JP6928917B2 - Mobile management system, mobile, management device, control method, and program - Google Patents

Description

The present disclosure generally relates to mobile management systems, mobiles, management devices, control methods, and programs. More specifically, the present disclosure describes, for example, a mobile body management system that manages a moving body such as a vehicle, a moving body applied to the moving body management system, a management device applied to the moving body management system, and a moving body management system. Control method and program.

As a conventional example, the parking lot management system described in Patent Document 1 will be illustrated. This parking lot management system includes an in-vehicle device installed in a vehicle and capable of wireless communication, and an information processing device capable of wireless communication with the in-vehicle device. The information processing device is arranged in the parking lot, identifies the position of the vehicle based on the radio waves transmitted from the vehicle-mounted device, and guides the vehicle to a predetermined parking space. As a guidance method, a point of guiding the vehicle using a sign panel and a speaker installed in the parking lot, and a point of guiding by transmitting a message or a map in the parking lot to a mobile terminal such as a smartphone are disclosed. There is.

JP-A-2017-72921

The parking lot management system of Patent Document 1 simply identifies the position of the vehicle and guides the vehicle to a predetermined parking space. With the development of transportation infrastructure in recent years, not only in parking lots but also in the road network of moving objects such as vehicles, it is desired to send various information to the moving objects to further support the movement or management of the moving objects.

The present disclosure is made in view of the above reasons, and an object of the present invention is to provide a mobile body management system, a mobile body, a management device, a control method, and a program capable of improving support for a mobile body.

The mobile body management system of one aspect of the present disclosure includes a pairing unit, a sorting unit, and a tracking unit . Based on the specific trigger information, the pairing unit performs pairing of the moving body information that identifies the moving body that has entered the management area and the area identification information that identifies the management area, and obtains the pairing information. Generate. The sorting unit sorts related information related to the management area based on the pairing information. The tracking unit links the pairing information with the detection frame of the moving body in the captured image of at least one imaging unit installed in the management area and imaging at least a part of the management area. The detection frame is tracked using the captured image to maintain the pairing information in the management area.

The mobile body of one aspect of the present disclosure is a mobile body applied to the above-mentioned mobile body management system. The moving body acquires at least one of the pairing information and the related information.

The management device of one aspect of the present disclosure is a management device applied to the above-mentioned mobile management system. The management device outputs at least one of the pairing information and the related information.

The control method of one aspect of the present disclosure is a control method of a mobile management system. The control method includes a pairing step, a sorting step, and a tracking step . In the pairing step, based on the specific trigger information, the moving body information that identifies the moving body that has entered the management area and the area identification information that identifies the management area are paired, and the pairing information is performed. To generate. In the sorting step, related information related to the management area is sorted based on the pairing information. In the tracking step, the pairing information is associated with the detection frame of the moving body in the captured image of at least one imaging unit installed in the management area and imaging at least a part of the management area. The detection frame is tracked using the captured image to maintain pairing information in the management area.

The program of one aspect of the present disclosure causes a computer system to execute the above control method.

According to the present disclosure, there is an advantage that support for mobile objects can be improved.

FIG. 1 is a block configuration diagram of a mobile body management system according to an embodiment. FIG. 2A is a schematic external view of a parking lot in a facility managed by a management device in the mobile body management system of the same. FIG. 2B is a schematic cross-sectional view of a multi-storey car park in the same facility. FIG. 3 is an explanatory diagram regarding pairing in the same mobile management system. 4A and 4B are explanatory views regarding tracking of a moving body in the same moving body management system. FIG. 5 is an explanatory diagram regarding a hierarchical structure in the plurality of management areas of the same. FIG. 6 is a schematic diagram of related information presented by the presentation unit of the mobile body as described above. FIG. 7A is a schematic external view of the expressway managed by the management device in the first modification of the mobile body management system of the above. FIG. 7B is a schematic diagram of related information presented at the presentation unit of the moving body in the modified example 1 of the same.

(1) Outline Each figure described in the following embodiments is a schematic view, and the ratio of the size and the thickness of each component in each figure does not necessarily reflect the actual dimensional ratio. Not necessarily.

As shown in FIG. 1, the mobile body management system 100 according to the present embodiment includes a pairing unit 12 and a sorting unit 13. Here, as an example, it is assumed that all the functions corresponding to the pairing unit 12 and the sorting unit 13 are provided in one or a plurality of management devices (for example, server devices) 1 that manage the management area 5 (see FIG. 2). do.

In the following, a case where there are a plurality of management areas 5 will be described as an example, but one management area 5 may be used. As shown in FIG. 1, the plurality of management areas 5 constitute one wide area area X1. The wide area X1 may be, for example, a part of a road (a general road, a national expressway, an expressway such as an urban expressway). Further, the wide area X1 may be a parking lot area in the facility. Examples of facilities may include condominiums, movie theaters, hospitals, schools, commercial facilities (shopping centers, etc.), hotels, stations, airports, factories, inns, libraries, museums, and nursing homes. In the following, as an example, it is assumed that the wide area X1 is a parking lot area in the facility.

Based on the specific trigger information, the pairing unit 12 performs pairing of the moving body information that identifies the moving body 2 that has entered the management area 5 and the area identification information that identifies the management area 5, and pairing is performed. Generate information. In other words, the specific trigger information includes information on the mobile information and the area identification information necessary for generating the pairing information. The specific trigger information may include, as an example, image information captured by the imaging unit 3 (see FIG. 1). The sorting unit 13 sorts related information related to the management area 5 based on the pairing information.

In the present embodiment, it is assumed that the moving body 2 is a vehicle, particularly an automobile. In addition to automobiles, the moving body 2 can be a two-wheeled vehicle, a railroad vehicle, an aircraft (including an unmanned aerial vehicle such as a drone), a construction machine, a ship, a carrier in a facility (factory, airport, station, hotel, etc.), or a robot. It may be. The automobile which is the moving body 2 may be equipped with an automatic driving system or a driving support system (hereinafter, collectively referred to as an automatic driving support system). The automatic driving support system may be a system to which artificial intelligence (AI) technology is applied. The mobile body information includes identification information (ID information) of the mobile body 2, and may also include information indicating whether the automatic driving support system is installed or not installed (or whether the vehicle is automatically driven or operated by human operation). .. With respect to the autonomous driving support system, the mobile information may include information indicating the autonomous driving level. For example, in the automatic driving level, level 0 may indicate no driving support, level 5 may indicate fully automatic driving, and the like. Further, the automatic driving level may indicate the responsibility level based on the negligence rate in the event of an automatic driving accident.

According to this configuration, since the related information is selected based on the pairing information in which the mobile body information and the area identification information are paired, the related information having a deep relevance can be selected by the management area 5. For example, the movement support can be improved by acquiring the related information (pairing information may be used) on the moving body 2 side. Further, for example, on the management side (management device 1) that manages the management area 5, the management support of the mobile body 2 can be improved by the pairing information. Therefore, it is possible to improve the support for the mobile body 2.

(2) Details (2.1) Overall configuration Hereinafter, the mobile management system 100 according to the present embodiment will be described in detail with reference to FIGS. 1 to 6.

The mobile management system 100 includes one or more management devices 1, and one or more mobiles 2. In FIG. 1, for convenience of explanation, the number of the management device 1 and the number of the moving body 2 are one each. The mobile management system 100 further includes one or more imaging units 3 and one or more gates 6. In FIG. 1, for convenience of explanation, the number of the imaging unit 3 and the number of gates 6 are one each.

The number of management devices 1 is not particularly limited. As shown in FIG. 5, the plurality of management devices 1 may include one control server device 1A and one or a plurality of aggregation server devices 1B (two in the illustrated example). FIG. 1 shows a block configuration diagram of a typical management device 1, but some of the components of the management device 1 may be provided in the control server device 1A and the rest in the aggregation server device 1B in a distributed manner. ..

The number of mobile bodies 2 is also not particularly limited. In the following, one moving body 2 (the own vehicle is given the code of 2A, and the other vehicles other than the own vehicle are given the code of 2B) will be described. As described above, the moving body 2 is an automobile as an example. The number of imaging units 3 is also not particularly limited. As shown in FIGS. 3 and 4A, two imaging units 3 may be installed in each management area 5, or three or more imaging units 3 may be installed. The number of gates 6 is also not particularly limited. One or two or more gates 6 may be installed in each management area 5.

(2.2) Management device (2.2.1) Overall configuration of management device As shown in FIG. 1, the management device 1 is, for example, a management server (device), and includes a control unit 10, a communication interface, and the like. ing. The management device 1 is installed in a management room or the like that manages (or monitors) a wide area X1 corresponding to a parking lot area or the like of a facility. The management device 1 may further include a liquid crystal display used by the administrator of the wide area X1. The administrator may make various settings (described later) through the management screen displayed on the liquid crystal display.

The management device 1 is connected to a plurality of image pickup units 3 and a plurality of gates 6 so as to be able to communicate with each other by wire or wirelessly. Further, the management device 1 can transmit various information (related information and the like) to the mobile body 2 using the gate 6 as a repeater. In other words, the management device 1 outputs at least one of the pairing information and the related information (here, the related information), and the mobile body 2 outputs at least one of the pairing information and the related information (here, the related information). get. In each management area 5, one or a plurality of communication devices (communication antennas) are installed separately from the gate 6, and the management device 1 uses the communication device as a repeater to provide various information (related information) to the mobile body 2. Etc.) may be sent.

The control unit 10 is composed of, for example, a CPU (Central Processing Unit) and a microprocessor having a memory as a main configuration. In other words, the control unit 10 is realized by a computer having a CPU and a memory, and the computer functions as the control unit 10 by executing a program stored in the memory by the CPU. Although the program is pre-recorded in the memory here, the program may be provided by being recorded in a telecommunication line such as the Internet or recorded in a recording medium such as a memory card.

As shown in FIG. 1, the control unit 10 includes a setting unit 11, a pairing unit 12, a sorting unit 13, a related update unit 14, a pairing update unit 15, and the like. In other words, the control unit 10 has a function as a setting unit 11, a function as a pairing unit 12, a function as a sorting unit 13, a function as a related update unit 14, a function as a pairing update unit 15, and the like. doing.

(2.2.2) Setting unit The setting unit 11 is configured to set area identification information for identifying the management area 5. In other words, the setting unit 11 divides the wide area X1 into a plurality of management areas 5 according to the request of the user or the like or the installation environment of the system, and sets the area identification information in each management area 5. However, the wide area X1 itself may correspond to one wide area management area 5. The builder or manager of the system can associate each management area 5 with the area identification information through the management screen displayed on the liquid crystal display. For example, among the plurality of management areas 5, the area identification information of the management area 5 on the first floor uses the unique ID information "1F-A" as the area identification information of the management area 5 next to the management area 51. May include unique ID information "1FB". Even if the builder or the manager can appropriately divide the wide area X1 into a plurality of management areas 5 by using a mouse or the like while referring to the map information corresponding to the wide area X1 output on the management screen. good. It is desirable that the area identification information includes the divided map information in addition to the ID information (or instead of the ID information). The map information includes at least an area where the moving body 2 can travel and an area of the parking space S1 (see FIG. 6).

The set area identification information is stored in the memory of the control unit 10 or the like. The area identification information is stored in association with the identification information of the imaging unit 3 and the gate 6 installed (or planned to be installed) in the corresponding management area 5.

In short, the management device 1 is a device that manages a plurality of management areas 5. The management device 1 manages each management area 5 based on the area identification information (ID information and map information). The management device 1 manages the imaging unit 3 and the gate 6 installed in the management area 5 in units of the management area 5.

It is desirable that the management area 5 is divided based on the positions and numbers of the imaging unit 3 and the gate 6. In other words, for example, since there is a limit to the area that can be imaged by one imaging unit 3, the management area 5 is divided so that the area that cannot be imaged by the imaging unit 3 does not occur, and the imaging unit 3 and the gate 6 are divided. It is desirable that the position and number of are set. Further, for example, since the processing capacity of one management device 1 (server device) is limited, it is desirable that the management area 5 is divided and the number of management devices 1 to be installed is set.

(2.2.3) Pairing unit The pairing unit 12 pairs the moving body information that identifies the moving body 2 that has entered the management area 5 with the area identification information based on the specific trigger information. It is configured to perform and generate pairing information. In the present embodiment, since there are a plurality of management areas 5, the pairing unit 12 pairs the area identification information corresponding to the management area 5 in which the moving body 2 has entered among the plurality of management areas 5 with the moving body information. To generate pairing information.

As described above, the mobile body information includes the identification information of the mobile body 2, and may also include information indicating whether the automatic driving support system is installed or not, and whether the vehicle is in automatic driving or manually operated. The identification information of the mobile body 2 may be allocated on the management device 1 side, or the unique information (vehicle type, vehicle number, color information, etc.) received from the mobile body 2 by wireless communication may be used as it is. Even if the unique information (vehicle type, vehicle number, color information, etc.) is extracted from the image information (image of the vehicle license plate, identification number or bar code information written on the vehicle body, etc.) captured by the imaging unit 3. good.

Here, specific trigger information will be described. The specific trigger information includes information on the mobile body information and the area identification information necessary for generating the pairing information for the mobile body 2 that has entered the management area 5. Specific trigger information can be acquired by a plurality of means. The means for acquiring specific trigger information may differ depending on each management area 5.

For example, specific trigger information may be acquired based on the imaging unit 3 in the corresponding management area 5. Specific trigger information may be acquired from a system (for example, GPS: Global Positioning System) that detects (estimates) the position of the moving body 2 based on radio waves. Further, the specific trigger information may be acquired based on the gate 6 that performs short-range wireless communication with the mobile body 2.

In other words, the specific trigger information includes at least one of the following first information, second information, and third information. The first information includes information based on the image pickup unit 3 that images the moving body 2. The second information includes information on the position of the mobile body 2 estimated based on radio waves. The third information includes information based on the communication device 60 of the gate 6 that performs short-range wireless communication with the mobile body 2.

The "information based on the image pickup unit 3" of the first information may be the image pickup information (video: still image or moving image) captured by the image pickup unit 3, or the place where the image pickup unit 3 is installed (any management). Does it belong to area 5)? The first information may include, for example, unique information extracted from the image of the license plate of the moving body 2 captured by the imaging unit 3.

The "information based on the communication device 60" of the third information may be information received from the mobile body 2 by the communication device 60 (information unique to the mobile body 2, information regarding the installation or non-installation of the automatic driving support system, etc.). , The place where the gate 6 is installed (which management area 5 belongs to) may be used.

The pairing unit 12 may generate pairing information for at least two management areas 5 out of the plurality of management areas 5 based on specific trigger information different from each other. For example, for one management area 5, pairing information is generated based on specific trigger information including the first information, and for another management area 5, based on specific trigger information including the second information. , Pairing information may be generated. For yet another management area 5, pairing information may be generated based on specific trigger information including the third information. Further, for a certain management area 5, pairing information may be generated based on specific trigger information including two or more of the first information to the third information. In this case, pairing information can be generated based on specific trigger information suitable for each management area 5.

More specifically, if the management area 5 is, for example, a flat area outdoors, the specific trigger information corresponding to the management area 5 is the position information of the moving body 2 acquired by using GPS. (Second information) is included. That is, the management device 1 acquires position information from the presentation unit 20 (see FIG. 1: for example, a car navigation system) mounted on the moving body 2. The management device 1 acquires the position information of the mobile body 2 together with the unique information of the mobile body 2 via the gate 6 or the communication device. When the position information of the moving body 2 is acquired via the gate 6, the specific trigger information includes the second information and the third information. Based on the position information of the moving body 2, the pairing unit 12 determines in which management area 5 the moving body 2 currently exists, and determines the area identification information.

On the other hand, two or more management areas 5 may include two or more three-dimensional areas E1 in which at least a part of the regions overlap each other in the vertical direction (see FIG. 2B). In particular, for example, when there is a multi-story parking lot Y1 in the facility, it may include two or more multi-story areas E1. In the illustrated example, the three-dimensional area E1 is a management area 500 on the first basement floor, a management area 501 on the first floor above ground, a management area 502 on the second floor above ground, and a slope 503 connecting each floor. In such a multi-story parking lot Y1, the longitude and latitude of the moving body 2 can be determined only by the position information by GPS, but the height position can be determined on which level (1st basement floor, 1st floor above ground, 2nd floor above ground, etc.). ) May not be able to determine whether the moving body 2 exists. In particular, in the underground layer, radio waves from GPS satellites may not reach the mobile body 2. In short, when a plurality of management areas 5 include two or more three-dimensional areas E1, accurate position information of the moving body 2 cannot be grasped only based on specific trigger information including only the second information, and an area with good accuracy. It may not be the identification information.

Therefore, in the present embodiment, the specific trigger information corresponding to the stereoscopic area E1 includes at least one of the first information (information based on the imaging unit 3) and the third information (information based on the communication device 60 of the gate 6). .. The specific trigger information corresponding to the three-dimensional area E1 may further include the second information in addition to these.

When the management device 1 uses the image pickup unit 3, the image pickup unit 3 detects the moving body 2. Hereinafter, the imaging unit 3 will be briefly described.

Each imaging unit 3 is installed so as to image at least a part of the corresponding management area 5. Each image pickup unit 3 is configured to send the captured image (image information) to the management device 1. Specifically, the imaging unit 3 is a camera for photographing the corresponding management area 5. For example, if it is an outdoor area, it is a pole for installing a camera, and if it is an area inside a facility, it is a building material near the ceiling. Etc. are fixed. The image pickup unit 3 has a lens such as a fisheye lens and an image pickup element such as a CCD (Charge Coupled Devices) image sensor or a two-dimensional image sensor such as a CMOS (Complementary Metal-Oxide Semiconductor) image sensor. The image pickup unit 3 is connected so that the captured image information can be sent to the control unit 10. When the specific trigger information includes the first information, it is desirable that the imaging unit 3 is installed at or near the entrance / exit of each management area 5. Two or more imaging units 3 may be installed in one management area 5.

The control unit 10 performs image analysis processing on the image information received from the image pickup unit 3 and detects that the moving body 2 has passed. The pairing unit 12 determines in which management area 5 the moving moving body 2 is currently traveling from the identification information of the imaging unit 3 of the transmission source that transmitted the image information, and determines the area identification information. Similarly, the pairing unit 12 extracts the unique information of the moving body 2 from the above image information and determines the moving body information. The management device 1 may acquire the unique information of the mobile body 2 via the gate 6 or the communication device. When the unique information of the moving body 2 is acquired through the gate 6, the specific trigger information includes the first information and the third information.

When the gate 6 is used, the management device 1 detects the mobile body 2 by the communication device 60 that performs short-range wireless communication with the mobile body 2. Hereinafter, the gate 6 will be briefly described.

As shown in FIGS. 3 to 5, the plurality of gates 6 are installed, for example, at the entrance and exit of the wide area X1 and the connecting port at the boundary of the adjacent management area 5. The gate 6 is, for example, a flip-up type gate and has a gate bar, but is not particularly limited. In particular, the gate 6 does not have to have a gate bar when it is installed at the boundary of the adjacent management area 5. As shown in FIG. 1, the gate 6 has a communication device 60 for short-range wireless communication with the mobile body 2. The communication device 60 starts communication when the mobile body 2 approaches the gate 6. The gate 6 manages information (unique information, etc.) acquired by communication with the mobile body 2, the date and time when the mobile body 2 reaches (or passes through) the gate 6, the identification information of the gate 6, and the like. It is configured to be sent to the device 1. A parking ticket issuing machine may be installed at the gate 6 at the entrance of the wide area X1. An exit checkout machine may be installed at the gate 6 at the entrance of the wide area X1.

The control unit 10 detects that the moving body 2 has reached (or passed through) the gate 6 based on the information received from the gate 6. The pairing unit 12 determines the mobile information from the unique information received by the communication device 60 and the like. Further, the pairing unit 12 determines which management area 5 the mobile body 2 enters (or may leave) from the identification information of the transmission source gate 6 that has transmitted the above information, and determines the area identification information.

By the way, the pairing unit 12 may generate pairing information based on the same specific trigger information for all of the plurality of management areas 5. If the plurality of management areas 5 of the facility to which the mobile management system 100 is applied are, for example, only flat areas outdoors, all of the plurality of management areas 5 are paired using GPS and the gate 6. Information may be generated.

The management device 1 of the present embodiment generates pairing information for each moving body 2 in this way, and manages the traveling, parking position, and the like of the approaching moving body 2 with reference to the plurality of management areas 5.

(2.2.4) Sorting Unit The sorting unit 13 is configured to sort out related information related to the management area 5 based on the pairing information. The management device 1 transmits the selected related information to the mobile body 2 that is the target of the pairing information via the gate 6 or the communication device. In the present embodiment, since the sorting unit 13 is provided in the management device 1, the related information selected is transmitted to the target moving body 2 on a one-to-one basis by unicasting.

The related information will be described here. The related information is information related to the management area 5 associated with the pairing information. The related information may include image information captured by the imaging unit 3. Related information includes, for example, information about the parking space S1 (see FIG. 6), information indicating the detection results of another mobile body 2B, pedestrian 8 (see FIG. 6), and other objects in the management area 5. In addition, it may include at least one of the map information of the management area 5. Further, the related information may include information on weather, earthquakes, traffic jams, etc. in the management area 5, as well as construction information and the like. The information regarding the parking space S1 includes fullness information, arrangement information, and the like. Although these information can be generally detected from the image information captured by the image pickup unit 3 (earthquakes may also be detected from the shaking of the captured image), they may be acquired from the outside.

The detection information of the other mobile body 2B depends on whether the automatic driving support system is installed or not installed (automatic driving level may be used. Level 0 is no driving support, level 5 is fully automatic driving, etc.), during automatic driving, or by human operation. It may include whether it is in operation or the like. In particular, if the automatic driving level of the moving body 2 is level 1 or higher (with driving support), the related information may include information related to automatic driving support.

The detection information of the other mobile body 2B may include information regarding the distinction between vehicle types, for example, emergency vehicles. The detection information of the other moving body 2B may include a prediction result regarding the moving direction of the other moving body 2B as long as it is traveling. The detection information of the pedestrian 8 may include information regarding the distinction between an adult and a child and the distinction between a healthy person and a physically handicapped person.

As shown in FIG. 1, the mobile body 2 has a communication unit 21 (communication interface) capable of communicating with the gate 6 or a communication device, and the mobile body 2 transmits the received related information through the presentation unit 20. , Presented to a person (for example, a driver) in the moving body 2.

FIG. 6 shows an example of a display screen of the presentation unit 20 of the mobile body 2A (own vehicle) for which the related information has been acquired. In FIG. 6, an image obtained by looking down on a part of the management area 5 centering on the moving body 2A based on the image information captured by the imaging unit 3 is displayed on the display screen of the presentation unit 20. It is displayed. That is, the map image (information) of the management area 5 is displayed together with the fullness information of the parking space S1, the other moving body 2B, the pedestrian 8 and the like. As the map image displayed on the presentation unit 20, the image captured by the image pickup unit 3 may be output without any processing, or may be processed to some extent and output in a deformed state, for example. For example, the area of the vacant parking space S1 may be displayed by a blinking frame or the like. Further, as shown by the arrow in FIG. 6, an arrow image that guides the moving body 2 to the empty parking space S1 may be displayed. The pedestrian 8 may be displayed with a round mark. The mobile body 2 may output related information by voice guidance.

By the way, in the present embodiment, the management device 1 starts providing related information to the mobile body 2 triggered by the establishment of pairing. The establishment of pairing is, for example, that pairing information is generated by the pairing unit 12. In other words, as an example, the sorting unit 13 selects the related information and starts providing the related information, triggered by the generation of the pairing information. However, the establishment of pairing does not necessarily have to be the generation of pairing information. The pairing may be established by exchanging an authentication code by mutual communication or the like, or by confirming the establishment by the position information of the mobile body 2 without using mutual communication. Further, in the case of exchanging an authentication code, a level may be set for the authentication, and the management device 1 provides only a part of the selected related information according to the authentication level of the authentication code. Alternatively, the moving body 2 may be subject to restrictions such as being able to use only a part of related information. Further, until the pairing is established, the related information at the time when the pairing was established last time may be used.

(2.2.5) Related update unit and pairing update unit The related update unit 14 is configured to update related information. That is, the related update unit 14 updates the related information that may change with the passage of time. The information that can be changed is the fullness information of the parking space S1 (see FIG. 6), the position information of the other moving body 2B and the pedestrian 8, and the like. In particular, the management device 1 tracks (tracks) the other moving body 2B and the pedestrian 8 based on the captured image of the imaging unit 3, reflects the tracking result in the related information, and sends the tracking result to the moving body 2A. ..

The pairing update unit 15 is configured to update the pairing information. The pairing update unit 15 updates the area identification information when the mobile body 2 moves from the first management area 51 to the second management area 52 in the plurality of management areas 5 (see FIG. 4A). That is, the pairing update unit 15 updates the area identification information corresponding to the first management area 51 paired in the pairing information to the area identification information corresponding to the second management area 52. In other words, the management device 1 switches the area identification information to new area identification information according to the movement of the moving body 2 between the two management areas 5, but takes over the moving body information of the pairing information.

(2.3) Operation related to pairing Hereinafter, the operation of the mobile management system 100 will be briefly described with reference to FIG. 3, focusing on pairing. In this operation description, it is assumed that the pairing update unit 15 does not take over the pairing information.

As an example, FIG. 3 schematically shows a state in which three management areas 5 (first management area 51, second management area 52, and third management area 53) are arranged side by side and separated.

When the moving body 2 enters the first management area 51, the management device 1 determines the moving body information and the area identification information by using the position information and the map information of the management area 5 from GPS or the like, and pairs them. Generate ring information (pairing step). It is assumed that the unique information of the moving body 2 has already been acquired at the gate 6 (omitted in FIG. 3) at the entrance of the wide area X1. When the moving body 2 is staying in the first management area 51, the management device 1 selects and updates the related information related to the first management area 51 for the moving body 2 (selection step). Continue to send. In this case, the related information is updated by using the captured image of the imaging unit 3 installed in the first management area 51.

Subsequently, when the mobile body 2 reaches the gate 6 (first gate 61) at the boundary between the first management area 51 and the second management area 52, the mobile body 2 and the first gate 61 start wireless communication. .. The management device 1 acquires the unique information of the moving body 2 via the first gate 61. Then, when the moving body 2 detects that the moving body 2 has passed through the first gate 61, the management device 1 identifies from the identification information of the first gate 61 that the entered management area 5 is the second management area 52. .. Then, the management device 1 determines the mobile body information and the area identification information, and generates the pairing information (pairing step). If the moving body 2 is staying in the second management area 52, the management device 1 selects and updates the related information related to the second management area 52 with respect to the moving body 2. Continue to send. In this case, the related information is updated by using the captured image of the imaging unit 3 installed in the second management area 52.

Further, when the moving body 2 reaches the second gate 62 of the two gates 6 (the second gate 62 and the third gate 63) at the boundary between the second management area 52 and the third management area 53, the moving body 2 And the second gate 62 start wireless communication. The management device 1 acquires the unique information of the moving body 2 via the second gate 62. Then, when the moving body 2 detects that the moving body 2 has passed through the second gate 62, the management device 1 identifies from the identification information of the second gate 62 that the entered management area 5 is the third management area 53. .. Then, the management device 1 determines the mobile body information and the area identification information, and generates the pairing information (pairing step). If the moving body 2 is staying in the third management area 53, the management device 1 selects and updates the related information related to the third management area 53 with respect to the moving body 2. Continue to send. In this case, the related information is updated by using the captured image of the imaging unit 3 installed in the third management area 53.

If the gate 6 (fourth gate 64) at the back of the third management area 53 corresponds to the entrance of the wide area X1, the parking fee is settled at the fourth gate 64. When the moving body 2 passes through the fourth gate 64 and exits the wide area X1, the pairing is canceled.

As described above, according to the present embodiment, since the related information is selected based on the pairing information in which the mobile body information and the area identification information are paired, the related information having a deep relevance can be selected by the management area 5. For example, the movement support can be improved by obtaining the related information in the moving body 2. Further, for example, in the management device 1 that manages the management area 5, the moving body 2 can be easily managed by the pairing information, and the management support of the moving body 2 can be improved. Therefore, it is possible to improve the support for the mobile body 2.

Further, in the present embodiment, since one wide area X1 is divided into a plurality of management areas 5, the management device 1 can select related information related to a finer area.

Further, in the present embodiment, since the selection of the related information based on the pairing information is performed by the management device 1, the information processing of the moving body 2 is performed as compared with the case where the related information is selected on the moving body 2 side, for example. The load can be reduced.

Further, in the present embodiment, since the related information is updated by the related updating unit 14, it is possible to improve the support for the mobile body 2 based on the latest related information.

(2.4) Operation Related to Tracking The operation of the mobile body management system 100 will be briefly described below with reference to FIGS. 4A and 4B, focusing on the tracking of the mobile body 2. In this operation description, it is assumed that the pairing update unit 15 takes over the pairing information.

As an example, FIG. 4A schematically shows a state in which two management areas 5 (first management area 51 and second management area 52) are side by side and separated. However, in this example, there is an overlapping area R1 in which the first management area 51 and the second management area 52 overlap each other. In other words, in this example, the two management areas 5 are divided based on the imageable areas of the four imaging units 3 (3A to 3D). The gate 6 does not exist at the boundary between the first management area 51 and the second management area 52.

Specifically, the two left image pickup units 3A and 3B belong to the first management area 51 under the jurisdiction of the management device 1, and the first management area 51 is an image-capable area of these two image pickup units 3. Angle of view). Similarly, the two right image pickup units 3C and 3D belong to the second management area 52 under the jurisdiction of the management device 1, and the second management area 52 is an imageable area (angle of view) of these two image pickup units 3. ). However, the overlapping region R1 is set so that a region that becomes a blind spot of the imaging unit 3 does not occur at the boundary between the first management area 51 and the second management area 52.

When the mobile body 2 reaches the gate 6 (gate 65: here, for example, corresponding to the entrance of the wide area area X1) in the first management area 51, the mobile body 2 and the gate 65 start wireless communication. The management device 1 acquires the unique information of the moving body 2 via the gate 65. Then, when it is detected that the moving body 2 has passed through the gate 65, the management device 1 identifies from the identification information of the gate 65 that the entered management area 5 is the first management area 51. Then, the management device 1 determines the mobile body information and the area identification information, and generates pairing information. Further, the management device 1 also associates the pairing information with the detection frame W1 (see FIG. 4B) by using the imaging units 3A and 3B. After that, the management device 1 maintains the pairing information in the first management area 51 by tracking the detection frame W1 using the image pickup units 3A and 3B.

Next, when the moving body 2 reaches the overlapping area R1, the management device 1 updates the pairing information in the pairing updating unit 15. Specifically, the management device 1 detects the moving body 2 in the overlapping region R1 in the imaging units 3C and 3D belonging to the second management area 52, and further, from the image information captured by the imaging units 3C and 3D. The unique information of the moving body 2 is extracted. Then, when the extracted unique information of the moving body 2 and the unique information in the pairing information generated when passing through the gate 65 match, the management device 1 takes over the information. Then, even in the second management area 52, the management device 1 associates the updated pairing information with the detection frame W1 and uses the imaging unit 3C and 3D to track the detection frame W1. 2 Maintain pairing information in the management area 52. The gate 66 in FIG. 4A corresponds to the entrance of the wide area X1.

By setting the overlapping area R1 in this way, the pairing information can be taken over more accurately. In particular, it is not necessary to install the gate 6 between the first management area 51 and the second management area 52, and the installation cost of the gate 6 and the like can be reduced.

(2.5) Hierarchical structure of management area By the way, an area (control area 5A) that controls at least two management areas 5 out of a plurality of management areas 5 may be set. Hereinafter, the control area 5A will be described with reference to FIG. There may be a plurality of control areas 5A themselves, but here, the explanation will focus on one control area 5A.

As shown in FIG. 5, the control area 5A controls two management areas 5 (the first management area 51 and the second management area 52 in the illustrated example). In other words, the first management area 51 and the second management area 52 belong to the control area 5A in terms of data management in the management device 1. That is, the control area 5A corresponds to the upper layer area, and the first management area 51 and the second management area 52 correspond to the lower layer area. Further, three gates 6 are also comprehensively associated with the control area 5A. Between the upper layer area and the lower layer area, there may be a management area 5 corresponding to the middle layer area.

Then, as the management device 1 for managing the control area 5A, the control server device 1A is installed in the management room or the like of the facility. Further, as a management device 1 for managing the first management area 51 and the second management area 52, two centralized server devices 1B are installed in a management room or the like of the facility. Each aggregation server device 1B is communicably connected to a plurality of imaging units 3 (three in the illustrated example) installed in the corresponding management area 5, and manages these imaging units 3.

The control server device 1A is communicably connected to the three gates 6 and the two aggregation server devices 1B.

In this case, the pairing unit 12 in the control unit 10 of the control server device 1A performs pairing with the general identification information for identifying the control area 5A into which the mobile body 2 has entered and the mobile body information to obtain the general pairing information. Generate.

Each aggregate server device 1B receives, for example, image information captured by the imaging unit 3 in the corresponding management area 5 and detects another mobile body 2B, a pedestrian 8 or the like (for example, another mobile body 2B or Pedestrian 8 etc. is approaching nearby). The control server device 1A generates, for example, the integrated pairing information in response to the detection result performed by each aggregate server device 1B. Then, the control server device 1A transmits related information to the entering mobile body 2 based on the integrated pairing information.

The pairing information generated by each aggregate server device 1B and the centralized pairing information generated by the control server device 1A may be used differently. For example, the related information in the pairing information generated by each aggregate server device 1B mainly includes map information of the management area 5, detection information of other mobile objects 2B, pedestrians 8, and the like. On the other hand, the related information in the integrated pairing information generated by the control server device 1A includes the billing information of the parking lot and the like.

By installing the control area 5A in this way, the management area 5 can have a hierarchical structure, and it is possible to further improve the support for the moving body 2. In particular, by providing the management area 5 with a hierarchical structure (control area 5A and other management areas 5 belonging to the control area 5A), the management device 1 can also have a hierarchical structure. In short, the processing load applied to one management device 1 (server device) can be distributed to a plurality of server devices. Further, in this case, the gate 6 is not required in the first management area 51 and the second management area 52 corresponding to the lower layer area.

By the way, the user (for example, the driver) of the mobile body 2 may be able to select whether or not to receive support (acquisition of related information, etc.) from the mobile body management system 100 when entering the wide area X1. .. For example, the mobile body 2 acquires information including terms of use and the like from the gate 6 installed at the entrance of the wide area X1 by short-range wireless communication, and receives support from the mobile body management system 100 at that time. The option as to whether or not it may be displayed on the presentation unit 20 or the like. For example, the mobile body 2 may follow the rules in the management area 5 by entering the wide area X1 and acquiring information including terms of use. In other words, by entering the management area 5, for example, the user of the mobile body 2 may have the right and responsibility to enjoy the information peculiar to the management area 5. Therefore, for example, the gate 6 may be installed as a gate whose legal division of responsibility is defined by passing through the gate 6. Therefore, the mobile body management system 100 may record information such as a time stamp at the time when the mobile body 2 passes through the gate 6 together with the unique information of the mobile body 2.

(3) Modified Example The above embodiment is only one of various embodiments of the present disclosure. The above-described embodiment can be changed in various ways depending on the design and the like as long as the object of the present disclosure can be achieved. Further, the same function as the mobile management system 100 according to the above embodiment may be embodied by a control method of the mobile management system 100, a computer program, a non-temporary recording medium on which the computer program is recorded, or the like.

Hereinafter, modifications of the above embodiment will be listed. The modifications described below can be applied in combination as appropriate. In the following, the above embodiment may be referred to as a "basic example".

The mobile body management system 100 (for example, the control unit 10 of the management device 1 and the ECU of the mobile body 2: Electronic Control Unit, etc.) in the present disclosure includes a computer system. The main configuration of a computer system is a processor and memory as hardware. When the processor executes the program recorded in the memory of the computer system, the functions as the control unit 10 and the ECU of the mobile management system 100 in the present disclosure are realized. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, and may be recorded on a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. that can be read by the computer system. May be provided. A processor in a computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI). The integrated circuit such as IC or LSI referred to here has a different name depending on the degree of integration, and includes an integrated circuit called a system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Further, an FPGA (Field-Programmable Gate Array) programmed after the LSI is manufactured, or a logical device capable of reconfiguring the junction relationship inside the LSI or reconfiguring the circuit partition inside the LSI should also be adopted as a processor. Can be done. A plurality of electronic circuits may be integrated on one chip, or may be distributed on a plurality of chips. The plurality of chips may be integrated in one device, or may be distributed in a plurality of devices. The computer system referred to here includes a microprocessor having one or more processors and one or more memories. Therefore, the microprocessor is also composed of one or a plurality of electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

Further, it is not an essential configuration for the mobile management system 100 that a plurality of functions in the management device 1 of the mobile management system 100 are integrated in one housing, and the components of the mobile management system 100 are. It may be distributed in a plurality of housings. Further, at least a part of the functions of the mobile management system 100, for example, a part of the functions of the mobile management system 100 may be realized by a cloud (cloud computing) or the like. On the contrary, a plurality of functions of the mobile management system 100 may be integrated in one housing.

(3.1) Modification 1
Hereinafter, the mobile body management system 100 of this modification (modification example 1) will be described with reference to FIGS. 7A and 7B. In the following, the components common to the basic example may be designated by the same reference numerals and the description thereof may be omitted as appropriate.

In the basic example, the case where the mobile body management system 100 is applied to a parking lot such as a facility has been described. However, the mobile management system 100 of the first modification is applied to, for example, the highway Z1 as shown in FIG. 7A. FIG. 7A shows a part of the section on the highway Z1. In FIG. 7A, the partial section is divided into a total of 10 management areas 5 (511 to 520). Specifically, a plurality of lanes in the traveling direction along the arrow D1 are divided into management areas 511 to 515, and a plurality of lanes in the traveling direction along the arrow D2 are divided into management areas 516 to 520.

In this case, the plurality of imaging units 3 are installed at predetermined intervals in the management area 5 (511 to 520) (not shown in FIG. 7A). Further, the plurality of gates 6 are installed at the entrance / exit of the expressway Z1. The gate 6 may correspond to an ETC (Electronic Toll Collection System) gate.

Also in the first modification, it is possible to improve the support for the moving body 2. Further, unlike the parking lot of a facility, when the area continues over a wide area such as the expressway Z1, the management area 5 having substantially the same area can be repeatedly divided. Since the management areas 5 having substantially the same area are repeatedly defined, the processing amount on the management device 1 side for each management area 5 is substantially the same. Further, since the traveling direction of the moving body 2 in each management area 5 is the same, it is easy to set the installation direction (direction of the camera) of the imaging unit 3. Therefore, the installation and maintenance of the imaging unit 3 can be simplified, and the cost required for these can be reduced.

By the way, the management device 1 may output the image information captured by the plurality of imaging units 3 in the plurality of management areas 5 to the paired mobile body 2 as related information. Specifically, the management device 1 includes the image information of the management area 511 and the image information of the management areas 521 to 515 beyond the moving body 2A (see FIG. 7A) traveling in the management area 511. You may output the synthesis result by connecting with (synthesis processing). In the mobile body 2A, for example, an image that looks down on the management areas 511 to 515 may be presented by the presentation unit 20. A person (for example, a driver) in the moving body 2A can know, for example, how much traffic congestion actually occurs in an area beyond the management area 511 by looking at the image presented to the presentation unit 20. Can be done. As shown in FIG. 7B, the management device 1 may create a further deformed image from the image instead of the actual image and transmit it to the moving body 2. In the example of FIG. 7B, one lane is indicated by a straight line, and a plurality of moving bodies 2 (2A, 2B) are indicated by round marks. The deformed image may be generated on the presentation unit 20 side.

In the examples of FIGS. 7A and 7B, the management area 5 is relatively linear even on the highway Z1, but the moving body management system 100 has two management areas 5 such as a branch point or a confluence of the highway Z1. Can also be applied to curved roads that connect to one management area 5. In particular, at a branch point or a confluence, there is a possibility that the road structure is such that a grade separation occurs. That is, like the multi-storey car park Y1 in the facility in the basic example, it may include two or more three-dimensional areas where at least a part of the areas overlap each other in the vertical direction, and there is a possibility that the position information cannot be acquired by GPS. be. Also in this case, the specific trigger information is the information based on the imaging unit 3 that images the moving body 2 (first information) or the information based on the communication device 60 of the gate 6 that performs short-range wireless communication with the moving body 2 (first information). By including 3 information), it becomes possible to deal with it.

Alternatively, the mobile body management system 100 may be applied to a general road or the like. The mobile management system 100 may be applied to a terminal area such as a bus terminal, a school zone, or the like. The street camera may correspond to the image pickup unit 3.

(3.2) Other Modifications At least a part of the functions of the management device 1 in the basic example may be provided in the gate 6 or the imaging unit 3. In this case, the moving body 2 may acquire a part or all of the related information directly from the gate 6 or the imaging unit 3 without going through, for example, the management device 1. Further, the communication in the mobile management system 100 may be realized by a P2P (Peer to Peer) method. In this case, as compared with the client-server system, the concentration of access to the management device 1 (server device) from the mobile body 2 is reduced, and the processing load of the management device 1 can be reduced. In the case of P2P, the management device 1 starts providing related information to the mobile body 2 triggered by the establishment of pairing.

In the basic example, as long as the moving body 2 exists in the management area 5, the related information is continuously updated. Therefore, the number of times that the management device 1 outputs the related information related to the corresponding management area 5 to the moving body 2. Is multiple times. However, the number of times that the management device 1 outputs the related information to the moving body 2 may be only once. That is, updating related information is not essential. The mobile body 2 may acquire the related information related to the management area 5 only once from the gate 6 installed at the entrance of each management area 5, for example.

In the basic example, the sorting unit 13 is provided in the management device 1. However, the sorting unit 13 may be provided in the control device (for example, ECU) on the moving body 2 side. The control device of the mobile body 2 acquires the pairing information and stores the information in the memory. After acquiring the pairing information, the sorting unit 13 of the control device of the mobile body 2 performs its own pairing from various related information related to the plurality of management areas 5 delivered by broadcasting from the management device 1 side. Select the target related information based on the area identification information of the information. According to this configuration, the load of information processing on the management device 1 side can be reduced. In the case of broadcasting, the mobile body 2 starts using the related information received from the management device 1 and the imaging unit 3 with the establishment of pairing as a trigger.

In the basic example, it was explained that the system that detects (estimates) the position of the moving body 2 based on radio waves as the second information is GPS, but it is not limited to GPS, and the position detection system using radio waves on the ground is used. (For example, LPS: Local Positioning System, etc.) may be used. Alternatively, the position detection system stores in advance an image of a parking lot, a road, or the like viewed from above as map information, and estimates its own position using the amount of movement of its own vehicle by a gyro sensor or the like and the map. The position estimation function may be used.

In the basic example, the image information is an image captured by one or a plurality of imaging units 3 installed in the management area 5. However, the mobile body management system 100 may, for example, combine the image information captured by the vehicle-mounted camera of the mobile body 2 with the image information captured by the image pickup unit 3 (synthesis processing) and have the presentation unit 20 present the image information. good. In other words, there may be an area that becomes a blind spot of the vehicle-mounted camera only by the image of the surrounding area captured by the vehicle-mounted camera of the moving body 2. The area that becomes the blind spot may be supplemented with the image information captured by the imaging unit 3. The image complement processing may be performed on the management system side including the management device 1, the gate 6, the image pickup unit 3, and the like, or may be performed by the control device (for example, ECU) on the moving body 2 side. When the complement processing is performed on the management system side, the image information captured by the in-vehicle camera of the mobile body 2 is acquired by wireless communication, and the complemented image information is returned to the mobile body 2 again. In addition to being presented to the presentation unit 20, the complemented image information may be used in the automatic driving support system as long as the moving body 2 is equipped with the automatic driving support system.

In the basic example, the moving body 2 is assumed to be an automobile, but as described above, a two-wheeled vehicle, a railroad vehicle, an aircraft (including an unmanned aircraft such as a drone), a construction machine, a ship, and a facility (factory, airport). , Stations, hotels, etc.), and robots.

(4) Advantages As described above, the mobile body management system (100) according to the first aspect includes a pairing unit (12) and a sorting unit (13). Based on the specific trigger information, the pairing unit (12) includes the moving body information that identifies the moving body (2) that has entered the management area (5) and the area identification information that identifies the management area (5). Pairing is performed and pairing information is generated. The sorting unit (13) sorts related information related to the management area (5) based on the pairing information. According to the first aspect, since the related information is selected based on the pairing information in which the mobile body information and the area identification information are paired, the related information having a deep relevance can be selected by the management area (5). For example, the movement support can be improved by obtaining the related information on the moving body (2) side. Further, for example, on the management side (management device 1) that manages the management area (5), the management support of the mobile body (2) can be improved by the pairing information. Therefore, it is possible to improve the support for the mobile body (2).

In the mobile body management system (100) according to the second aspect, in the first aspect, the related information is the image information captured by the imaging unit (3) that images at least a part of the management area (5). Is preferably included. According to the second aspect, since the related information includes at least the image information regarding the management area (5), it is possible to further improve the support regarding the mobile body (2).

It is preferable that the mobile management system (100) according to the third aspect further includes a related updating unit (14) for updating related information in the first aspect or the second aspect. According to the third aspect, by providing the related update unit (14), it is possible to improve the support regarding the mobile body (2) based on the latest related information.

Regarding the mobile management system (100) according to the fourth aspect, it is preferable that there are a plurality of management areas (5) in any one of the first to third aspects. The pairing unit (12) pairs the area identification information corresponding to the management area (5) into which the moving body (2) has entered among the plurality of management areas (5) with the moving body information to perform pairing. It is preferable to generate information. According to the fourth aspect, even when there are a plurality of management areas (5), it is possible to improve the support for the moving body (2). In other words, by dividing one wide area (X1) into a plurality of management areas (5), related information related to a finer area can be selected.

It is preferable that the mobile body management system (100) according to the fifth aspect further includes a pairing update unit (15) for updating the pairing information in the fourth aspect. The pairing update unit (15) updates the area identification information when the moving body (2) moves from the first management area (51) to the second management area (52) in the plurality of management areas (5). It is preferable to do so. That is, the pairing update unit (15) updates the area identification information corresponding to the first management area (51) paired in the pairing information to the area identification information corresponding to the second management area (52). It is preferable to do so. According to the fifth aspect, the moving body information in the pairing information can be taken over according to the movement of the moving body (2) between the first management area (51) and the second management area (52). ..

Regarding the mobile management system (100) according to the sixth aspect, in the fourth or fifth aspect, the plurality of management areas (5) are two or more in which at least a part of the regions overlap each other in the vertical direction. It is preferable to include a three-dimensional area (E1). According to the sixth aspect, it is possible to improve the support for the moving body (2) for a plurality of management areas (5) including two or more three-dimensional areas (E1).

Regarding the mobile management system (100) according to the seventh aspect, in any one of the fourth to sixth aspects, the pairing unit (12) pairs the general identification information with the mobile information. It is preferable to perform this to generate integrated pairing information. The general identification information is information for identifying the general area (5A) into which the moving body (2) has entered. The control area (5A) is preferably an area that controls at least two management areas (5) out of a plurality of management areas (5). According to the seventh aspect, the management area (5) can have a hierarchical structure, and the support for the mobile body (2) can be further improved.

Regarding the mobile body management system (100) according to the eighth aspect, in any one of the first to seventh aspects, the pairing unit (12) manages the management area (5), the management device (1). It is preferable that it is provided in. The sorting unit (13) is preferably provided on the moving body (2). The mobile body (2) preferably acquires pairing information from the management device (1). According to the eighth aspect, the load of information processing on the management device (1) side can be reduced.

Regarding the mobile body management system (100) according to the ninth aspect, in any one of the first to seventh aspects, the pairing unit (12) and the sorting unit (13) manage the management area (5). It is preferable that the management device (1) is provided. The mobile body (2) preferably acquires related information from the management device (1). According to the ninth aspect, the load of information processing on the moving body (2) side can be reduced.

Regarding the mobile management system (100) according to the tenth aspect, in any one of the first to ninth aspects, the specific trigger information is at least one of the first information, the second information, and the third information. It is preferable to include one. The first information includes information based on the imaging unit (3) that images the moving body (2). The second information includes information on the position of the moving body (2) estimated based on radio waves. The third information includes information based on the communication device (60) that performs short-range wireless communication with the mobile body (2). According to the tenth aspect, more accurate pairing information can be generated.

Regarding the mobile management system (100) according to the eleventh aspect, it is preferable that there are a plurality of management areas (5) in the tenth aspect. It is preferable that the pairing unit (12) generates pairing information for at least two management areas (5) out of the plurality of management areas (5) based on specific trigger information different from each other. According to the eleventh aspect, the pairing information can be generated based on the specific trigger information suitable for each management area (5).

Regarding the mobile body management system (100) according to the twelfth aspect, in any one of the first to eleventh aspects, the related information is the parking space (S1) of the mobile body (2) in the management area (5). It is preferable to include information about. According to the twelfth aspect, it is possible to improve the support for the moving body (2) parked in the parking space (S1).

The mobile body (2) according to the thirteenth aspect is a mobile body applied to the mobile body management system (100) in any one of the first to twelfth aspects. The mobile body (2) acquires at least one of pairing information and related information. According to the thirteenth aspect, it is possible to provide a mobile body (2) capable of improving support such as driving support and management support.

The management device (1) according to the fourteenth aspect is a management device applied to the mobile body management system (100) in any one of the first to twelfth aspects. The management device (1) outputs at least one of the pairing information and the related information. According to the fourteenth aspect, it is possible to provide a management device (1) capable of improving support for the mobile body (2).

The control method according to the fifteenth aspect is a control method for a mobile management system. The control method includes a setting step, a pairing step, and a sorting step. In the setting step, the area identification information that identifies the management area (5) is set. In the pairing step, based on the specific trigger information, the moving body information that identifies the moving body (2) that has entered the management area (5) is paired with the area identification information, and the pairing information is obtained. Generate. In the sorting step, related information related to the management area (5) is sorted based on the pairing information. According to the fifteenth aspect, it is possible to provide a control method capable of improving support for the mobile body (2).

The program according to the sixteenth aspect causes the computer system to execute the control method in the thirteenth aspect. According to the sixteenth aspect, it is possible to provide a function capable of improving support for the mobile body (2).

Regarding the moving body (2) according to the seventeenth aspect, in the thirteenth aspect, it is preferable that the moving body (2) includes a presenting unit (20) for presenting related information. According to the seventeenth aspect, it is possible to further improve support such as driving support and management support.

The moving body (2) according to the eighteenth aspect may be any of an automobile, a two-wheeled vehicle, a railroad vehicle, an aircraft, a construction machine, a ship, a carrier, and a robot in the thirteenth aspect or the seventeenth aspect. preferable. According to the eighteenth aspect, it is possible to further improve support such as driving support and management support.

The configuration according to the second to twelfth aspects is not an essential configuration for the mobile management system (100) and can be omitted as appropriate.

100 Mobile management system 1 Management device 12 Pairing section 13 Sorting section 14 Related update section 15 Pairing update section 2 Mobile 3 Imaging section 5 Management area 5A Control area 51 1st control area 52 2nd control area 60 Communication device E1 Three-dimensional area S1 parking space

Claims (17)

With a pairing unit that generates pairing information by pairing the moving body information that identifies the moving body that has entered the management area and the area identification information that identifies the management area based on the specific trigger information. ,
A sorting unit that sorts related information related to the management area based on the pairing information,
The pairing information is associated with the detection frame of the moving body in the captured image of at least one imaging unit installed in the management area and imaging at least a part of the management area, and the captured image is used. A tracking unit that tracks the detection frame and maintains pairing information in the management area.
To prepare
Mobile management system. The related information includes image information captured by the imaging unit,
The mobile management system according to claim 1. A related update unit for updating the related information is further provided.
The mobile management system according to claim 1 or 2. There are multiple management areas,
The pairing unit generates the pairing information by pairing the area identification information corresponding to the management area into which the moving body has entered among the plurality of management areas with the moving body information.
The mobile management system according to any one of claims 1 to 3. A pairing update unit for updating the pairing information is further provided.
The pairing update unit corresponds to the first management area paired in the pairing information when the moving body moves from the first management area to the second management area in the plurality of management areas. The area identification information to be used is updated to the area identification information corresponding to the second management area.
The tracking unit associates the detection frame of the moving object associated with the pairing information with the updated pairing information.
The mobile management system according to claim 4. The plurality of control areas include two or more three-dimensional areas in which at least some areas overlap each other in the vertical direction.
The mobile management system according to claim 4 or 5. The pairing unit performs pairing with the general identification information for identifying the control area in which the moving body has entered and the moving body information to generate the general pairing information.
The control area is an area that controls at least two management areas among the plurality of management areas.
The mobile management system according to any one of claims 4 to 6. The pairing unit and the tracking unit are provided in a management device that manages the management area.
The sorting unit is provided on the moving body and is provided on the moving body.
The moving body acquires the pairing information from the management device.
The mobile management system according to any one of claims 1 to 7. The pairing unit , the sorting unit , and the tracking unit are provided in a management device that manages the management area.
The moving body acquires the related information from the management device.
The mobile management system according to any one of claims 1 to 7. The specific trigger information includes at least one of the first information, the second information, and the third information.
The first information includes information based on an imaging unit that images the moving body.
The second information includes information on the position of the moving body estimated based on radio waves.
The third information includes information based on a communication device that performs short-range wireless communication with the mobile body.
The mobile management system according to any one of claims 1 to 9. There are multiple management areas,
The pairing unit generates the pairing information for at least two management areas out of the plurality of management areas based on the specific trigger information different from each other.
The mobile management system according to claim 10. The relevant information includes information about the parking space of the moving object in the controlled area.
The mobile management system according to any one of claims 1 to 11. The tracking unit tracks other moving objects and pedestrians existing in the parking space based on the captured image of the imaging unit, and reflects the tracking result in the related information.
The mobile management system according to claim 12. A mobile body applied to the mobile body management system according to any one of claims 1 to 13.
Acquire at least one of the pairing information and the related information.
Mobile body. A management device applied to the mobile management system according to any one of claims 1 to 13.
Output at least one of the pairing information and the related information.
Management device. It is a control method for mobile management systems.
A pairing step of pairing a moving body information that identifies a moving body that has entered the management area and an area identification information that identifies the management area based on specific trigger information to generate pairing information. ,
A selection step for selecting related information related to the management area based on the pairing information, and
The pairing information is associated with the detection frame of the moving body in the captured image of at least one imaging unit installed in the management area and imaging at least a part of the management area, and the captured image is used. A tracking step that tracks the detection frame and maintains pairing information in the management area.
including,
Control method. Cause the computer system to perform the control method according to claim 16.
program.

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