of detection units 40, direction information detected by the plurality of detection units 40, the coordinates of the center points of all the grids constituting the grid map 28 are obtained. And the coordinates can correspond to the grid positions of the respective grids.

  The first dynamic objects 51a and 51b and the second dynamic object 51c are dynamic objects, for example, humans. These may be vehicles other than the vehicle 2, animals, and the like.

  Moreover, in 2nd Embodiment, let the information regarding the 1st dynamic objects 51a and 51b which the road detection result of the road detection part 40a which concerns on the 1st grid map 28a shows be 1st information. Furthermore, the information regarding the 2nd dynamic object 51c which the vehicle-mounted detection result of the vehicle-mounted detection part 40b which concerns on the 2nd grid map 28b shows is made into 2nd information.

  The first information includes, for example, information related to the positions (detection positions), features (size, shape, color) of the first dynamic objects 51a and 51b. The second information includes, for example, information on the position (detection position), characteristics (size, shape, color) and the like of the second dynamic object 51c.

  Specifically, the first information includes the detection position of the first dynamic object 51a, the size (height) is 1.7 meters, the shape is human, and the color (clothing color) is blue and black. In addition to the information such as being, the detection position of the first dynamic object 51b, the size (height) is 1.7 meters, the shape is human, the color (clothing color) is blue and black, etc. Contains information. The second information includes, in addition to the detection position of the second dynamic object 51c, the size (height) is 1.7 meters, the shape is human, the color (color of clothes) is blue and black, etc. Contains information.

  Also in the integrated region 26 of the second embodiment, as in the integrated region 24 of the first embodiment described above, the integrating unit 80 detects each of the detection regions (actual detection regions 25 ( 25a, 25b) or the management detection area 28 (28a, 28b)) is generated as an area including a part or all of the area, and is composed of, for example, a plurality of grids divided by a predetermined size.

  The size of the grid is the same as the size of the grid used for the grid map 28, for example, but is not limited to this, and may be different from the size of the grid used for the grid map 28, for example. The procedure for creating the integrated region 26 is the same as that in the first embodiment (described above with reference to FIG. 3 and the like), and a description thereof will be omitted.

  For example, as in the associating unit 12 of the first embodiment, the integration unit 80, when the management overlap area 32 described above exists, the first information on the first dynamic object 51a in the management overlap area 32, and the second dynamic The second information related to the object 51c is associated with some or all of the plurality of grids (on the integrated region 26). Specifically, the integration unit 80 associates the first dynamic object 51 a with the grid position “Ef” in the management overlap area 32 on the integration area 26, and the grid position “Ef” in the management overlap area 32. Is associated with the second dynamic object 51c.

  Note that, as in the first embodiment (description of FIG. 4 and the like described above), when the first dynamic object 51a and the second dynamic object 51c are the same object, the integration unit 80 determines the first dynamic object. Based on the first information on 51a and the second information on the second dynamic object 51c, the first dynamic object 51a and the second dynamic object 51c may be associated on the integrated region 26 as the same object 71.

  As described above, the integration unit 80 generates an integrated detection result (a result obtained by associating each piece of information) based on the road detection unit information and the in-vehicle detection unit information when the management overlap region 32 described above exists.

  The server 13 (transmission unit 15) transmits information including the integrated detection result to the in-vehicle detection unit 40b.

  The integration unit 80 may generate the integrated detection result even when the above-described management overlap area 32 does not exist. That is, the integration unit 80 may associate the dynamic object 51 in the management detection area 28 with a predetermined grid position on the integration area 26 even when the above-described management overlap area 32 does not exist.

  With such a configuration, for example, information that becomes a blind spot can be detected for the in-vehicle detection unit 40b. Therefore, the in-vehicle detection unit 40b can detect the dynamic objects 51 (51a to 51c) around itself, particularly the first dynamic object 51b. It can be grasped more accurately.

  More specifically, when the obstacle 3 as shown in FIG. 6 exists, it may be a hindrance for the in-vehicle detection unit 40b to detect the first dynamic object 51b around it. That is, the vehicle-mounted detection unit 40b may not be able to detect the first dynamic object 51b due to the obstacle 3. Even in such a case, the road detection unit 40a detects the first dynamic object 51b, and the server 13 (integration unit 80, transmission unit 15) generates an integrated detection result and detects the integrated detection result in the vehicle. By transmitting to the unit 40b, the in-vehicle detection unit 40b can detect the first dynamic object 51b.

  By the way, in the road information transmitting apparatus described in Patent Document 1 (Japanese Patent Application Laid-Open No. 2014-228737), the position of a plurality of partial maps including a predetermined characteristic object whose absolute position is fixed is determined as a partial map of the characteristic object. The above feature can be grasped by matching (integrating) based on the position in the vehicle, but for the vehicle, not only a dynamic object whose absolute position detected by its own detection unit is not fixed but also other detection units There is no disclosure or suggestion of grasping the dynamic objects around the self including the dynamic objects detected by.

  On the other hand, as described above, the information providing system 1 according to the embodiment of the present invention is installed on the road, and the dynamic object 51 (first dynamic object 51a) that exists in an area where it can be detected. , 51b), a vehicle 2 equipped with an on-vehicle detection unit 40b that detects a road detection unit 40a that detects a dynamic object 51 (second dynamic object 51c) that exists in a region where it can be detected, and a vehicle 2 The vehicle 2 includes an in-vehicle detection position information indicating the position of the in-vehicle detection unit 40b and an in-vehicle detection result detected by the in-vehicle detection unit 40b. The detection unit information is transmitted to the server (information providing device) 13, and the server (information providing device) 13 includes road detection position information indicating the position of the road detection unit 40a, the road detection result detected by the road detection unit 40a, and Road detector including Information is acquired, the acquisition part 14 which acquires vehicle-mounted detection part information, the integration part 80 which produces | generates the integrated detection result based on road detection part information and vehicle-mounted detection part information, and an integrated detection result are transmitted to the vehicle 2. And a transmission unit 15.

  Thus, the information regarding the dynamic objects 51 (51a to 51c) detected by the plurality of detection units 40 is integrated, and the integrated detection result is transmitted to the vehicle 2 (the vehicle-mounted detection unit 40b). For the in-vehicle detection unit 40b), not only the dynamic object 51 (second dynamic object 51c) detected by the own detection unit 40b but also the dynamic object 51 (first dynamic objects 51a, 51b) detected by another detection unit 40a. ) Including the dynamic object 51 (51a to 51c) around the self can be accurately grasped.

  Furthermore, when the server 13 has an advanced and high-speed arithmetic processing function, the server 13 performs a process performed by the acquisition unit 14, the integration unit 80, and the transmission unit 15. Can be provided.

  In the information providing system 1 according to the embodiment of the present invention, the integration unit 80 further includes detection areas (actual detection areas 25 (25a, 25b) or management detection areas) of the road detection unit 40a and the vehicle-mounted detection unit 40b. 28 (28a, 28b)) is generated as an integrated region 26, and each detection region (actual detection region 25 (25a, 25b) or management detection) of the road detection unit 40a and the vehicle-mounted detection unit 40b is generated. When there is an overlap area (actual overlap area 27 or management overlap area 32) in the area 28 (28a, 28b)), the first information regarding the first dynamic object 51a indicated by the road detection result in the overlap area and the overlap area The second information related to the second dynamic object 51c indicated by the in-vehicle detection result in FIG.

  In this way, by associating information on the dynamic object 51 (51a, 51c) detected in the overlapping region of the plurality of detection units 40 on the integrated region 26, the dynamic object 51 detected by the plurality of detection units 40 Accurately grasp.

  In the information providing system 1 according to the embodiment of the present invention, the integration unit 80 further adds the first dynamic object 51a and the second dynamic object 51c based on the first information and the second information. The same object 71 is associated on the integrated area 26.

  With such a configuration, when the dynamic objects 51 (51a, 51c) detected by each of the plurality of detection units 40 are the same, the integration unit 80 converts these dynamic objects 51 (51a, 51c) to the same object. 71 can be accurately determined.

  The integrated area 26 is composed of a plurality of grids divided in a predetermined size, and the integration unit 80 associates the first information and the second information with some or all of the plurality of grids. .

  As described above, the integrated area 26 is configured by the grid (grid map), and the first information and the second information are associated with each other by the grid unit, so that the integrating unit 80 can easily grasp, for example, the overlapping area. be able to.

  Further, the integration unit 80 determines whether or not the first grid associated with the first information and the second grid associated with the second information satisfy a predetermined positional relationship, and the determination result is Based on this, the first dynamic object 51a and the second dynamic object 51c are associated on the integrated region 26 as the same object 71.

  In this way, by associating information on the dynamic object 51 (51a, 51c) detected by each of the plurality of detection units 40 in the grid unit on the integrated region 26, the dynamic unit 51 ( It can be easily determined whether or not 51a and 51c) are the same object 71.

<Modification 2>
The road detection unit information further includes first time information transmitted from the road detection unit 40a to the acquisition unit 14, and the vehicle-mounted detection unit information is further transmitted to the acquisition unit 14 by the vehicle 2 (vehicle-mounted detection unit 40b). The integration unit 80 may further associate the first time information and the second time information, including the two time information.

  With such a configuration, for example, the information transmission time from the road detection unit 40a to the server (information providing device) 13 (acquisition unit 14) and the on-vehicle detection unit 40b to the server (information providing device) 13 (acquisition unit 14). Even when the information transmission time is different, each time information can be associated, so that the dynamic object 51 (second dynamic object 51c) detected by the own detection unit 40b for the vehicle 2 (on-vehicle detection unit 40b). ) As well as the dynamic objects 51 (51a to 51c) around the self including the dynamic objects 51 (first dynamic objects 51a and 51b) detected by the other detection units 40a.

  Further, the vehicle 2 may transmit the in-vehicle detection unit information to the server (information providing apparatus) 13 when the vehicle 2 approaches the first point. The first point includes, for example, an intersection, but is not limited thereto, and may be any point to which the information providing system according to the embodiment of the present invention is applicable.

  The determination as to whether or not the vehicle 2 (in-vehicle detection unit 40b) has approached the first point is made by, for example, the in-vehicle detection unit 40b based on its own position information and the position information of the first point. The determination includes whether or not the distance between the position of 40b and the position of the first point is within a predetermined meter (for example, within 10 meters, within 30 meters, within 50 meters, within 100 meters).

  With such a configuration, it is possible to accurately grasp the timing at which the vehicle 2 (the in-vehicle detection unit 40b) transmits the in-vehicle detection unit information to the server (information providing apparatus) 13.

  Alternatively, the road detection unit 40a further detects the approach of the vehicle 2 to the first point, and transmits the approach detection information to the vehicle 2, and the vehicle 2 detects the on-vehicle detection unit based on the approach detection information. Information may be transmitted to the server (information providing apparatus) 13.

  The determination as to whether or not the vehicle 2 (on-vehicle detection unit 40b) has approached the first point is based on, for example, the road detection unit 40a based on the position information on the on-vehicle detection unit 40b and the position information on the first point. Includes determination of whether the distance between the position of the on-vehicle detector 40b and the position of the first point is within a predetermined meter (for example, within 10 meters, within 30 meters, within 50 meters, within 100 meters). .

  Even with such a configuration, it is possible to accurately grasp the timing at which the vehicle 2 (the in-vehicle detection unit 40b) transmits the in-vehicle detection unit information to the server (information providing apparatus) 13.

<Processing Flow of Information Providing System According to Second Embodiment>
FIG. 9 is a diagram showing a processing flow of the information providing system according to the second embodiment of the present invention.

  With reference to FIG. 9, first, the in-vehicle detection unit 40b determines whether or not the vehicle has approached the first point, for example (step S201).

  Next, the vehicle-mounted detector 40b transmits, for example, the above-described vehicle-mounted detector information to the server 13 (step S202).

  The on-vehicle detection unit 40b may be configured to transmit the on-vehicle detection unit information to the server 13 when the vehicle approaches the first point, or the road detection unit 40a is the first point of the on-vehicle detection unit 40b. The approach detection information may be transmitted to the in-vehicle detection unit 40b, and the in-vehicle detection unit 40b may transmit the in-vehicle detection unit information to the server 13 based on the approach detection information. .

  Next, the server 13 (acquisition part 14) acquires the above-mentioned road detection part information and vehicle-mounted detection part information, for example. Furthermore, the server 13 (integration unit 80) generates, for example, an integrated detection result based on the road detection unit information and the vehicle detection unit information, and the above-described overlap area (the actual overlap area 27 or the management overlap area 32) exists. In this case, the first information related to the first dynamic objects 51a and 51b and the second information related to the second dynamic object 51c are associated with each other on the integrated area 26 (step S203). If there is no overlapping area, the first information and the second information may not be associated with each other on the integrated area 26, and the process may proceed to step S204 described later.

  Finally, the server 13 (transmission unit 15) transmits, for example, the integrated detection result to the in-vehicle detection unit 40b (step S204).

  Thus, the information regarding the dynamic objects 51 (51a to 51c) detected by the plurality of detection units 40 is integrated, and the integrated detection result is transmitted to the vehicle 2 (the vehicle-mounted detection unit 40b). For the in-vehicle detection unit 40b), not only the dynamic object 51 (second dynamic object 51c) detected by the own detection unit 40b but also the dynamic object 51 (first dynamic objects 51a, 51b) detected by another detection unit 40a. ) Including the dynamic object 51 (51a to 51c) around the self can be accurately grasped.

<Other variations>
The vehicle 2, the server 13, the detection unit 20, the detection unit 40, the generation unit 11, the association unit 12, the acquisition unit 14, the integration unit 80, the transmission unit 15, and the like in the information providing system 1 are provided. Each apparatus includes a computer, and an arithmetic processing unit such as a CPU in the computer stores a program including a part or all of each step of the configuration, operation, sequence diagram, or flowchart described in the above embodiment from a memory (not shown). Read and execute each. Each of the programs of the plurality of apparatuses can be installed from the outside. The programs of the plurality of apparatuses are distributed while being stored in a recording medium.

  In the above embodiment, the server 10 or the server 13 may not include at least one of the generation unit 11, the association unit 12, the acquisition unit 14, the integration unit 80, and the transmission unit 15. Good.

  Moreover, at least any one of the production | generation part 11 and the correlation part 12 may be provided in the vehicle 2 which has the communication part 4a. When all of the generation unit 11 and the association unit 12 are provided in the vehicle 2, the information providing system according to the embodiment of the present invention can be realized without using the server 10.

  In addition, at least one of the generation unit 11, the association unit 12, the detection unit 20, and the server 13 according to the server 10, the acquisition unit 14, the integration unit 80, and the transmission unit 15 is the vehicle 2. It may be provided in other vehicles excluding the vehicle, for example, a vehicle traveling around the vehicle 2 or a vehicle stopped around the vehicle 2. With such a configuration, the information providing system according to the embodiment of the present invention can be realized by performing inter-vehicle communication between the vehicle 2 and other vehicles excluding the vehicle 2. In addition, when other vehicles except the vehicle 2 are provided with the production | generation part 11 or the correlation part 12, the said other vehicle should just have the communication part 4a.

  In addition, the grid map 23 (grid map 28) may be configured to distribute IDs (identifiers) for each grid. With such a configuration, the server 10 (association unit 12) (server 13 (integration unit 80)) can easily manage the position of the dynamic object 50 (dynamic object 51), and each dynamic object has the same object 70 ( It is possible to more accurately determine whether or not they are the same object 71).

  Note that when the integrated region 24 (integrated region 26) is created from the plurality of grid maps 23 (grid map 28), the overlapping grids of each of the plurality of grid maps 23 (grid map 28) are shifted and completely matched. If not, the server 10 (association unit 12) (server 13 (integration unit 80)) selects the main grid map (main grid map) from each grid as a representative, and the other grids. The position (coordinates) may be adjusted so that the map is aligned with the main grid map. In this case, the server 10 (association unit 12) (server 13 (integration unit 80)) also associates the first information and the second information with the integrated region 24 (integrated region 26) in consideration of the position adjustment. With such a configuration, it is possible to easily generate the integrated region 24 (integrated region 26) based on the main grid map.

  Moreover, although the partial map for arrange | positioning the detection part 20 (detection part 40) and the dynamic object 50 (dynamic object 51) in one area | region assumed the case where it is the grid map 23 (grid map 28), However, the present invention is not limited to this. Even in a map other than the grid map, that is, a map having no equally spaced grid lines, the dynamic object 50 (dynamic object 51) detected in the real overlap region 22 of the detection unit 20 (the real overlap region 27 of the detection unit 40). By associating information on the integrated area 24 (integrated area 26), the dynamic object 50 detected by the detecting unit 20 (the dynamic object 51 detected by the detecting unit 40) can be accurately grasped. In this case, for example, the actual overlapping area 22 is wider than the management overlapping area 31, and therefore the dynamic object 50 can be grasped more widely.

  In the case of a map without such equally spaced grid lines, the associating unit 12 further determines the first information in determining whether or not the predetermined condition is satisfied in the first embodiment (description of FIG. 4 described above). And the detection position (coordinate) information of the second information may be used for association with the integrated region 24. Specifically, the associating unit 12 [5] the difference between the position (coordinates) of the first dynamic object 50c and the position (coordinates) of the second dynamic object 50d is, for example, within 1 meter (more preferably 50 centimeters). It may be determined whether it is within a meter, more preferably within 30 centimeters, and even more preferably within 10 centimeters, and the association with the integrated region 24 may be performed.

  The above embodiment should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

The above description includes the following features.
[Appendix 1]
A vehicle equipped with a road detection unit that detects a dynamic object that is installed on the road and that is present in a region that can be detected by the vehicle; And an information providing device that provides information to the vehicle, the vehicle including on-vehicle detection position information indicating a position of the on-vehicle detection unit and an on-vehicle detection result detected by the on-vehicle detection unit. Road information is transmitted to the information providing device, and the information providing device includes road detection unit information including road detection position information indicating a position of the road detection unit and a road detection result detected by the road detection unit. Acquiring and acquiring the vehicle detection unit information, an integration unit generating an integrated detection result based on the road detection unit information and the vehicle detection unit information, and transmitting the integrated detection result to the vehicle And a transmitter That, the information providing system.
In this way, by integrating information on dynamic objects detected by a plurality of detection units and transmitting the integrated detection results to the vehicle, not only the dynamic objects detected by the detection unit of the vehicle but also other types It is possible to accurately grasp the surrounding dynamic objects including the dynamic objects detected by the detection unit.
[Appendix 2]
The integration unit further generates an integrated region including a region including a part or all of the detection regions of the road detection unit and the vehicle detection unit, and in the detection regions of the road detection unit and the vehicle detection unit, respectively. When there is an overlapping area, the first information regarding the first dynamic object indicated by the road detection result in the overlapping area and the second information regarding the second dynamic object indicated by the in-vehicle detection result in the overlapping area The information providing system according to supplementary note 1, wherein the information providing system is associated with each of the integrated areas.
As described above, by associating the information related to the dynamic object detected in the overlapping region of the plurality of detection units with the integrated region, the dynamic object detected by the plurality of detection units can be accurately grasped.
[Appendix 3]
The road detection unit information further includes first time information transmitted from the road detection unit to the acquisition unit, and the in-vehicle detection unit information further includes second time information transmitted from the vehicle to the acquisition unit. The information providing system according to Supplementary Note 1 or Supplementary Note 2, wherein the integration unit further associates the first time information with the second time information.
With such a configuration, for example, even when the information transmission time from the road detection unit to the information providing device (acquisition unit) and the information transmission time from the in-vehicle detection unit to the information provision device (acquisition unit) are different, Since each time information can be associated, it is possible to more accurately grasp the dynamic objects in the vicinity of the vehicle including not only the dynamic objects detected by the own detection unit but also the dynamic objects detected by other detection units. Can do.
[Appendix 4]
The information providing system according to any one of appendix 1 to appendix 3, wherein the vehicle transmits the in-vehicle detection unit information to the information providing apparatus when the vehicle approaches the first point.
With such a configuration, it is possible to accurately grasp the timing at which the vehicle transmits the in-vehicle detection unit information to the information providing apparatus.
[Appendix 5]
The road detection unit further detects the approach of the vehicle to the first point, and transmits the approach detection information to the vehicle. The vehicle detects the on-vehicle detection unit information based on the approach detection information. The information providing system according to any one of appendix 1 to appendix 3, wherein the information is transmitted to the information providing apparatus.
With such a configuration, it is possible to accurately grasp the timing at which the vehicle transmits the in-vehicle detection unit information to the information providing apparatus.
[Appendix 6]
The integration unit is further configured to associate the first dynamic object and the second dynamic object on the integrated region as the same object based on the first information and the second information. Information provision system.
With such a configuration, when the dynamic objects detected by each of the plurality of detection units are the same, the integration unit can accurately determine these dynamic objects as the same object.
[Appendix 7]
The integrated area is composed of a plurality of grids divided by a predetermined size, and the integration unit converts the first information and the second information into a part or all of the plurality of grids. The information provision system according to appendix 2 or appendix 6, which is associated.
As described above, the integrated region is configured by the grid (grid map), and the first information and the second information are associated with each other in units of grids, so that the integrated unit can easily grasp the overlapping region, for example. it can.
[Appendix 8]
The integration unit determines whether or not a first grid associated with the first information and a second grid associated with the second information satisfy a predetermined positional relationship, and the determination result The information provision system according to appendix 7, wherein the first dynamic object and the second dynamic object are associated with each other on the integrated region based on the same.
In this way, by associating information on the dynamic objects detected by each of the plurality of detection units in the grid unit on the integration region, the integration unit can determine whether or not these dynamic objects are the same object. It can be done easily.
[Appendix 9]
A vehicle equipped with a road detection unit that detects a dynamic object that is installed on the road and that is present in a region that can be detected by the vehicle; An information providing method for providing information to the vehicle, the information providing method comprising: an in-vehicle detection position information indicating a position of the in-vehicle detection unit; and an in-vehicle detection result detected by the in-vehicle detection unit. A road detection unit including: a step of transmitting vehicle-mounted detection unit information including: to the information providing device; road detection position information indicating a position of the road detection unit; and a road detection result detected by the road detection unit. A step of acquiring the vehicle detection unit information, a step of generating an integrated detection result based on the road detection unit information and the vehicle detection unit information, and And transmitting to the vehicle, the information providing method.
In this way, by integrating information on dynamic objects detected by a plurality of detection units and transmitting the integrated detection results to the vehicle, not only the dynamic objects detected by the detection unit of the vehicle but also other types It is possible to accurately grasp the surrounding dynamic objects including the dynamic objects detected by the detection unit.
[Appendix 10]
A vehicle equipped with a road detection unit that detects a dynamic object that is installed on the road and that is present in a region that can be detected by the vehicle, and a vehicle-mounted detection unit that detects a dynamic object that is present in the region that can be detected by the device; A computer program for causing a computer to function as an information providing system, the computer comprising: road detection position information indicating a position of the road detection unit; and a road detection result detected by the road detection unit. An on-vehicle detection unit information including on-vehicle detection position information indicating a position of the on-vehicle detection unit, and an on-vehicle detection result detected by the on-vehicle detection unit; An integration unit that generates an integrated detection result based on road detection unit information and the in-vehicle detection unit information, and a transmission unit that transmits the integrated detection result to the vehicle. Computer program.
In this way, by integrating information on dynamic objects detected by a plurality of detection units and transmitting the integrated detection results to the vehicle, not only the dynamic objects detected by the detection unit of the vehicle but also other types It is possible to accurately grasp the surrounding dynamic objects including the dynamic objects detected by the detection unit.

DESCRIPTION OF SYMBOLS 1 Information provision system 2 Vehicle 3 Obstacle 4, 4a, 4b Communication part 10 Server 11 Generation part 12 Association part 13 Server (information provision apparatus)
14 acquisition unit 15 transmission unit 20 detection unit 20a first detection unit 20b second detection unit 21 and 25 reality detection regions 21a and 25a first reality detection regions 21b and 25b second reality detection regions 22 and 27 reality overlap regions 23 and 28 Grid map (management detection area)
23a, 28a First grid map (first management detection area)
23b, 28b Second grid map (second management detection area)
24, 26 Integrated area 31, 32 Management overlap area 40 Detection unit 40a Road detection unit 40b In-vehicle detection unit 50, 51 Dynamic object 50a, 50c, 51a, 51b First dynamic object 50b, 50d, 51c Second dynamic object 70, 71 Same object 80 Integration unit

Claims (8)

A server used in an information providing system including a plurality of detection units that detect a dynamic object existing in an area that can be detected by the self,
A generating unit that generates an integrated region including a region including a part or all of the detection region of each of the plurality of detection units;
The first dynamic indicated by the first detection result of the first detection unit in the overlap region when there is an overlap region in the detection region of each of the first detection unit and the second detection unit among the plurality of detection units. A server comprising: an association unit that associates first information about an object and second information about a second dynamic object indicated by a second detection result of the second detection unit in the overlapping region on the integrated region. . The associating unit further includes:
The server according to claim 1, wherein the first dynamic object and the second dynamic object are associated as the same object on the integrated region based on the first information and the second information. The association unit includes
It is determined whether the position of the first dynamic object and the position of the second dynamic object satisfy a predetermined condition, and based on the determination result, the first dynamic object and the second dynamic object are determined. The server according to claim 2, wherein a target object is associated on the integrated region as the same object. The association unit includes
It is determined whether or not the characteristics of the first dynamic object and the characteristics of the second dynamic object satisfy a predetermined condition, and the first dynamic object and the second motion are determined based on the determination result. The server according to claim 2, wherein a target object is associated on the integrated region as the same object. The integrated region is composed of a plurality of grids divided by a predetermined size,
The association unit includes
The server according to any one of claims 1 to 4, wherein the first information and the second information are associated with a part or all of the plurality of grids. The association unit includes
It is determined whether or not the first grid associated with the first information and the second grid associated with the second information satisfy a predetermined positional relationship, and the first grid is based on the determination result. The server according to claim 5, wherein a dynamic object and the second dynamic object are associated on the integrated region as the same object. An information providing method in an information providing system comprising a plurality of detection units for detecting a dynamic object existing in an area that can be detected by the self,
Generating an integrated region composed of a region including a part or all of the detection region of each of the plurality of detection units;
The first dynamic indicated by the first detection result of the first detection unit in the overlap region when there is an overlap region in the detection region of each of the first detection unit and the second detection unit among the plurality of detection units. Associating the first information related to the object and the second information related to the second dynamic object indicated by the second detection result of the second detection unit in the overlapping area on the integrated area, respectively. Method. A computer program for causing a computer to function as an information providing system including a plurality of detection units that detect a dynamic object existing in an area that can be detected by the self,
The computer,
A generating unit that generates an integrated region including a region including a part or all of the detection region of each of the plurality of detection units;
The first dynamic indicated by the first detection result of the first detection unit in the overlap region when there is an overlap region in the detection region of each of the first detection unit and the second detection unit among the plurality of detection units. The first information related to the object and the second information related to the second dynamic object indicated by the second detection result of the second detection unit in the overlapping region function as an associating unit that associates the first information on the integrated region. , Computer program.

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