JP7379858B2 - Server device and its control method, terminal and its control method, mobile support system and method, and computer program - Google Patents

Description

This disclosure relates to a server device and its control method, a terminal and its control method, a mobile support system and method, and a computer program.

When driving a vehicle, the driver needs to pay sufficient attention not only to the movement of the own vehicle but also to the movement of other vehicles. In addition to vehicles, drivers need to be especially careful when pedestrians are present. Conventionally, as shown in FIG. 1, a moving object existing in such a real space 50 is detected using a large number of sensors such as LiDAR (Light Detection and Ranging) and a camera, and its attributes (adult, child, vehicle, motorcycle, etc.) are detected. There is a technology for estimating the traffic situation (e.g.) and creating a traffic situation bird's-eye map 52 using highly accurate road map data prepared in advance in virtual space.

In order to create such a traffic situation overview map 52, the server for creating the traffic situation overview map 52 collects sensor data, which is the output of a large number of sensors, from the vehicle in which these sensors are installed, and It is necessary to collect data from infrastructure sensor equipment such as cameras installed on the roadside. To this end, it is conceivable to use a fifth generation mobile communication system (so-called "5G") for communication between servers, vehicles, and infrastructure sensor equipment.

By providing driving support using the traffic situation overview map 52, it is possible to effectively protect so-called vulnerable road users, particularly pedestrians. As a system for protecting vulnerable road users using the traffic situation overview map 52, there is a system described in Patent Document 1 mentioned below. The system described in Patent Document 1 is entitled "Support for vulnerable road users to cross traffic lights." In this system, attribute information indicating that the pedestrian is vulnerable to traffic is stored in advance in the wireless tag carried by the pedestrian. A roadside device that receives attribute information of this wireless tag is installed in a pedestrian traffic light at a crosswalk. The roadside device transmits an inquiry signal to the wireless tag. When the wireless tag receives this inquiry signal, the wireless tag transmits the stored attribute information to the roadside device. When the roadside device receives attribute information from the wireless tag and the attribute information indicates that the person is a vulnerable road user, the roadside device performs processing to support the vulnerable road user, such as extending the lighting time of a green light at a pedestrian traffic light. Execute. At the same time, the roadside device can upload the location coordinates of the vulnerable road user to the center, and the center can notify the driver of each vehicle of the location of the vulnerable road user.

Japanese Patent Application Publication No. 2017-182191

According to the disclosure of Patent Document 1, it is possible to provide traffic assistance to vulnerable road users, and the driver of the vehicle is notified of the location of the vulnerable road user to draw his attention, which has the effect of contributing to traffic safety.

However, the disclosure of Patent Document 1 leaves room for further improvement. One of these problems is that the information stored in a wireless tag is static and cannot respond to changes in the owner's status. For example, a person with a leg injury who is walking with crutches can be said to be vulnerable to transportation, but a radio tag indicating that the person is on crutches indicates that the injury has healed and the person is now able to walk without using crutches. Sometimes unable to express changes in the person's condition. It is conceivable to replace the wireless tag with a new one each time, or to use a device that rewrites the contents of the wireless tag, but in either case, the owner needs to consciously perform a specific process. If the owner does not perform such processing, incorrect information will be distributed to the driver, which is not desirable. Another problem is that when a pedestrian who has been walking without any problems is injured for some reason on the road, wireless tags cannot notify the surroundings that the pedestrian's condition has changed due to the injury.

Further, even if a pedestrian has a wireless tag, there is a problem in that the wireless tag cannot be used for pedestrian protection if there is no device that can communicate with the wireless tag. Even in such cases, it is desired to be able to notify surrounding vehicles of the presence of a pedestrian.

These problems are not necessarily limited to people with poor mobility. Even in the case of a vehicle, it would be preferable to have a mechanism for notifying the surroundings without delay when, for example, something happens to the driver of the vehicle and his/her driving becomes abnormal.

The technique described in Patent Document 1 cannot solve these problems.

Therefore, the purpose of this disclosure is to provide a server device and its control method, a terminal and its control method, a mobile support system and method, which can notify surrounding vehicles etc. of information without delay in response to changes in the state of traffic participants. , as well as computer programs.

The server device according to the first aspect of the disclosure receives and analyzes sensor data from an infrastructure sensor equipment installed on the roadside, a mobile sensor installed in a mobile object, or both, and determines the location of the mobile object. and a mobile object detection device that detects the attributes thereof; a location information maintenance device that maintains information regarding the location of the terminal through communication with the terminal; and a position of the first mobile object detected by the mobile object detection device; Identification of identifying the first mobile body as a mobile body equipped with the first terminal by detecting that the position of the first terminal maintained by the position information maintenance device satisfies a predetermined relationship. and an information transmitting device that transmits attribute information representing an attribute detected by a mobile object detection device for a first mobile object to a first terminal.

A terminal according to a second aspect of the disclosure is a terminal that includes a location information acquisition device that acquires location information and a first transmission device that transmits location information to a predetermined server, and the terminal includes an attribute information receiving device that receives attribute information representing an attribute; an attribute information storage device that stores the attribute information received by the attribute information receiving device; and an attribute information receiving device that responds to the fact that the attribute information receiving device no longer receives attribute information from the server. and a second transmitting device that starts the process of transmitting the attribute information to the outside.

A mobile support system according to a third aspect of this disclosure includes the above-described server device and the above-described terminal.

A mobile object support method according to a fourth aspect of the disclosure includes a computer receiving and analyzing sensor data from an infrastructure sensor equipment installed on a roadside, a mobile object sensor installed in a mobile object, or both. the first mobile object detected in the step of detecting the position of the mobile object and its attributes; the step of the computer maintaining the position information of the terminal by communicating with the terminal; and the step of the computer detecting the attribute. detects that the position of the first terminal satisfies a predetermined relationship between the position of the first terminal and the position of the first terminal maintained in the step of maintaining the position information, and the first terminal The method includes a step of identifying a mobile object, and a step of the computer transmitting attribute information detected in the step of detecting attributes about the first mobile object to the first terminal.

A computer program according to a fifth aspect of the disclosure causes a computer to receive and analyze sensor data from an infrastructure sensor equipment installed on a roadside, a mobile body sensor installed in a mobile body, or both, and move the computer. A moving object detection device that detects the position of a body and its attributes; a location information maintenance device that maintains location information of the terminal through communication with the terminal; and a position of the first moving object detected by the moving object detection device. and the position of the first terminal maintained by the location information maintenance device satisfy a predetermined relationship, and identify the first mobile body as a mobile body equipped with the first terminal. and an information transmitting device that transmits attribute information detected by the mobile object detection device about the first mobile object to the first terminal.

A terminal control method according to a sixth aspect of this disclosure includes a step in which a computer acquires location information, and a first transmission step in which the computer transmits location information to a predetermined server. The method includes the steps of: the computer receiving attribute information representing the attributes of the terminal from the server; the computer storing the attribute information received in the step of receiving the attribute information in a storage device; In response to the fact that the attribute information is no longer received from the server in the step of receiving information, the method includes a step of starting a process of transmitting the attribute information to the outside.

A computer program according to a seventh aspect of the disclosure is a computer program that causes a computer to function as a terminal including a location information acquisition device that acquires location information and a first transmission device that transmits location information to a predetermined server. The program further comprises: an attribute information receiving device that receives attribute information representing attributes of a terminal from a server; an attribute information storage device that stores attribute information received by the attribute information receiving device; and an attribute information receiving device. In response to the fact that the server no longer receives attribute information from the server, the second transmitting device starts a process of transmitting attribute information to the outside.

Note that this disclosure can be realized not only as an apparatus equipped with such a characteristic processing unit, but also as a method in which the characteristic processes described above are performed as steps, or as a method that causes a computer to execute those steps. It can be realized as a program for Further, it can be realized as a semiconductor integrated circuit that realizes part or all of the device, or as a system including the device.

As described above, this disclosure provides a server device and its control method, a terminal and its control method, and a mobile support system that can notify surrounding vehicles etc. of information without delay in response to changes in the state of traffic participants. and methods, and computer programs can be provided.

FIG. 1 is a diagram schematically showing the relationship between actual road conditions and a traffic situation overview map. FIG. 2 is a diagram schematically showing the outline of the traffic support system according to the first embodiment of this disclosure. FIG. 3 is a schematic diagram showing the basic configuration of identification processing between a mobile phone held by a pedestrian and a pedestrian in the transportation system according to the first embodiment of the present disclosure. FIG. 4 is a block diagram showing the functional configuration of an edge server used in the traffic support system according to the first embodiment of this disclosure. FIG. 5 is a diagram showing, in a table format, examples of combinations of attribute values and their lifetime setting values stored in the lifetime table. FIG. 6 is an external view of a computer that implements the edge server shown in FIG. 4. FIG. 7 is a block diagram showing the hardware configuration of the computer shown in FIG. 6. FIG. 8 is a flowchart showing a control structure of a computer program (hereinafter referred to as "program") executed by the computer shown in FIG. FIG. 9 is a functional block diagram of a mobile phone used in the first embodiment of this disclosure. FIG. 10 is an external view of the mobile phone shown in FIG. 9. FIG. 11 is a block diagram showing the hardware configuration of the mobile phone shown in FIG. 10. FIG. 12 is a flowchart showing the control structure of a program executed by the controller of the mobile phone shown in FIG. FIG. 13 is a flowchart showing a control structure of a program that implements the process of updating attribute information using the program shown in FIG. FIG. 14 is a flowchart showing the control structure of a program executed by the controller of the mobile phone according to the second embodiment. FIG. 15 is a block diagram showing the functional configuration of a mobile phone according to the third embodiment. FIG. 16 is a flowchart showing the control structure of a program executed by the controller of the mobile phone according to the third embodiment.

[Description of embodiments of this invention]
In the following description and drawings, identical parts are provided with the same reference numerals. Therefore, detailed description thereof will not be repeated. Note that at least some of the embodiments described below may be combined arbitrarily.

(1) The server device according to the first aspect of this disclosure receives and analyzes sensor data from an infrastructure sensor equipment installed on the roadside, a mobile object sensor installed in a mobile object, or both, and moves the device. A moving object detection device that detects the position of a body and its attributes; a location information maintenance device that maintains location information of the terminal through communication with the terminal; and a position of the first moving object detected by the moving object detection device. and the position of the first terminal maintained by the location information maintenance device satisfy a predetermined relationship, and identify the first mobile body as a mobile body equipped with the first terminal. and an information transmitting device that transmits attribute information representing attributes detected by the mobile object detection device for the first mobile object to the first terminal.

The location information maintenance device maintains location information of each terminal through communication with each terminal. Terminals include mobile phones and the like. A mobile object detection device analyzes sensor data and detects positions of mobile objects and their attributes. When the position of the first moving object detected in this way and the position of the first terminal maintained by the position information maintenance device satisfy a predetermined relationship, the identification device holds the first terminal. The first moving object is identified as the moving object that is moving. When the information transmitting device transmits the attribute information regarding the first mobile object to the first terminal, the attribute information of the mobile object having the terminal is stored in the first terminal. When the first terminal transmits this information to the surroundings, a mobile object such as an external vehicle can know the attributes of the first mobile object. If the first terminal also transmits its location information, it is considered that the location information of the first terminal also indicates the position of the first mobile object, and surrounding mobile objects can understand the location of the first mobile object and You can know its attributes. Surrounding moving objects can use this information to provide driving assistance to the driver. As a result, in response to a change in the state of the first moving object, a traffic participant, information can be notified to surrounding vehicles without delay.

(2) Preferably, the information transmitting device includes an attribute determining device that determines whether or not the attribute detected by the moving object detection device for the first moving object is a predetermined attribute; and a transmission processing unit that transmits attribute information representing the predetermined attribute to the first terminal in response to the attribute determining device determining that the predetermined attribute is the attribute.

When the attribute determination unit determines that the attribute of the first moving object is a predetermined attribute, attribute information representing the predetermined attribute is transmitted to the first terminal. The first terminal can transmit its attribute information to surrounding vehicles and the like. In particular, by selecting an attribute that the driver as a traffic participant should be careful about as a predetermined attribute, when the first moving object has that attribute, it is possible to notify surrounding vehicles that they should be careful. Traffic safety can be ensured.

(3) More preferably, the server device further includes a validity period storage unit storing a validity period of the attribute information for each piece of attribute information, and the information transmitting device detects the first mobile body by the mobile body detection device. and a transmitting device that transmits to the first terminal attribute information representing the attribute that has been assigned, and a validity period stored in a validity period storage unit for the attribute information.

Various attributes and values of the moving object can be considered. For example, if the moving object is a person, the direction of the body, the direction of the face, etc. constantly change. On the other hand, the values of attributes related to age, such as adults and children, do not change in a normal period. The period until the value of the attribute of a moving body changes varies depending on the attribute. If attributes are transmitted while ignoring these periods, there is a risk of giving incorrect information to vehicles etc. around the moving body. Therefore, a valid period is set for the attribute information of the mobile object. The terminal owned by the first mobile body can determine whether or not to transmit the attribute information to the surrounding area by checking its validity period. As a result, it is possible to prevent erroneous attribute information from being notified to vehicles, etc., thereby making traffic safer.

(4) More preferably, the validity period is predetermined so as to have a positive correlation with the length of time required for a change in the attribute of the mobile object.

Among the attributes of a moving object, there are those that change constantly and those that do not change until a very long period of time has elapsed, and the attributes can take on various values depending on the nature of the attributes. If the purpose is to not notify vehicles of incorrect attributes, shorten the validity period for attributes that constantly change, lengthen the validity period for attributes that only change after a long period of time, and shorten the validity period for attributes that change only after a long period of time. For attributes in , it is desirable to assign a validity period according to the length of the period. Therefore, by setting the effective period so as to have a positive correlation with the length of time required for a change in the attribute of the moving object, it is possible to reduce the risk of notifying a vehicle or the like of incorrect attribute information regarding the moving object. As a result, traffic can be made safer.

(5) Preferably, the validity period stored in the validity period storage unit is an arbitrary value from 0 to infinity.

For attributes that constantly change, the terminal should always maintain attribute information to follow changes in the attributes of the mobile body that has the terminal. On the other hand, for attributes that do not change at all (or have a very long period of time to change), there is no problem even if the validity period is very long. Therefore, in the former case, the validity period may be set to 0, for example, and in the latter case, the validity period may be set to infinity, and for attributes that change in an intermediate period, the validity period may be set to an intermediate length. By doing so, it is possible to reduce the risk of notifying a vehicle or the like of incorrect attribute information regarding a moving object. As a result, traffic can be made safer.

(6) More preferably, the moving object detection device includes a latest moving object detection device that receives and analyzes sensor data at a predetermined period to detect the latest position of the moving object and its latest attributes, and the location information maintenance device includes a latest location information maintenance device that maintains the latest location information of a terminal at a predetermined period by communicating with a terminal held by a mobile body; As long as the location and attributes are detected, the device includes a device that transmits attribute information representing the latest attribute detected by the latest moving object detection device to the first terminal.

The location information maintenance device detects the latest location of the mobile object and its latest attributes at a predetermined period. The latest location information maintenance device maintains the latest location information of the terminal at a predetermined period. The information transmitting device transmits attribute information representing the latest attribute detected by the latest moving object detection device to the first terminal as long as the latest moving object detection device detects the position and attributes of the first moving object. . Attribute information regarding the mobile body holding the first terminal is always transmitted to the first terminal if communication with the server device is possible. Even when communication with the server device becomes impossible, the latest attribute information up to that point is stored, so the attribute information can be transmitted to surrounding vehicles etc. within the validity period of the attribute information. As a result, even in an area where the terminal cannot communicate with the server device, correct attribute information regarding the first mobile body can be transmitted to the surroundings in order to ensure the safety of the first mobile body.

(7) More preferably, the sensor data and the position information are each attached with time information indicating the time at which the sensor data and the position information were acquired, and the identification device is configured to detect the sensor data and the position information by the moving object detection device. The distance calculated between the position of the first mobile body and the time at that time and the position and time of the first terminal maintained by the location information maintenance device is within a predetermined value. is detected, and the first mobile body is identified as a mobile body equipped with the first terminal.

The timing of acquiring sensor data and the timing of acquiring position information of a terminal are not necessarily the same, and their cycles do not necessarily match. Therefore, it is preferable to allow a certain width for the relationship between time and position and judge whether or not they match. To do this, there is a method that calculates the distance between the two defined by time and position, and determines which mobile body has the terminal based on whether there is a terminal within a predetermined distance from the first mobile body. be. By doing so, the relationship between the mobile object and the terminal can be estimated flexibly and accurately. This increases the possibility that the attribute information of a mobile object can be correctly transmitted to the terminal. This increases the possibility that the terminal will be able to convey correct attribute information regarding the mobile object having the terminal to surrounding vehicles. As a result, it is possible to ensure the safety of the moving object in the real-world traffic environment.

(8) A terminal according to a second aspect of this disclosure is a terminal that includes a location information acquisition device that acquires location information, and a first transmission device that transmits location information to a predetermined external server, an attribute information receiving device that receives attribute information representing the attributes of a mobile body having a terminal from an external server; an attribute information storage device that stores the attribute information received by the attribute information receiving device; and an attribute information receiving device that receives attribute information from the external server. and a second transmitting device that starts a process of transmitting the attribute information to the outside in response to the fact that the information is no longer received.

In this terminal, the first transmitter transmits the position information acquired by the position information acquisition means to the external server. The external server can maintain the location of the terminal device based on this information. When the attribute information receiving device receives attribute information from the external server, the attribute information represents the attribute of the mobile body that has the terminal device. The fact that the attribute information receiving device no longer receives attribute information from the external server means that there is a high possibility that the external server is not providing transportation support in the area where the terminal device is present at that time. In such a region, the second transmitting device transmits the attribute information that the attribute information receiving device receives from the server to the outside. Based on this attribute information, an external vehicle or the like can know the attributes of the mobile object having the terminal device. External vehicles etc. can provide accurate driving support according to this attribute information.

(9) Preferably, the terminal further includes a time information acquisition device that acquires time information representing the time when the location information is acquired, and the first transmitting device acquires the time information when the location information is acquired. It includes a location/time information transmitting device that transmits the location information to the server together with the time information acquired by the device.

When a mobile object having a terminal moves over time, the location information sent to the server also changes. In this case, in order to identify a mobile body that has a terminal, if information regarding where the terminal was at what time cannot be used, the mobile body may not be accurately identified. Therefore, the time information acquisition device acquires time information representing the time when the location information of the terminal is acquired, and transmits the time information to the server. The server uses this information to identify the mobile object that has the terminal. As a result, the mobile body that has the terminal can be identified more accurately, and the attribute information sent from the server to the terminal is more likely to be related to the mobile body that has the terminal. As a result, correct attribute information regarding the mobile object will be transmitted to external vehicles, increasing the possibility that the mobile object can move safely.

(10) More preferably, the attribute information storage device has an attribute that updates the attribute information stored in the attribute information storage device with new attribute information each time the attribute information receiving device receives new attribute information. Includes information update device.

The attribute information received by the attribute information receiving device is considered to be the latest. If past attribute information is stored, there is a risk that old attribute information will be sent to the outside by mistake. Therefore, such mistakes can be prevented by updating past attribute information with newly received attribute information.

(11) More preferably, the attribute information has a validity period attached to the attribute information, the attribute information storage device stores both the attribute information received by the attribute information receiving device and its validity period, and the terminal Furthermore, a clock device that clocks the elapsed time since the second transmission device started transmitting the attribute information, and a time elapsed time measured by the clock device for each of the attribute information stored in the attribute information storage device. and an attribute transmission canceling device that stops the transmission of the attribute information by the second transmitting device in response to the time being equal to or longer than the validity period attached to the attribute information.

The attributes of a moving object change over time. The period required for this change varies depending on the attribute. In the case of humans, attributes such as body orientation and face orientation constantly change. On the other hand, it takes a long period of time for age-related attributes to change between adults and children. It is inappropriate to treat these in the same way. Therefore, the server attaches a validity period to each attribute and sends it to the terminal. When the validity period of the received attribute information has elapsed, the terminal stops transmitting the attribute information. If attributes of a mobile object that have become outdated over time are transmitted from the mobile object to the outside, the attributes may be incorrect. Since the attribute transmission canceling device controls the second transmitting device so as to transmit only the attributes within the valid period to the outside, the risk of incorrect attribute information being transmitted to the outside can be reduced.

(12) Preferably, the attribute transmission canceling device determines that, for each piece of attribute information stored in the attribute information storage device, the elapsed time measured by the clock device is equal to or longer than the validity period attached to the attribute information. The attribute information deletion device includes an attribute information deletion device that responds to the attribute information and deletes the attribute from the attribute information storage device.

The attribute information deletion device deletes attribute information whose validity period has passed. Since the attribute information itself is deleted, it is possible to eliminate the risk of erroneously transmitting old attribute information to surrounding vehicles.

(13) More preferably, after the process by the second transmitting device is started, the terminal further transmits the new attribute information by the second transmitting device in response to the attribute information receiving device receiving new attribute information from the server. It includes an abort device that aborts the transmission process.

The fact that the attribute information receiving device has received new attribute information from the server means that communication between the server and the terminal has become possible. In that case, the server is considered to be providing information for traffic support to vehicles around the terminal in that area. There is no benefit in transmitting attribute information from the terminal to surrounding vehicles. By canceling the transmission of attribute information, unnecessary communication can be avoided. Not only that, by transmitting past attribute information, it is possible to prevent incorrect attribute information from being transmitted to the surroundings.

(14) A mobile support system according to a third aspect of this disclosure includes the above-described server device and the above-described terminal.

When the position of the first mobile body detected by the mobile body detection device and the position of the first terminal satisfy a predetermined relationship, the identification device identifies the first mobile body as the mobile body holding the first terminal. 1 mobile object is identified. The information transmitting device transmits attribute information regarding the first mobile object to the first terminal. The first terminal stores attribute information of a mobile body having the terminal. When the first terminal receives attribute information from the server, the attribute information represents the attributes of the mobile body that has the terminal device. The fact that the attribute information receiving device no longer receives attribute information from the server means that the server is not providing transportation support in the area where the terminal device is present at that time. In such a region, the second transmitting device transmits the attribute information that the attribute information receiving device receives from the server to the outside. Based on this attribute information, an external vehicle or the like can know the attributes of the mobile object having the terminal device. External vehicles etc. can provide accurate driving support according to this attribute information. As a result, in response to a change in the state of the first moving object, a traffic participant, information can be notified to surrounding vehicles without delay.

(15) A mobile object support method according to a fourth aspect of this disclosure includes a computer receiving sensor data from an infrastructure sensor equipment installed on a roadside, a mobile object sensor installed in a mobile object, or both. detecting the position of the mobile object and its attributes by analyzing the information, the computer maintaining the position information of the terminal by communicating with the terminal, and the computer detecting the position of the mobile object in the step of detecting the attribute detecting that the position of the first mobile body and the position of the first terminal maintained in the step of maintaining position information satisfy a predetermined relationship, and as a mobile body equipped with the first terminal. The method includes the step of identifying the first mobile object, and the step of the computer transmitting the attribute information detected in the step of detecting attributes about the first mobile object to the first terminal.

In the step of detecting attributes, the computer analyzes the sensor data to detect the position of the moving object and its attributes. In the maintaining step, the computer detects and maintains location information of each terminal by communicating with each terminal. In the identifying step, when the position of the first mobile body and the position of the first terminal satisfy a predetermined relationship, the computer identifies the first mobile body as the mobile body holding the first terminal. Identify moving objects. In the transmitting step, the computer transmits attribute information regarding the first mobile object to the first terminal. The first terminal stores attribute information of a mobile body having the terminal. When the first terminal transmits this information to the surroundings, a mobile object such as an external vehicle can know the attributes of the first mobile object. If the first terminal also transmits its location information, it is considered that the location information of the first terminal also indicates the position of the first mobile object, and surrounding mobile objects can understand the location of the first mobile object and You can know its attributes. Surrounding moving objects can use this information to provide driving assistance to the driver. As a result, in response to a change in the state of the first moving object, a traffic participant, information can be notified to surrounding vehicles without delay.

(16) A computer program according to a fifth aspect of this disclosure causes a computer to receive and analyze sensor data from an infrastructure sensor equipment installed on a roadside, a mobile body sensor installed in a mobile body, or both. a moving object detection device that detects the location of the moving object and its attributes; a location information maintenance device that maintains the location information of the terminal through communication with the terminal; and a first movement detected by the moving object detection device. Detecting that the position of the body and the position of the first terminal maintained by the position information maintenance device satisfy a predetermined relationship, and moving the first terminal as a mobile body equipped with the first terminal. It functions as an identification device that identifies a body and an information transmitting device that transmits attribute information detected by the mobile object detection device about the first mobile object to the first terminal.

The computer functions as a location information maintenance device and maintains location information of each terminal by communicating with each terminal. The computer also functions as a mobile object detection device, analyzing sensor data and detecting the positions of mobile objects and their attributes. When the position of the first mobile object detected in this way and the position of the first terminal maintained by the position information maintenance device satisfy a predetermined relationship, the computer functions as an identification device and A first mobile is identified as a mobile holding a terminal. When the computer functions as an information transmitting device and transmits the attribute information regarding the first mobile object to the first terminal, the attribute information of the mobile object having the terminal is stored in the first terminal. When the first terminal transmits this information to the surroundings, a mobile object such as an external vehicle can know the attributes of the first mobile object. If the first terminal also transmits its location information, it is considered that the location information of the first terminal also indicates the position of the first mobile object, and surrounding mobile objects can understand the location of the first mobile object and You can know its attributes. Surrounding moving objects can use this information to provide driving assistance to the driver. As a result, in response to a change in the state of the first moving object, a traffic participant, information can be notified to surrounding vehicles without delay.

(17) A terminal control method according to a sixth aspect of this disclosure includes a step in which the computer acquires location information, and a first transmission step in which the computer transmits the location information to a predetermined server. A method for controlling a terminal, comprising the steps of a computer receiving attribute information representing attributes of a mobile body having the terminal from a server, and storing the attribute information received in the step of receiving the attribute information in a storage device. and the step of the computer starting a process of transmitting the attribute information to the outside in response to the fact that the computer no longer receives the attribute information from the server in the step of receiving the attribute information.

In the acquiring step, the computer acquires position information. In a first sending step, the computer sends location information to a predetermined server. In the receiving step, the computer receives attribute information representing attributes of the mobile body having the terminal from the server. In the storing step, the computer stores the attribute information in a storage device. In response to no longer receiving attribute information from the server, the computer starts a process of transmitting the attribute information to the outside in a step of starting the process. Since the attribute information of the mobile object having the terminal is transmitted to the surroundings of the mobile object, surrounding vehicles etc. can receive the attribute information and use it for driving support even in areas where driving assistance is not provided by the edge server.

(18) A computer program according to a seventh aspect of this disclosure uses a computer as a terminal including a location information acquisition device that acquires location information and a first transmission device that transmits location information to a predetermined server. A computer program that causes the computer to function, further comprising: an attribute information receiving device that receives attribute information representing attributes of a terminal from a server; an attribute information storage device that stores attribute information received by the attribute information receiving device; In response to the information receiving device not receiving attribute information from the server, the information receiving device is caused to function as a second transmitting device that starts a process of transmitting attribute information to the outside.

The computer functions as a location information acquisition device and acquires location information. The computer also functions as a first transmitting device and transmits this location information to a predetermined server. The computer functions as an attribute information receiving device and receives attribute information representing the attributes of the terminal from the server. The computer functions as an attribute information storage device and stores this attribute information. In response to no longer receiving attribute information from the server, the computer functions as a second transmitting device and starts a process of transmitting the attribute information stored in the attribute information storage device to the surroundings. Since the attribute information of the mobile object having the terminal is transmitted to the surroundings of the mobile object, surrounding vehicles etc. can receive the attribute information and use it for driving support even in areas where driving assistance is not provided by the edge server.

[Detailed description of embodiment]
<First embodiment>
<composition>
"overall structure"
Referring to FIG. 2, the traffic support system using the fifth generation mobile communication system according to this embodiment includes infrastructure sensor equipment 80, roadside camera 82, and The traffic situation overview map 52 is generated by aggregating and analyzing sensor information from vehicle sensors and in-vehicle devices mounted on a moving object such as a vehicle 90, and a mobile phone 86 held by a pedestrian 84. It includes an edge server 70 that distributes traffic support information to vehicles 90 and the like. The edge server 70 provides driving support to the vehicle driver by distributing the thus obtained traffic support information to each vehicle. For example, the infrastructure sensor equipment 80 is LiDAR, which has a function of measuring the distance from the infrastructure sensor equipment 80 to objects around the infrastructure sensor equipment 80 at regular intervals and transmitting the information as point cloud data to the edge server 70. have. In this embodiment, the roadside camera 82 is a camera that can acquire color images of a predetermined area around it, and has a function of transmitting the acquired video signal to the edge server 70. The mobile phone 86 is equipped with a GPS (Global Position System) module, and when the pedestrian 84 is in a position where communication with the edge server 70 is possible, the mobile phone 86 transmits position information indicating its own position coordinates along with the time information at that time. It has a function of sending data to the edge server 70. However, when the pedestrian 88 is in a position where communication with the edge server 70 is not possible, the mobile phone 86 performs a process of directly transmitting the attribute information and position information (position/attribute information) of the pedestrian 88 to the vehicle 90 etc. conduct. The configuration necessary for this purpose will be explained below.

Note that in the following embodiments, a mobile phone (smartphone) is used as a terminal device. In the case of a mobile phone, it is convenient because the programs described below can be installed in the form of so-called applications. However, this disclosure is not limited to such embodiments. The terminal device may be one that can be carried by a person, such as a dedicated terminal, or one that moves together with the vehicle, such as an in-vehicle device. In the case of a terminal device carried by a person, attribute information related to the person is used, but in the case of an in-vehicle device, attribute information related to the vehicle in which the in-vehicle device is installed, the in-vehicle device, driving, etc. Can be used.

In this embodiment, the edge server 70 stores in advance information regarding the area for transmitting the location and attribute information of the pedestrian to the outside from the mobile phone held by the pedestrian who has entered the area. Such areas include areas where the edge server 70 cannot communicate with mobile phones, intersections with heavy traffic, locations where pedestrian-related accidents are known to occur frequently, and the like. Of course, if a mobile phone cannot communicate with the edge server 70 in that area, even if it is possible to communicate with the edge server 70 in these areas, information about pedestrians may not be reliably transmitted to the vehicle. . Therefore, in this embodiment, when a mobile phone is able to communicate with the edge server 70, the edge server 70 detects attribute information regarding the pedestrian holding the mobile phone, and transmits and stores it in advance to the mobile phone. let When a pedestrian carrying a mobile phone enters the area, the mobile phone can transmit the pedestrian's location and attribute information, ensuring that nearby vehicles can receive the information. Once each vehicle receives this information, the on-vehicle device can reliably use that information for driving support. As a result, even if the vehicle cannot receive traffic assistance information from the edge server 70 or can only communicate incompletely, pedestrians can be protected.

The edge server 70 knows the location of the mobile phone 86 based on position information (including time information) from the mobile phone 86. On the other hand, the edge server 70 can only grasp the position of a pedestrian by analyzing sensor data from the infrastructure sensor equipment 80, the roadside camera 82, the vehicle 90, and the like. Therefore, the edge server 70 does not immediately know which pedestrian has which mobile phone. Therefore, in this embodiment, the edge server 70 associates mobile phones and pedestrians in the following manner.

Referring to FIG. 3, the edge server 70 detects the presence of a pedestrian by comprehensively analyzing information obtained from various sensors, and also grasps the location thereof. The position information is compared with the position information received from the mobile phone 86, and if a certain relationship is established between the two, it is estimated that the certain pedestrian is holding the mobile phone 86. However, in this case, as shown in FIG. 3, the acquisition timing and cycle of sensor data transmitted from the roadside camera 82 etc. to the edge server 70, and the base station 72 grasping it through communication with the mobile phone 86 and notifying the edge server 70. The acquisition timing and cycle of the location information of the mobile phone 86 that is incoming mobile phone 86 does not necessarily match. Furthermore, pedestrians are usually moving, and due to the above-mentioned timing discrepancy, the location of the pedestrian when the location of the mobile phone 86 is acquired is different from that of the pedestrian identified by the sensor data from various sensors. There is always a possibility that there will be a discrepancy in position.

Therefore, in this embodiment, time information representing the position of each sensor and mobile phone 86 and the time at which the position was acquired is transmitted from each sensor and mobile phone 86 to the edge server 70, respectively. Then, the distance defined between the location of the mobile phone 86 and the time when the location was acquired, the location of the pedestrian identified from the sensor information, and the time the pedestrian was at that location is calculated, and this distance is calculated. is within a certain range, it is estimated that the pedestrian is holding the mobile phone 86.

However, if multiple pedestrians are in a certain area as shown in FIG. It cannot be determined whether the telephone 86 is being held. Unless this is determined, the edge server 70 cannot perform the above processing. Therefore, the following method is used to solve this problem. In other words, we consider a movement range 100 with a constant radius centered around the pedestrian's position estimated from sensor data analysis, taking into account the pedestrian's movement speed, and only mobile phones existing within this area are considered. . If there is only one pedestrian within this movement range 100 and only one mobile phone in that area, it can be determined that the pedestrian is holding the mobile phone. If there are multiple pedestrians within the movement range 100 as shown in FIG. Perform multiple judgments. When there is only one pedestrian within the movement range 106, such as the movement range 106, and when the mobile phone 86 is present within the movement range 106, it is assumed that the pedestrian is holding the mobile phone. judge.

When there are multiple pedestrians within a certain range, as in the moving range 100 above, whether there is only one mobile phone or multiple pedestrians within the range, walking while holding a mobile phone as is The person cannot be identified. Therefore, in this case, the mobile phone is not associated with a certain pedestrian.

Regarding the acquisition of the position information of the mobile phone 86, in the embodiment below, the output of the GPS module possessed by the mobile phone 86 is used, but in 5G communication, as shown in FIG. It is also possible to specify the location of the mobile phone 86 by beamforming and use that information.

As the distance used in this embodiment, the Euclidean distance shown in the following equation (1) is used.

ただし、添字のｔおよびｐはそれぞれ携帯電話および歩行者を表し、ｘ，ｙ，ｚは携帯電話または歩行者の位置座標を表し、Ｔはセンサデータ等が取得された時刻を表す。なお、距離としてはこれに限らず、数学的に距離の定義を満たすものであり空間および時間の間に定義可能なものであればどのようなものを用いても良い。例えばマンハッタン距離を用いることもできる。また、個々の座標を別々に比較しても良い。

However, the subscripts t and p represent a mobile phone and a pedestrian, respectively, x, y, and z represent the position coordinates of the mobile phone or pedestrian, and T represents the time when sensor data etc. were acquired. Note that the distance is not limited to this, and any distance may be used as long as it satisfies the definition of distance mathematically and can be defined between space and time. For example, Manhattan distance can also be used. Alternatively, each coordinate may be compared separately.

<<Configuration of edge server 70>>
Referring to FIG. 4, the edge server 70 in this traffic support system functionally includes the infrastructure sensor equipment 80 shown in FIG. 2, the roadside camera 82, sensor data from vehicle sensors such as the vehicle 90, and the mobile phone. A reception processing unit 210 has a function of receiving position information from 86, etc. and distributing the sensor data to necessary processing units, and a reception processing unit 210 that analyzes the received sensor data, detects a moving object, and detects a moving object. The moving object tracking unit 212 includes a moving object tracking unit 212 for estimating the position and performing tracking.

The edge server 70 further includes an attribute detection unit 216 that analyzes the sensor data received by the reception processing unit 210, detects each moving object, detects its attributes, and outputs attribute information representing the attributes; An analysis result storage section 218 stores attribute information of the moving object detected by the section 216, and an analysis result storage section 218 stores the attribute information of the moving object detected by the receiving processing section 210, and maintains the positions of vehicles, mobile phones, etc. based on the position information of the moving object among the data received by the reception processing section 210, and a vehicle/terminal tracking unit 220 for tracking the vehicle/terminal, and a vehicle/terminal information storage unit 222 for storing the location information of the vehicle/terminal, etc. obtained by the vehicle/terminal tracking unit 220, including past location information. including.

The edge server 70 further includes an integration processing unit 224 that performs a process of integrating the analysis result regarding the position of the moving object stored in the analysis result storage unit 214 and the attribute information of each moving object stored in the analysis result storage unit 218. and an analysis result storage unit 226 for storing analysis results integrated for each moving body by the integration processing unit 224.

The edge server 70 further includes a lifetime table storage unit 234 that stores a lifetime table indicating attribute information of a moving object and lifetime information indicating the validity period of the attribute information, and a lifetime table storage unit 234 that stores a lifetime table indicating attribute information of a moving object and lifetime information indicating a valid period of the attribute information, and A position transmission area information storage unit 236 that stores information (position transmission area information) regarding an area (position transmission area) where position information and pedestrian attribute information should be transmitted to vehicles, etc., and vehicle/terminal information and each moving object. A pedestrian holding a mobile phone is identified based on the analysis results, and attribute information representing its attributes, its lifetime information, and information identifying the mobile phone are output together by referring to the lifetime table. A pedestrian/terminal identification unit 232 is included. At this time, the pedestrian/terminal identification unit 232 performs processing to also transmit the position transmission area information stored in the position transmission area information storage unit 236 to the mobile phone.

The edge server 70 further generates information to be transmitted to each vehicle based on the analysis results stored in the analysis result storage section 226 and using information regarding each vehicle stored in the vehicle/terminal information storage section 222. In order to send information to the corresponding mobile phone using the information related to the corresponding mobile phone stored in the vehicle/terminal information storage unit 222 based on the attribute information output from the pedestrian/terminal identification unit 232. an information transmitting unit 228 that executes a process of generating information and a process of generating information for transmitting the position transmission area information output from the pedestrian/terminal identification unit 232 to the same mobile phone, and an information transmitting unit 228 to the target vehicle and the target mobile phone via the network.

FIG. 5 shows exemplary contents of the lifetime table stored in the lifetime table storage section 234 of FIG. 4. Referring to FIG. 5, the lifetime table stores simple identification attributes, detailed identification, status, body orientation, face orientation, etc. as attributes. Attribute values of the simple identification attribute include vehicles and pedestrians. Among the attribute values of the detailed identification attributes, there are adult and child attribute values for pedestrians. Vehicle attribute values include passenger cars, bicycles, large vehicles, and the like. In the case of pedestrians, the state attribute values include the state of looking at a smartphone while walking, the state of using crutches, the state of staggered walking, etc. In the case of vehicles, there are values such as meandering driving, slow driving, high speed driving, etc. There are values such as driving. As for the direction of the body, for example, there is an attribute value that indicates eight directions at 45 degree increments, with the front of the body being 0 degrees. In addition to the above-mentioned body orientation, the face orientation includes attribute values indicating top, front, and bottom. Although various other attributes of the pedestrian can be considered, it is not necessary to transmit the attributes necessary for traffic support to the pedestrian's mobile phone 86. Furthermore, in this embodiment, some of the pedestrian's attributes are selected and transmitted to the pedestrian unconditionally. However, this disclosure is not limited to such embodiments. The pedestrian's attribute information may be transmitted to the pedestrian's mobile phone 86 only when the value of a specific attribute is a predetermined value. For example, attribute information may be sent only for values in which the status attribute is particularly important for traffic assistance (such as a pedestrian looking at a smartphone) and values in which the detailed identification attribute is equally important (such as a child or a two-seater bicycle). You can also do this.

As shown in Figure 5, the lifetime setting value for the simple identification attribute is 1 day, the time time setting value for the detailed identification attribute is also 1 day, the time setting value for the status attribute is 1 minute, and the body orientation and face orientation are The lifetime setting value is 0 minutes.

Here, the lifetime setting value refers to the period during which the value of the attribute is valid. If the period determined by the lifetime setting value has elapsed without being updated since the value of the attribute was last updated, the value of the attribute becomes invalid. In this embodiment, after the attribute value and its lifetime setting value are sent to the mobile phone and stored in the mobile phone, if the value is not updated for a period of time determined by the lifetime setting value, the attribute value is will be deleted.

Referring to FIG. 5, the distinctions between vehicles and pedestrians, pedestrians between adults and children, and vehicles between passenger cars, bicycles, and large vehicles do not change in a short period of time. On the other hand, state attributes are more likely to change. For example, pedestrians who have been looking at their smartphones often put them away and start walking again before too much time has passed. Also, it is better to think that the direction of the body, the direction of the face, etc. are constantly changing.

The lifetime setting value can take any value from 0 to ∞. However, for attributes that are difficult to change (attributes that require a long period of time for their values to change) such as simple identification attributes and detailed identification attributes, attributes that are easy to change such as body orientation and face orientation (values that are Set the lifetime setting value to be longer than the attributes that change over a short period of time. For intermediate attributes such as state attributes, an arbitrary value between the two is set. That is, the lifetime setting value is determined so as to have a positive correlation with the period during which the value of the attribute changes. In particular, in this embodiment, the lifetime setting values are set to 0 for the body orientation and face orientation. In this case, the attribute value is transmitted from the mobile phone to the outside only once, immediately after the mobile phone becomes unable to receive communication from the edge server 70.

As shown in FIG. 6, edge server 70 includes a computer 240 having a DVD drive 250, and a monitor 242, keyboard 246, and mouse 248 connected to computer 240.

Referring to FIG. 7, the computer 240 of the edge server 70 includes a CPU (Central Processing Unit) 260 and a bus that is connected to the CPU 260 and serves as a communication path for data and commands between the CPU 260 and other modules of the computer 240. 262.

The computer 240 further includes a GPU (Graphics Processing Unit) 264, a ROM (Read-Only Memory) 266, a RAM (Random Access Memory) 268, and a non-volatile auxiliary storage device, all of which are connected to the bus 262. A hard disk drive 270, the aforementioned DVD drive 250 to which a DVD 252 can be attached, a network interface (I/F) 272 that provides a connection to a network 254 for a CPU 260, and a bus 262, into which a semiconductor memory 256 can be attached or detached. includes a possible semiconductor memory port 274.

Referring to FIG. 8, a program that implements the functions of each part of edge server 70 as shown in FIG. 4 has the following control structure. That is, this program aggregates and analyzes sensor data from vehicle sensors, infrastructure sensors, and mobile phones received by the reception processing unit 210 to generate the traffic situation overview map 52 (FIG. 1). Step 310 of generating traffic support information based on the following: The traffic support information generated in step 310 is generated for each vehicle/terminal based on the information regarding each vehicle/terminal stored in the vehicle/terminal information storage section 222 in FIG. It includes step 312 of distributing to the terminal, and step 314 of determining whether or not a pedestrian is detected on the traffic situation overview map 52 as a result of the processing of step 310, and branching the flow of control according to the determination result. If no pedestrian is detected, control returns to step 310 to execute the next process. As a result, the edge server 70 always sends the attributes detected by the latest processing to the mobile phone 86.

This program further includes a step 316 in which, when the determination in step 314 is affirmative, a process 318 described below is executed for each detected pedestrian.

Processing 318 involves searching for other pedestrians and cellphones that exist within a certain range of distance calculated from equation (1) from the position coordinates and time information with respect to the pedestrian to be processed. A step 330 of checking the phone, a step 332 of determining whether there is one or more other pedestrians confirmed in step 330, and ending the process 318 for the target pedestrian when the determination is affirmative; When the determination is negative, it is determined whether or not the mobile phone confirmed in step 330 exists, and when the determination is negative, the process for the target pedestrian is terminated in step 334; and when the determination in step 334 is affirmative, , a step 336 of identifying the target pedestrian as the pedestrian holding the mobile phone (including cases where there is a plurality of mobile phones) and relating the two; and setting the lifetime setting value for each attribute of the target pedestrian. step 338, and step 340 of transmitting the lifetime setting value of the attribute information of the target pedestrian to the mobile phone confirmed in step 330 and storing it, and terminating the execution of this process 318 for the target pedestrian. include.

"mobile phone"
FIG. 9 shows the functional configuration of a mobile phone 86, which is an example of a terminal carried by a pedestrian. Referring to FIG. 9, mobile phone 86 should transmit traffic assistance information from edge server 70, attribute information regarding the pedestrian holding mobile phone 86, and attribute information from mobile phone 86 to the surroundings. A reception processing unit 350 receives position transmission area information that specifies an area, and stores it in different storage units according to its type; and an attribute information storage unit 352 that stores attribute information received by the reception processing unit 350. , a traffic support information storage unit 354 that stores the traffic support information received by the reception processing unit 350, a position transmission area information storage unit 356 that stores the position transmission area information received by the reception processing unit 350, and a traffic support information storage unit 356 that stores the position transmission area information received by the reception processing unit 350. and a traffic support processing unit 368 that provides traffic support to a pedestrian holding a mobile phone 86 using the traffic support information stored in the unit 354 .

The mobile phone 86 further includes a position information acquisition unit 358 including a GPS module, and a position information transmission unit 360 that generates information to periodically transmit the position information of the mobile phone 86 acquired from the position information acquisition unit 358 to the edge server 70. Then, based on the location information obtained from the location information acquisition unit 358, it is determined whether the mobile phone 86 is within the location transmission area indicated by the location transmission area information stored in the location transmission area information storage unit 356, and the determination is made. When is affirmative, the attribute information transmitting unit 362 generates information for transmitting the attribute information stored in the attribute information storage unit 352 to the surroundings, and the attribute information transmitting unit 362 transmits the information generated by the attribute information transmitting unit 362 to the surroundings of the mobile phone 86. The information transmitting unit 364 performs the necessary processing to transmit the information generated by the position information transmitting unit 360 to the edge server 70, and the information output by the information transmitting unit 364 is specified by the information transmitting unit 364. and a transmission processing unit 366 that transmits to the destination.

FIG. 10 shows the appearance of a mobile phone 86, which is a terminal carried by a pedestrian, and FIG. 11 shows its hardware configuration. Referring to FIG. 11, a mobile phone 86 includes a controller 400, a GPS module 402 connected to the controller 400, a memory 404 connected to the controller 400, a power supply circuit 406 for the controller 400, and a GPS module 402 connected to the controller 400. audio circuit 408 and camera 409.

The mobile phone 86 further includes a monitor 410 including an LCD (Liquid Crystal Display) connected to the controller 400, a touch panel 412, an acceleration sensor, a tilt sensor, a temperature sensor, a humidity sensor, a pressure sensor, an illumination sensor, etc. It includes various sensors 414, an RF (Radio Frequency)/baseband circuit 416 for providing telephone functions, and a wireless communication module 418 for providing wireless communication such as Wi-Fi communication.

Controller 400 is essentially a computer, and includes a CPU 450 and a bus 452 that serves as a data and command transmission path between CPU 450 and each section within controller 400. The controller 400 further includes a memory controller 454 that is connected to the bus 452 and controls the memory 404 to write and read data according to commands from the CPU 450, and a power management controller that manages the power supply circuit 406 according to the control by the CPU 450. The controller 400 includes a circuit 456 and a system management circuit 458 for managing the operation timing of each part within the controller 400.

Controller 400 further includes media processing circuitry 460 connected to bus 452 and for interfacing with audio circuitry 408 and camera 409, and for controlling monitor 410 according to commands and parameters sent from CPU 450 via bus 452. An input/output I/F 464 is connected to the display controller 462 and external modules such as the touch panel 412, various sensors 414, and RF/baseband circuit 416, and the bus 452, and serves as an interface between the CPU 450, the memory 404, and the external modules. , a GPU 466 that is connected to the bus 452 and executes processing such as graphic processing and parallel calculation delegated from the CPU 450 and returns the results to the CPU 450 via the bus 452.

FIG. 12 shows in flowchart form the control structure of a program that implements the process of transmitting the attribute information of the holder to the surrounding area based on the information that the mobile phone 86 receives from the edge server 70. Referring to FIG. 12, this program includes a step 500 in which it is determined whether any communication has been received within a predetermined time from step 500, and the flow of control is branched according to the determination, and a step 500 in which the determination in step 500 is affirmative. If the received information is attribute information, step 502 of overwriting and saving the received attribute information and lifetime information in the attribute information storage unit 352 (FIG. 9), and the received information is location transmission area information. When the received information is traffic support information, the information is stored in the location transmission area information storage section 356 (FIG. 9). 9), and step 508 of transmitting the own position information and the attribute information stored in the attribute information storage unit 352 to the surroundings when the determination in step 500 is negative.

This program is further executed after steps 502, 504, and 506, and determines whether a pedestrian with a mobile phone 86 is within the location transmission area based on the location information of the mobile phone 86, and if the determination is affirmative, A step 580 in which the control is transferred to step 508 is executed when the determination in step 580 is negative and after completion of step 508, and is executed based on the lifetime information of the attribute information stored in the attribute information storage unit 352. Step 509 performs attribute information management to delete information for which a specified period has elapsed, and is executed after step 509 to determine whether or not it is time to send the location information of the mobile phone 86 to the edge server 70. If the determination in step 510 is affirmative, the process includes step 510 of returning control to step 500, and step 512 of transmitting the location information of the mobile phone 86 and the current time to the edge server 70 if the determination in step 510 is affirmative. If communication with the edge server 70 is not possible, even if information is sent in step 512, it will not reach the edge server 70, but if communication with the edge server 70 becomes possible at some point, the edge server 70 will send the information to the mobile phone 86. Location information can be received. In this embodiment, the current time is obtained from a timer not shown, but it may also be obtained from the GPS module 402 shown in FIG.

FIG. 13 shows details of step 509 in FIG. 12. Referring to FIG. 13, this program includes step 550 of initializing a work area in memory for creating a new lifetime table, and following step 550, attribute information stored in attribute information storage unit 352. and a step 552 of reading the file. In this example, the attribute information is stored in memory in file format, but it may also be stored in other formats, such as in a database along with other information.

This program further includes a step 554 in which the following process 556 is executed for each attribute described in the attribute information file read out in step 552, and after step 554, the value of the work area is stored in the attribute information storage unit 352. The process 558 includes overwriting the existing attribute information file and terminating the attribute information management process.

Processing 556 is performed for the attribute to be processed, so that the current time is the generation time of the value of the attribute (the latest time when the edge server 70 estimated the value of the attribute), and the life attached to the attribute information. A step 570 in which it is determined whether or not it is after the sum of the period determined by the time, and if the determination is affirmative, the processing 556 for the target attribute is ended; and when the determination in step 570 is negative, that is, the If the sum of the generation time of the value and the period determined by the lifetime attached to the attribute information is after the current time, the attribute information and lifetime information are transferred to the work area and processing 556 is performed. and terminating step 572.

<motion>
《Edge server 70》
The system described above operates as follows. Referring to FIG. 5, lifetime table storage unit 234 stores, for each attribute, the value and lifetime setting value in association with each other. The infrastructure sensor equipment 80, the roadside camera 82, the in-vehicle device mounted on the vehicle 90, and the like shown in FIG. 2 each transmit sensor data to the edge server 70 at predetermined intervals. The in-vehicle device (vehicle) and the mobile phone 86 held by the pedestrian 84 transmit their own position information to the edge server 70 .

Referring to FIG. 4, reception processing unit 210 of edge server 70 receives this information. Among the received data, the reception processing unit 210 stores position information from the in-vehicle device, the mobile phone 86, etc. in the vehicle/terminal tracking unit 220. The reception processing section 210 provides sensor data in the received data to the moving object tracking section 212 and the attribute detection section 216.

The moving object tracking section 212 analyzes the sensor data received from the reception processing section 210, detects a moving object in real space, estimates its position, and performs tracking. The moving object tracking unit 212 stores the analysis result in the analysis result storage unit 214. The attribute detection unit 216 analyzes the sensor data received from the reception processing unit 210, detects the attribute of each moving body from the image of each moving body in real space, and outputs attribute information representing the attribute. The analysis result storage section 218 stores attribute information of the moving objects detected by the attribute detection section 216 for each moving object. The vehicle/terminal tracking unit 220 constantly updates and maintains the locations of vehicles, mobile phones, etc. based on the location information of moving objects among the data received from the reception processing unit 210, and updates and maintains the locations of vehicles, mobile phones, etc. Track speed etc. The vehicle/terminal information storage unit 222 stores information regarding vehicles, terminals, etc. obtained by the vehicle/terminal tracking unit 220, including past information.

The integration processing unit 224 of the edge server 70 integrates the analysis result regarding the position of the moving object stored in the analysis result storage unit 214 and the attribute information of each moving object stored in the analysis result storage unit 218. The analysis result storage unit 226 stores the analysis results integrated for each moving object by the integration processing unit 224 (step 310 in FIG. 8). The information transmitting unit 228 generates traffic support information based on the analysis results stored in the analysis result storage unit 226, and transmits it to each vehicle via the transmission processing unit 230 (step 312 in FIG. 8).

The pedestrian/terminal identification unit 232 identifies pedestrians based on the vehicle/terminal information stored in the vehicle/terminal tracking unit 220 and the attribute information included in the analysis results of each moving body stored in the analysis result storage unit 226. It is determined whether there is a person (step 314 in FIG. 8). If there are no pedestrians, the pedestrian/terminal identification unit 232 does nothing and waits until the next reception of sensor data (determination at step 314 in FIG. 8 is NO). When at least one pedestrian is detected (YES in step 314 of FIG. 8), the pedestrian/terminal identification unit 232 executes processing 318 of FIG. 8 for each pedestrian. In process 318, the pedestrian/terminal identification unit 232 assumes a movement range of a predetermined radius (such as movement ranges 100, 102, 104, and 106 in FIG. 3) centered on the pedestrian to be processed, and selects a It is determined whether a mobile phone and a pedestrian are detected (step 330). As the radius of the movement range at this time, the pedestrian/terminal identification unit 232 determines the movement range using the above equation (1), which includes not only spatial distance but also temporal distance.

As a result of the process in step 330, the pedestrian/terminal identification unit 232 determines whether there are other pedestrians within the movement range centered on the pedestrian to be processed (step 332). If this determination is positive, even if a mobile phone exists within the movement range, it is impossible to identify the owner of the mobile phone. Therefore, in that case (YES in step 332 in FIG. 8), execution of process 318 for the pedestrian to be processed is ended.

When there are no other pedestrians within the movement range centered on the pedestrian to be processed (NO in step 332 in FIG. 8), that is, when there is only the target pedestrian within the movement range, the pedestrian The terminal identification unit 232 determines whether there is a mobile phone within its movement range (step 334). If there is no mobile phone within the movement range (NO in step 334), the pedestrian/terminal identification unit 232 ends execution of the process 318 for the pedestrian to be processed. If there is at least one mobile phone within the movement range (YES at step 334), the pedestrian/terminal identification unit 232 identifies the pedestrian to be processed as the holder of the mobile phone (step 336). Even when there are multiple mobile phones within the movement range, the pedestrian/terminal identification unit 232 identifies the pedestrian to be processed as the holder of all of these mobile phones.

The pedestrian/terminal identification unit 232 further refers to the lifetime table stored in the lifetime table storage unit 234, and identifies attribute information representing the value of the attribute of the identified pedestrian, its lifetime information, and its lifetime table. Information identifying the mobile phone held by the pedestrian is compiled (step 338). The pedestrian/terminal identification unit 232 transmits the data including the attribute information and lifetime generated in this way to all the mobile phones whose existence was confirmed in step 334. It is output to the information transmitter 228 along with the address. The information transmitter 228 transmits this data to the specified mobile phone address via the transmitter 230 (step 340).

《Mobile phone 86》
Mobile phone 86 operates as follows. Referring to FIG. 9, location information acquisition section 358 periodically acquires location information and provides it to location information transmission section 360 and attribute information transmission section 362.

9 and 12, when mobile phone 86 is able to communicate with edge server 70, reception processing unit 350 of mobile phone 86 transmits attribute information, transportation support information, and location information of the holder from edge server 70. Area information is received (YES in step 500 of FIG. 12). The attribute information storage section 352, the traffic support information storage section 354, and the location transmission area information storage section 356 each store this information (steps 502, 506, and 504 in FIG. 12). The traffic support processing unit 368 uses the traffic support information stored in the traffic support information storage unit 354 to perform processing for traffic support according to the operation of the holder of the mobile phone 86.

After steps 502, 504, and 506, a determination in step 580 is made. If the pedestrian with the mobile phone 86 is within the location transmission area (YES at step 580), step 508 is executed. That is, the pedestrian's position information and attribute information are transmitted to surrounding vehicles. If the pedestrian is not in the position transmission area (NO in step 580), control moves to step 509.

When the determination in step 580 is negative and after the process in step 508 is executed, the attribute information management process in step 509 is executed. Referring to FIG. 13, CPU 450 shown in FIG. 11 initializes the work area in memory 404 at the beginning of the attribute information management process (step 550). CPU 450 reads the attribute information file stored in memory 404 (step 552). CPU 450 executes process 556 for each attribute described in the read attribute information file.

In process 556, the CPU 450 compares the current time output by the location information acquisition unit 358 with a value obtained by adding the generation time of the attribute to be processed and its lifetime (step 570). If the former is larger than the latter (YES in step 570), nothing is done. In other words, that attribute is not transferred to the work area. On the other hand, if the former is before the latter, the CPU 450 transfers the attribute information to the work area.

After step 554 is completed for all attributes, the attribute information file is updated using the information in the work area in step 558. Through this process, among the attribute information written in the attribute information file, attribute information whose lifetime has elapsed since it was generated is deleted, and only other attribute information remains in the attribute information file. Lifetime is determined to have a positive correlation with the length of time required for change. Therefore, for attributes that require a long period of time to change, such as adults and children, their values do not change in a short period of time. On the other hand, the values of attributes that may change constantly, such as body orientation and face orientation, are updated in a short period of time.

When step 509 is completed, it is determined in step 510 whether or not it is time to transmit the location information of this mobile phone to the server. If the determination is YES, the mobile phone transmits its location information to the edge server 70. Depending on the location of the mobile phone, it is unknown whether or not this transmission will be received by the edge server 70, but even if reception cannot be confirmed, the mobile phone will take no further action. If the determination at step 510 is negative, the mobile phone does nothing. In either case, control returns to step 500.

The operation of the system of this embodiment will be described more specifically with reference to FIG. When a pedestrian with a mobile phone 86 is at the location of pedestrian 84, mobile phone 86 transmits its position information to edge server 70. Sensor data from an infrastructure sensor equipment device 80, a roadside camera 82, a vehicle sensor of a vehicle 90, etc. is also transmitted to the edge server 70. The edge server 70 analyzes this information and generates and manages the traffic situation overview map 52 shown in FIG. The edge server 70 transmits traffic support information obtained from the traffic situation overview map 52 to each vehicle.

Edge server 70 also attempts to identify pedestrian 84 as the pedestrian holding cell phone 86 . If the edge server 70 is able to identify the pedestrian 84 as a pedestrian holding a mobile phone 86, the edge server 70 transmits the attribute information of the pedestrian 84, its lifetime setting value, and position transmission area information to the mobile phone 86. Send to. Otherwise, edge server 70 does not send this information to mobile phone 86. The mobile phone 86 and the edge server 70 repeat this process while they can communicate with each other.

Assume that pedestrian 84 has moved to the position of pedestrian 88. If this area is registered in advance as a location transmission area in the location transmission area information storage unit 236, or if the mobile phone 86 cannot communicate with the edge server 70 in this area, the mobile phone 86 will receive information from the edge server 70 in advance. Then, the stored attribute information of the pedestrian 88 and its position information (position/attribute information) are transmitted to surrounding vehicles. Surrounding vehicles can receive this location/attribute information and know the location and attributes of the pedestrian. As a result, each vehicle can use this information for driving assistance. During this time, among the attribute information transmitted from the mobile phone 86, the mobile phone 86 continues to transmit attribute information with a long lifetime setting value to the surrounding area. However, for attribute information with a short lifetime setting value, the mobile phone 86 transmits it only for a very short period of time and stops transmitting it once the lifetime setting value has elapsed. Once communication with the edge server 70 becomes possible, the mobile phone 86 stops transmitting location/attribute information to the outside.

As a result, surrounding vehicles continue to receive attributes of the pedestrian 88 that are difficult to change, and receive attributes that change over a short period of time and do not receive them thereafter. However, if communication between the edge server 70 and the mobile phone 86 is possible, the location/attribute information is always updated to a new value. Therefore, no useless information is sent, and only appropriate information is sent to each vehicle.

As described above, according to this disclosure, when a mobile phone held by a pedestrian is in a position where it can communicate with a traffic support server such as an edge server, the traffic support server attempts to identify the pedestrian using the mobile phone. If the pedestrian can be identified, the traffic support server sends the pedestrian's attributes and lifetime estimated based on various sensor data to the mobile phone. In addition, the transportation support server also transmits location transmission area information to the mobile phone.

If a pedestrian with a mobile phone enters the location transmission area, or if communication between the mobile phone and the edge server 70 is not possible in the area where the pedestrian is present, the mobile phone transmits location/attribute information regarding the pedestrian. Send to surrounding vehicles. Surrounding vehicles can confirm the pedestrian's location and learn about his attributes. As a result, there is an effect that pedestrians can be protected even when traffic support from the traffic support server is not available or only incomplete services are available. Note that even if communication between a mobile phone and the edge server 70 is possible in an area where a pedestrian is present, if the area is within the location transmission area or if the pedestrian specifically instructs the mobile phone to It is also possible to transmit position/attribute information about the pedestrian from the telephone to the surrounding area.

<Second embodiment>
<composition>
In the traffic support system according to the first embodiment, as shown in FIG. When a pedestrian (who is holding a phone 86) enters the location transmission area, the mobile phone 86 transmits the pedestrian's location/attribute information to surrounding vehicles. However, this disclosure is not limited to such embodiments. For example, the mobile phone 86 may transmit information regarding pedestrians to the surrounding area only when communication between the edge server 70 and the mobile phone 86 becomes impossible. The traffic support system according to the second embodiment is such a system.

The configuration of the edge server in this second embodiment is the same as the edge server 70 in FIG. 4 except that the location transmission area information storage section 236 is removed. Pedestrian/terminal identification unit 232 does not transmit position transmission area information to mobile phone 86. In other respects, the edge server according to this embodiment is the same as the edge server 70 in FIG. 4.

On the other hand, the mobile phone according to this embodiment is the same as the mobile phone 86 shown in FIG. 9 except that the location transmission area information storage section 356 is removed. The control structure of the program executed by this mobile phone is shown in FIG. In other respects, this mobile phone is identical to mobile phone 86 shown in FIG.

Referring to FIG. 14, the program executed by the mobile phone according to this embodiment differs from the program shown in FIG. 12 in that it does not include step 504 and step 580 shown in FIG. In other respects this program is identical to that shown in FIG.

<motion>
In this embodiment, when the edge server and the mobile phone can communicate with each other, the edge server attempts to send the mobile phone to identify the pedestrian holding the mobile phone. If the edge server can identify the pedestrian, the edge server sends the pedestrian's attribute information along with the lifetime setting value to the mobile phone. Unlike the first embodiment, position transmission area information is not stored in the edge server. The edge server also does not send location transmission area information to mobile phones.

It is assumed that the mobile phone is in a position where it can communicate with the edge server, and the edge server is able to identify the pedestrian holding the mobile phone. Then, the mobile phone receives the pedestrian's attribute information and lifetime setting value from the edge server (steps 500→502 in FIG. 14). The mobile phone never receives location transmission area information from the edge server, and even if it does, the mobile phone does nothing with the information.

If the mobile phone becomes unable to communicate with the edge server, the determination in step 500 of FIG. 14 becomes negative, and control proceeds to step 508. In step 508, the mobile phone transmits location/attribute information including the attribute information and lifetime information received in step 502 and the location information obtained from the location information acquisition unit 358 in FIG. 9 to surrounding vehicles.

After this, the processing from step 509 onwards is executed as in the first embodiment.

In this second embodiment, it is not possible to specify in advance the area in which the mobile phone transmits the location/attribute information of its holder to the surrounding area. However, similar processing is performed when the mobile phone becomes unable to communicate with the edge server. Therefore, in areas where communication with the edge server 70 is not possible, effects similar to those of the first embodiment can be obtained. There is no need to specify location transmission area information, and there is no need to prepare a storage area to store it. Therefore, compared to the first embodiment, there is an effect that it can be introduced more easily.

<Third embodiment>
<composition>
In the first embodiment, when the mobile phone 86 becomes unable to communicate with the edge server 70 and when the mobile phone 86 enters the position transmission area, the location/attribute information of the pedestrian holding the mobile phone 86 is transmitted. Send to those around you. In the second embodiment, only when the mobile phone is unable to communicate with the edge server, the location/attribute information of the pedestrian holding the mobile phone is transmitted to the surroundings. However, this disclosure is not limited to such embodiments. In the system according to the third embodiment, when a mobile phone is unable to communicate with the edge server, and when the mobile phone receives a request to send attribute information and location information from a nearby vehicle, transmits the location and attribute information of the vehicle to surrounding vehicles.

The configuration of the edge server according to this embodiment is the same as that in the first embodiment. On the other hand, the functional configuration of the mobile phone is shown in FIG. 15, and the control structure of the program executed by this mobile phone is shown in FIG. 16, respectively.

Referring to FIG. 15, this mobile phone 600 is different from the mobile phone 86 of the first embodiment shown in FIG. An attribute that transmits position/attribute information including the attribute information stored in the attribute information storage unit 352 and the position acquired by the position information acquisition unit 358 to surrounding vehicles in response to receiving an information transmission request. It includes an information transmitter 610. Note that, like the attribute information transmitting unit 362 shown in FIG. 9, the attribute information transmitting unit 610 has a function of transmitting position/attribute information to surrounding vehicles when communication with the edge server becomes impossible, and a function of the position information acquiring unit 358. The acquired location information is compared with the location transmission area information stored in the location transmission area information storage unit 356, and when the location of the mobile phone 600 is within the area specified by the location transmission area information, the location/attribute is determined. It also has the ability to send information to its surroundings.

The hardware configuration of mobile phone 600 according to this third embodiment is the same as that shown in FIG. 11.

FIG. 16 shows, in flowchart form, the control structure of a program executed by the controller of mobile phone 600 according to the third embodiment. Referring to FIG. 16, this program differs from that of the first embodiment shown in FIG. , includes a step 630 in which control is transferred to step 500 when received, and control is transferred to step 508 otherwise, and when the determination in step 500 is negative (the communication received in step 630 is not a communication from an edge server). ), it is determined in step 630 whether the received communication is a request to transmit position/attribute information from an external vehicle, and if the determination is positive, control is transferred to step 508; 632, which sometimes transfers control to step 509. In other respects, the flowchart shown in FIG. 16 is the same as that shown in FIG. 12.

<motion>
The edge server according to this embodiment operates similarly to the edge server 70 according to the first embodiment.

The mobile phone according to this embodiment operates in the same way as the mobile phone 86 according to the first embodiment, and also operates as follows. That is, upon receiving a request to transmit location/attribute information from an external vehicle (YES in step 630 in FIG. 16, NO in step 500, YES in step 632), the attributes stored in the attribute information storage section 352 in FIG. The location/attribute information including the information and the location coordinates of the mobile phone 600 that the location information acquisition unit 358 acquired when executing step 508 is transmitted to surrounding vehicles.

As a result, in the mobile phone 600 according to this embodiment, when the mobile phone 600 is unable to communicate with the edge server, when the mobile phone 600 exists within the position transmission area, and when the position information is transmitted from surrounding vehicles. In either case, when a request is made, the location/attribute information of a pedestrian holding a mobile phone 600 in the vicinity is transmitted.

As described above, according to this embodiment, when a pedestrian holding a mobile phone 600 enters an area where communication between the mobile phone 600 and the edge server is not possible, the mobile phone 600 automatically sends mobile phones to the surrounding area. The location/attribute information including the location of the phone 600 and the attribute information of the pedestrian holding the mobile phone 600 is transmitted to the surrounding area. Therefore, even in areas where traffic support cannot be provided by the edge server, driving support can be provided to vehicles surrounding the pedestrian. Note that, as described above, even in an area where communication between the mobile phone 600 and the edge server is possible, it is possible to send the stored position/attribute information regarding the pedestrian from the mobile phone to the surrounding area.

Even when a pedestrian holding a mobile phone 600 enters the location transmission area, the mobile phone 600 automatically displays a position in the surrounding area that includes the position of the mobile phone 600 and the attribute information of the pedestrian holding the mobile phone 600. - Send attribute information to surrounding people. Therefore, by registering intersections with heavy traffic, points where pedestrian-related traffic accidents occur frequently, etc. in the mobile phone 600 in advance as location transmission areas, such points can However, it can provide driving assistance to surrounding vehicles to protect pedestrians.

When the vehicle sends a request to the surrounding pedestrians to transmit their location/attribute information, the mobile phone 600 responds to the transmission request by transmitting the position coordinates of the mobile phone 600 and the pedestrian holding the mobile phone 600. The location/attribute information including the person's attribute information is transmitted to the surrounding area. As a result, driving support for protecting pedestrians can be provided to surrounding vehicles even in areas other than areas where communication with the edge server is not possible and areas registered in advance as location transmission areas.

In the embodiment described above, when transmission with the edge server 70 is not possible, position information is transmitted from the mobile phone to the surrounding area. However, this disclosure is not limited to such embodiments. Any combination of the functions described as functions of the mobile phone in the above three embodiments may be incorporated into the mobile phone.

[Realization by computer]
As shown in FIGS. 6 and 7, the edge servers used in the above embodiments can all be realized by computer hardware, peripheral devices thereof, and programs executed thereon. Furthermore, as shown in FIGS. 10 and 11, all of the mobile phones used in the above embodiments can be realized by computer hardware, peripheral devices and modules thereof, and programs executed on the computer hardware. .

A computer program for causing the computer 240 to function as each functional unit of the edge server according to each embodiment described above is stored in the DVD 252 installed in the DVD drive 250 or the semiconductor memory 256 installed in the semiconductor memory port 274. The data is then distributed to the hard disk drive 270. Alternatively, the program may be transmitted to computer 240 via network 254 and network I/F 272 and stored on hard disk drive 270. The program is loaded into RAM 268 during execution. The program may be loaded directly into the RAM 268 from the DVD 252 or via the network 254 and network I/F 272. Note that the ROM 266 stores a program for starting the computer 240. RAM 268 and hard disk drive 270 are used to store data such as sensor data, analysis results, and vehicle information. The GPU 264 is for executing numerical calculations etc. in parallel at high speed. It is used when analyzing sensor data from a large number of sensors. The monitor 242, keyboard 246, and mouse 248 are used by the administrator of the edge server to operate the edge server.

This program includes an instruction sequence including a plurality of instructions for causing the computer 240 to function as the edge server and its respective functional units according to each of the embodiments described above. Some of the basic functions required to enable computer 240 to perform this operation include an operating system or third party programs running on computer 240 or various dynamically linkable programming toolkits or programs installed on computer 240. Provided by the library. Therefore, this program itself does not necessarily need to include all the functions necessary to implement the system, device, and method of this embodiment. This program includes the system described above by dynamically invoking at runtime appropriate functions or appropriate programs in a programming toolkit or program library in a controlled manner to achieve the desired results. It is sufficient to include only instructions that implement the function of the device or method. Of course, all the necessary functions may be provided only by the program.

Similarly, in this embodiment, the computer program for causing the controller 400 shown in FIG. The data is transmitted from the external network to the controller 400 by wireless communication, and stored in the memory 404 via the memory controller 454. If the mobile phone has a memory card processing module, programs can be transferred from the memory card to the memory 404. The program stored in memory 404 is read, interpreted, and executed by CPU 450 during execution. The execution result is transferred to an address determined by the program. Data is stored in the memory specified by this address or transferred to a predetermined module for processing. The program may be executed directly from a memory card or the like.

This program includes an instruction sequence including a plurality of instructions for causing the controller 400 to function as the mobile phone according to each of the embodiments described above and its respective functional units. Some of the basic functions required to enable controller 400 to perform this operation are provided by an operating system or third party program running on controller 400 or by various dynamically linkable programming toolkits or programs installed on controller 400. Provided by the library. Therefore, this program itself does not necessarily need to include all the functions necessary to implement the system, device, and method of this embodiment. This program includes the system described above by dynamically invoking at runtime appropriate functions or appropriate programs in a programming toolkit or program library in a controlled manner to achieve the desired results. It is sufficient to include only instructions that implement the function of the device or method. Of course, all the necessary functions may be provided only by the program.

The operation of computer 240 shown in FIG. 7 and controller 400 shown in FIG. 11 and their peripherals are well known or not particularly relevant to this disclosure. Therefore, their detailed configuration and operation will not be further described in this specification.

The embodiments disclosed this time are merely examples, and the disclosure is not limited to the above-described embodiments. The scope of this disclosure is indicated by each claim, with reference to the detailed description of the disclosure, and all changes within the meaning and scope equivalent to the words stated therein are defined. include.

50 Real space 52 Overview of traffic situation map 70 Edge server 72 Base station 80 Infrastructure sensor equipment 82 Roadside cameras 84, 88 Pedestrians 86, 600 Mobile phone 90 Vehicles 100, 102, 104, 106 Movement range 210, 350 Reception processing unit 212 Moving object tracking section 214, 218, 226 Analysis result storage section 216 Attribute detection section 220 Vehicle/terminal tracking section 222 Vehicle/terminal information storage section 224 Integration processing section 228, 364 Information transmission section 230, 366 Transmission processing section 232 Pedestrian/terminal Identification unit 234 Lifetime table storage unit 236, 356 Position transmission area information storage unit 240 Computer 242, 410 Monitor 246 Keyboard 248 Mouse 250 DVD drive 252 DVD
254 Network 256 Semiconductor memory 260, 450 CPU
262, 452 bus 264 GPU
266 ROM
268 RAM
270 Hard disk drive 272 Network I/F
274 semiconductor memory ports 310, 312, 314, 316, 330, 332, 334, 336, 338, 340, 500, 502, 504, 506, 508, 509, 510, 512, 550, 552, 554, 570, 572, 580, 630, 632 Steps 318, 556, 558 Processing 352 Attribute information storage section 354 Traffic support information storage section 356 Location transmission area information storage section 358 Location information acquisition section 360 Location information transmission section 362, 610 Attribute information transmission section 368 Transportation support Processing unit 400 Controller 402 GPS module 404 Memory 406 Power supply circuit 408 Audio circuit 409 Camera 412 Touch panel 414 Various sensors 416 RF/baseband circuit 418 Wireless communication module 454 Memory controller 456 Power management circuit 458 System management circuit 460 Media processing circuit 462 Display controller 464 Input/output I/F

Claims (18)

A moving object detection device that receives and analyzes sensor data from an infrastructure sensor equipment installed on the roadside, a moving object sensor installed in a moving object, or both, and detects the position of the moving object and attributes indicating its status. and,
a location information maintenance device that maintains location information of the terminal by communicating with the terminal;
detecting that the position of the first mobile body detected by the mobile body detection device and the position of the first terminal maintained by the position information maintenance device satisfy a predetermined relationship; an identification device that identifies the first mobile body as a mobile body equipped with the first terminal;
an information transmitting device that transmits attribute information representing an attribute detected by the mobile object detection device about the first mobile object identified as a mobile object equipped with the first terminal to the first terminal; server equipment. The information transmitting device includes:
an attribute determination device that determines whether the attribute detected by the mobile object detection device for the first mobile object is a predetermined attribute;
a transmission processing unit that transmits attribute information representing the predetermined attribute to the first terminal in response to the attribute determination device determining that the attribute of the first mobile body is the predetermined attribute; The server device according to claim 1, comprising: The server device further includes a validity period storage unit that stores a validity period of the attribute information for each of the attribute information,
The information transmitting device transmits attribute information representing an attribute detected by the mobile object detection device for the first mobile object and a validity period stored in the validity period storage unit for the attribute information to the first terminal. The server device according to claim 1, further comprising a transmitting device for transmitting to. The server device according to claim 3, wherein the validity period is predetermined to have a positive correlation with the length of time required for a change in an attribute of a mobile object. 5. The server device according to claim 4, wherein the validity period stored in the validity period storage unit is an arbitrary value from 0 to infinity. The mobile body detection device includes a latest mobile body detection device that receives and analyzes the sensor data at a predetermined period to detect the latest position of the mobile body and its latest attributes,
The location information maintenance device includes a latest location information maintenance device that maintains the latest location information of a terminal held by a mobile object at a predetermined period by communicating with the terminal,
The information transmitting device transmits attribute information representing the latest attribute detected by the latest moving object detection device to the first moving object as long as the latest moving object detection device detects the position and attribute of the first moving object. The server device according to claim 1, further comprising a device for transmitting information to a terminal. Time information representing the time at which the sensor data and the position information were acquired is attached to the sensor data and the position information, respectively;
The identification device includes:
Calculated between the position of the first mobile body detected by the mobile body detection device and the time at that time, and the position of the first terminal maintained by the position information maintenance device and the time at that time. The server device according to claim 1, wherein the server device identifies the first mobile body as a mobile body equipped with the first terminal by detecting that the distance between the two terminals is within a predetermined value. a location information acquisition device that acquires location information;
A first transmitting device that transmits the location information to a predetermined external server, the terminal comprising:
an attribute information receiving device that receives attribute information representing an attribute indicating a state of a mobile body having the terminal from an external server;
an attribute information storage device that stores attribute information received by the attribute information receiving device;
a second transmitting device that starts a process of transmitting the attribute information to an external vehicle in response to the attribute information receiving device not receiving the attribute information from the external server. further comprising a time information acquisition device that acquires time information representing the time when the location information is acquired;
9. The first transmitting device includes a location/time information transmitting device that transmits the location information to the external server together with the time information acquired by the time information acquiring device when the location information is acquired. Terminals listed in . The attribute information storage device updates the attribute information stored in the attribute information storage device with the new attribute information each time the attribute information receiving device receives new attribute information. 10. A terminal according to claim 8 or claim 9, comprising a device. The attribute information has a validity period attached to the attribute information,
The attribute information storage device stores both the attribute information received by the attribute information receiving device and its validity period,
Furthermore, a timing device that measures the elapsed time after the second transmitting device starts transmitting the attribute information;
For each piece of attribute information stored in the attribute information storage device, the second transmission is performed in response to the elapsed time measured by the timing device being equal to or longer than the validity period attached to the attribute information. 11. The terminal according to claim 9 or 10, further comprising an attribute transmission canceling device that cancels transmission of the attribute information by the device. The attribute transmission canceling device responds to the fact that the elapsed time measured by the clocking device for each piece of attribute information stored in the attribute information storage device becomes equal to or longer than the validity period attached to the attribute information. 12. The terminal according to claim 11, further comprising an attribute information deletion device that deletes the attribute from the attribute information storage device. After the process by the second transmitting device is started, the attribute information receiving device stops the transmitting process by the second transmitting device in response to receiving the new attribute information from the external server. The terminal according to any one of claims 8 to 12, further comprising an abort device. A mobile support system comprising the server device according to claim 1 and the terminal according to claim 8. A step in which the computer receives and analyzes sensor data from infrastructure sensor equipment installed on the roadside, a mobile object sensor installed in the mobile object, or both, and detects attributes indicating the position of the mobile object and its state. and,
the computer maintaining location information of the terminal by communicating with the terminal;
The computer detects that the position of the first mobile object detected in the step of detecting the attribute and the position of the first terminal maintained in the step of maintaining the position information satisfy a predetermined relationship. identifying the first mobile body as a mobile body equipped with the first terminal;
a step in which the computer transmits, to the first terminal, attribute information detected in the step of detecting the attributes of the first mobile body identified as the mobile body equipped with the first terminal; Mobile support method. computer,
A moving object detection device that receives and analyzes sensor data from an infrastructure sensor equipment installed on the roadside, a moving object sensor installed in a moving object, or both, and detects the position of the moving object and attributes indicating its status. and,
a location information maintenance device that maintains location information of the terminal by communicating with the terminal;
detecting that the position of the first mobile body detected by the mobile body detection device and the position of the first terminal maintained by the position information maintenance device satisfy a predetermined relationship; an identification device that identifies the first mobile body as a mobile body equipped with the first terminal;
A computer program that functions as an information transmitting device that transmits attribute information detected by the mobile object detection device about the first mobile object identified as a mobile object equipped with the first terminal to the first terminal. . a step in which the computer obtains location information;
A method for controlling a terminal, the method comprising: a first sending step in which a computer sends the location information to a predetermined external server;
a step in which the computer receives attribute information representing an attribute indicating a state of a mobile body having the terminal from an external server;
a step in which the computer stores the attribute information received in the step of receiving the attribute information in a storage device;
a step in which the computer starts a process of transmitting the attribute information to an external vehicle in response to the fact that the computer no longer receives the attribute information from the external server in the step of receiving the attribute information. Control method. computer,
a location information acquisition device that acquires location information;
A computer program that causes the computer to function as a terminal, the computer program including: a first transmitting device that transmits the position information to a predetermined external server;
an attribute information receiving device that receives attribute information representing an attribute indicating a state of a mobile body having the terminal from an external server;
an attribute information storage device that stores attribute information received by the attribute information receiving device;
A computer program that causes the attribute information receiving device to function as a second transmitting device that starts a process of transmitting the attribute information to an external vehicle in response to the attribute information receiving device not receiving the attribute information from the external server.

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