WO2020121718A1

WO2020121718A1 - Information processing device, information processing method, moving object, and moving object control method

Info

Publication number: WO2020121718A1
Application number: PCT/JP2019/044465
Authority: WO
Inventors: 勇司藤本
Original assignee: ソニー株式会社
Priority date: 2018-12-11
Filing date: 2019-11-13
Publication date: 2020-06-18

Abstract

An information processing device according to the present disclosure is an information processing device that provides map information to a moving object, and comprises: an acquisition unit which acquires information on a registered user who is a user registered in advance on the information processing device side; and a determination unit which determines a mode of a user map, which is map information provided to the registered user, on the basis of the acquired information on the registered user.

Description

Information processing apparatus, information processing method, moving body, and moving body control method

The present disclosure relates to an information processing device, an information processing method, a moving body, and a moving body control method. Specifically, it relates to a process of providing map information to the user.

In order to realize autonomous driving by autonomous moving bodies such as automobiles, map information including public roads such as motorways and sidewalks, and various meta information (crosswalks, guardrails, etc.) is widely provided. Various techniques have been proposed for transmitting and receiving such map information.

For example, a technology is known that controls the display of the map according to the attributes of the viewer who browses the map. Further, there is known a technique related to a navigation device that can limit a home map so that it can be used in an appropriate range.

JP, 2003-99433, A JP, 2005-175683, A

According to the conventional technology, it is possible to control the map display suitable for the user who uses the map.

However, the conventional technology is only a method of limiting the presentation of detailed map information according to use cases on public roads where arbitrary vehicles can be driven without requiring entry permission. That is, in the conventional technology, it is not always possible to provide an optimal map suitable for a visitor when basic map information such as private land is not disclosed. Specifically, in the related art, it is not always possible to provide the visitor with the map information for allowing the visitor to perform the movement desired by the manager of the private land.

Therefore, the present disclosure proposes an information processing device, an information processing method, a moving body, and a moving body control method capable of enabling operation control according to the intention of the administrator.

In order to solve the above problems, an information processing device according to an aspect of the present disclosure is an information processing device that provides map information to a moving body, and is a user who is registered in advance on the information processing device side. An acquisition unit that acquires information about a registered user, and a determination unit that determines a mode of a user map that is map information provided to the registered user based on the acquired information about the registered user.

It is a figure showing an outline of information processing concerning a 1st embodiment of this indication. It is a top view (1) for explaining information processing concerning a 1st embodiment of this indication. It is a top view (2) for explaining information processing concerning a 1st embodiment of this indication. FIG. 3 is a plan view (3) for explaining information processing according to the first embodiment of the present disclosure. It is a figure showing an example of composition of an information processing system concerning a 1st embodiment of this indication. It is a figure showing an example of a user information storage part concerning a 1st embodiment of this indication. It is a figure which shows an example of the vehicle information storage part which concerns on the 1st Embodiment of this indication. It is a figure showing an example of a user map storage part concerning a 1st embodiment of this indication. It is a figure showing an example of a map information storage part concerning a 1st embodiment of this indication. FIG. 3 is a diagram showing an example of a registered user storage unit according to the first embodiment of the present disclosure. It is a figure showing an example of a visit history storage part concerning a 1st embodiment of this indication. It is a sequence diagram (1) which shows the flow of the registration process which concerns on the 1st Embodiment of this indication. FIG. 7 is a sequence diagram (2) showing a flow of registration processing according to the first embodiment of the present disclosure. 5 is a flowchart showing a flow of an acquisition process according to the first embodiment of the present disclosure. 3 is a flowchart showing a flow of a providing process according to the first embodiment of the present disclosure. It is a flowchart (1) which shows the flow of the determination process which concerns on the 1st Embodiment of this indication. It is a flowchart (2) which shows the flow of the determination process which concerns on the 1st Embodiment of this indication. It is a flowchart (3) which shows the flow of the determination process which concerns on the 1st Embodiment of this indication. 5 is a flowchart showing a flow of generation processing according to the first embodiment of the present disclosure. 3 is a flowchart showing a flow of a providing process according to the first embodiment of the present disclosure. 3 is a flowchart showing a flow of a providing process and a learning process according to the first embodiment of the present disclosure. It is a figure which shows the outline of the information processing which concerns on the 2nd Embodiment of this indication. It is a hardware block diagram which shows an example of the computer which implement|achieves the function of an information processing apparatus.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In addition, in each of the following embodiments, the same portions are denoted by the same reference numerals to omit redundant description.

The present disclosure will be described in the following item order.
1. First Embodiment 1-1. Overview of information processing according to first embodiment 1-2. Configuration of information processing system according to first embodiment 1-3. Configuration of moving body according to first embodiment 1-4. Configuration of information processing apparatus according to first embodiment 1-5. Modification of First Embodiment 1-5-1. Information amount of user map 1-5-2. User reliability 1-5-3. Providing processing according to user reaction 1-5-4. Identification information 1-5-5. Movement log 2. Second embodiment 3. Other Embodiments 3-1. Configuration of moving body 3-2. Others 4. Hardware configuration

(1. First embodiment)
[1-1. Overview of information processing according to the first embodiment]
Information processing according to the first embodiment of the present disclosure will be described. FIG. 1 is a diagram illustrating an outline of information processing according to the first embodiment of the present disclosure. The information processing apparatus 200 that executes information processing according to the present disclosure generates map information used for operation control of the mobile body 100 that performs automatic or manual operation.

In general, automobiles that perform autonomous driving use high-precision road map information (called "dynamic maps") that includes information about public roads (publicly maintained roads, sidewalks, etc.). The high-accuracy road map information is, for example, high-accuracy map information capable of specifying a relative position from a certain reference point (a position that can be a predetermined reference such as the center of a public road or the center of an intersection) (existing in reality). Image data of public roads, road shoulders of public roads, intersection regions, road links, lane links, and the like). In addition to the map, various kinds of dynamic information (vehicles and people on public roads, traffic lights, traffic jam information, traffic regulation information, etc.) are superimposed on the high-precision road map information.

If the user using the mobile body 100 can acquire the high-accuracy road map information as described above, the user can set the position information of the destination in the acquired map information and can acquire the route to the destination. .. For example, the user acquires map information using a map information service or the like, sets a route according to the acquired map information, controls the mobile unit 100, and moves to the destination.

However, the area in which the mobile unit 100 is about to move includes an area in which the high-precision road map information as described above is not generated, for example, a private land. In this case, since the moving body 100 cannot refer to the route suitable for the automatic driving, the moving body 100 moves depending on the sensor for spatial grasping, the position information and the like. In such a situation, the moving body 100 may not perform the movement desired by the manager of the private land, and thus it becomes difficult to secure the security and privacy of the private land. However, uniformly restricting visits from visitors may reduce the convenience of friends and delivery companies who visit residents on private land.

In other words, in the management of private land, etc., there is the problem of controlling the visitors according to their intentions while ensuring security and privacy.

Therefore, the information processing apparatus 200 according to the present disclosure solves the above problem by the configuration described below. That is, when providing the map information to the mobile body 100, the information processing device 200 acquires information about a registered user who is a user registered in advance on the information processing device 200 side. Then, the information processing apparatus 200 determines the form of the user map, which is the map information provided to the registered user, based on the acquired information about the registered user.

Here, the user map is map information generated for each user in accordance with the destination of the visitor (registered user), the attribute of the user, the vehicle type of the moving body 100, and the vehicle body information. That is, the information processing apparatus 200 accepts registration regarding visit from the user in advance, and collates the user with pre-registered visit information at the timing of the visit (for example, the timing when the user arrives at the entrance of the private land). To do. Then, when the collation is successful, the information processing apparatus 200 provides the route optimized for the destination and the attribute of the user and the user map with the expiration date. As a result, the information processing apparatus 200 does not provide the private land information to users who have not received registration in advance, but can provide the private land information only to users who have registered in advance. Further, the information processing apparatus 200 can provide a user map after determining a route suitable for a destination or a user attribute registered in advance. With this, the information processing apparatus 200 can specify the moving route of the user in the private land, and restrict the information of the private land from being disclosed to the user more than necessary.

The information processing apparatus 200 may also acquire a log (hereinafter, referred to as “movement log”) that the user has moved or stopped on a private property. As a result, the information processing apparatus 200 issues a warning when the user is not moving on the specified route or excludes users who do not follow the route (for example, do not allow entry to private land from the next time). be able to.

The outline of information processing according to the first embodiment of the present disclosure will be described below with reference to FIGS. 1 to 4. FIG. 1 is a diagram illustrating an outline of information processing according to the first embodiment of the present disclosure. Specifically, FIG. 1 is a sequence diagram showing a flow of processing executed by the mobile unit 100 and the information processing device 200.

The mobile body 100 shown in FIG. 1 is, for example, an information processing terminal mounted on a vehicle body (automobile, etc.) that performs automatic driving. In the first embodiment, the moving body 100 and the vehicle body will be described as one body. That is, the moving body 100 according to the first embodiment is an information processing terminal mounted on the vehicle body and also a vehicle body that moves. The moving body 100 and the vehicle body do not necessarily have to be integrated. For example, the moving body 100 is a computer that controls a vehicle body that performs autonomous driving via a network, and may be installed in a place different from the vehicle body. Specifically, the moving body 100 may be a cloud server connected to the vehicle body via a network. In addition, the moving body 100 may be a smartphone, a tablet terminal, or the like carried by the user.

The mobile unit 100 is controlled by, for example, a user who gets on the mobile unit 100. In addition, the mobile body 100 which concerns on 1st Embodiment shall be an autonomous mobile body which carries out automatic operation in principle.

The user is a person who gets on the mobile unit 100 and is a visitor who visits a private land managed by the information processing apparatus 200. The user refers to a display or the like mounted on the mobile body 100 to browse a user map provided by the information processing device 200 and control the movement of the mobile body 100. In the following description, the mobile unit 100 and the user may be read as each other. For example, “a user receives information” may actually indicate a situation where “the mobile unit 100 used by the user receives information”.

The information processing device 200 is an information processing device used by an administrator who manages private land. In the embodiment, an example in which the private land managed by the information processing apparatus 200 is a site of an apartment house in which a plurality of owners live.

The information processing apparatus 200 holds in the map information storage unit 221 map information including information on traffic rules (for example, speed limits, one-way traffic, etc.) in private land, movable areas, areas managed by each owner, and the like. To do.

Further, the information processing apparatus 200 accepts registration of user information and visit information from the user and holds the accepted information in the registered user storage unit 222 before the visit of the user. Note that, hereinafter, for distinction, a user registered in the information processing device 200 may be referred to as a “registered user”. The registered user is a user who is permitted to enter the private land, and is, for example, a resident owner, a friend of the owner, a delivery company, or the like. Although the details will be described later, a visitor on a private land requests the information processing apparatus 200 to register in advance and receives the authorization as a registered user. In addition, the visitor, when visiting, registers visit information including the date and time of the visit and the destination. The information processing apparatus 200 generates a user map for each user who visits the private land based on the identification information of the registered user and the identification information of the visit information, and provides the generated user map.

The example of FIG. 1 shows a flow of information processing between the mobile unit 100 (user) and the information processing apparatus 200 when the user who has registered the user information and the visit information visits a private land.

First, the mobile unit 100 transmits the identification information of the visitor (user) to the information processing device 200 at the timing when the mobile unit 100 has moved to the vicinity of the private land (step S1). For example, the moving body 100 transmits the identification information of the user to the information processing apparatus 200, triggered by reaching the entrance (gate) for entering the private land from the public road. Specifically, when the mobile body 100 is sensed by a sensor or the like mounted on a gate of a private land, or when the information processing apparatus 200 senses that it is approaching the gate, the mobile body 100 receives the identification information of the user as the information processing apparatus. Send to 200.

In addition to the identification information for identifying the user who is the visitor, the mobile body 100 holds identification information for identifying information about a visit that has been registered in advance (scheduled visit date and time, name of destination, destination, etc.). In this case, the identification information for identifying the visit information may be transmitted.

The information processing device 200 collates the identification information transmitted from the mobile body 100 with the registered user information held in the registered user storage unit 222 (step S2). That is, the information processing apparatus 200 determines whether or not the user of the mobile unit 100 who desires to enter the private property is a registered user who has registered in advance.

Then, when the collation of the user is completed, the information processing apparatus 200 determines the mode of the map corresponding to the user (step S3). As described above, the private land map information does not include public roads and the like, and is normally restricted from being delivered to the user from the viewpoint of security and privacy. Therefore, the information processing apparatus 200 should provide map information to the user according to whether the user is a trusted user (that is, a registered user), the destination of the user's private land, the attribute of the user, and the like. The mode of (user map) is determined, and only the map information based on the determination result is provided to the user.

Although details will be described later, for example, the user map includes a route (route) specified according to the destination of the user, or detailed terrain or information is hidden (masked according to the user's attribute). Do). Further, the user map may be set with a usage deadline that matches the user. For example, when the user is a delivery company, the user map to be transmitted may be provided with a restriction that the number of times of use is “only once”. Further, for example, when the user is a friend of the owner, the user map to be transmitted may be provided with a limitation that the expiration date is “3 days”. That is, the user map is the map information customized for each user who visits the private land, and can be said to be the map information optimized for each user. The user map may be a dynamic map for automatic driving for a moving body of automatic driving or a map for manual driving depending on the type of the moving body of the user provided. The user map may include dynamic map information, semi-dynamic, semi-static, and static map information.

By providing a user map for each user, the information processing apparatus 200 enables the user to smoothly move in the private land, prevents the information from being disclosed more than necessary, and allows the user to see the private land unnecessarily. You can specify a route so that you do not move to. Further, the information processing apparatus 200 can prevent the information in the private land from leaking by limiting the use of the user map whose use period has expired.

Then, the information processing apparatus 200 determines the destination of the user and the route of the user as a mode of the user map, and generates a user map based on the determination result (step S4). For example, the information processing apparatus 200 generates a user map by using a data format in which the mobile body 100 reads the user map to control movement within the private land. As an example, the information processing apparatus 200 generates a user map using a format that conforms to a dynamic map or the like used when the moving body 100 automatically drives a public road. The format of the user map is not limited to the above, and may be any format as long as the mobile body 100 can read it.

Subsequently, the information processing device 200 transmits the generated user map to the mobile body 100 (step S5). The mobile unit 100 controls the operation (movement) of its own device based on the received user map (step S6). For example, the mobile body 100 controls the vehicle body of the mobile body 100 such that the mobile body 100 travels in the private land along the route included in the user map when performing the automatic driving.

Here, the moving body 100 is provided with information such as a route traveled by itself (for example, a route actually traveled, a moving distance, a moving speed, a report notifying whether or not there is any hindrance to the movement of the route). It is continuously transmitted to 200 (step S7). The information processing device 200 may update the existing map information based on the information transmitted from the mobile body 100 (step S8). For example, when the information processing apparatus 200 receives from the moving body 100 that an obstacle or the like exists in the route set as the route, the route is changed from the next time onward to update the map information.

After that, the mobile unit 100 determines whether or not the usage deadline of the user map has passed (step S9). When the expiration date of the user map has not passed (step S9; No), the mobile unit 100 continues to use and retain the user map.

On the other hand, when the expiration date of the user map has passed (step S9; Yes), the mobile unit 100 stops using the user map (step S10). For example, the mobile body 100 deletes the provided user map data according to the control information (script or the like) included in the user map.

As described above, the information processing apparatus 200 according to the embodiment acquires information about registered users registered in advance on the information processing apparatus 200 side, and determines the form of the user map based on the acquired information about registered users. .. In addition, the information processing apparatus 200 accepts registration from the user prior to the visit, and performs verification at the timing when the user actually visits, so that the user map of the user map according to the destination and the attribute of the visited user can be obtained on the private land. Determine the mode.

As a result, the information processing apparatus 200 can provide a user map in which a route to a destination and an area where the user can move are specified, so that security and privacy are protected while controlling appropriate movement on a private land. can do. That is, the information processing apparatus 200 solves the problems of smoothing the automatic operation of the mobile body 100 and the like and protecting the security and privacy of private land by the information processing shown in FIG.

A specific example of the user map will be described below with reference to FIGS. 2 to 4. FIG. 2 is a plan view (1) for explaining the information processing according to the first embodiment of the present disclosure.

The user map 20 shown in FIG. 2 is a plan view showing a site of an apartment house in which a plurality of owners live. In the example of FIG. 2, it is assumed that the user who visits the private land is one of the owners of the private land and owns the home in the area 25. That is, the user map 20 is provided to the user who has entered the private land to return home, and the destination set in the user map 20 is the area 25. As shown in the division display 21, attributes such as “owner parking lot”, “customer parking lot”, and “temporary stop place” are set in advance in the area included in the user map 20.

In the example of FIG. 2, the moving body 100 on which the user rides transmits its identification information to the information processing apparatus 200 when passing through the gate 22. The information processing device 200 receives the identification information and collates it with the registered user information.

In the information processing apparatus 200, the user has an attribute of “owner of private land” based on the identification information transmitted from the mobile unit 100, and the destination is “area 25” which is the home of the user. To determine. Further, since the user is the owner of the information processing apparatus 200, it is not necessary to mask other areas in the private land, and it is not necessary to specify a detour route or the like due to the size of the vehicle body. To judge. Further, since the user is the owner, the information processing apparatus 200 determines that it is not necessary to set the expiration date in the provided user map 20.

The information processing apparatus 200 acquires various types of information as described above as the setting information of the user map 20, and determines the mode of the user map 20 based on the acquired setting information. Then, the information processing device 200 generates the user map 20 according to the determined mode, and transmits the generated user map 20 to the mobile body 100.

As shown in FIG. 2, the user map 20 includes a route 23 having a region 25 as a destination and leading to a region 26 which is a parking position associated with the region 25. In addition, when the user is other than the owner and the destination is the area 25, the parking position associated with the area 25 is not the area 26 but the owner parking lot of the area 27 or the area 28 (area 26). Other than is set as the root.

Also, the user map 20 may include a route 24 when the user departs from home and moves outside the private land. The route 23 and the route 24 are set, for example, on the basis of traffic rules such as one-way traffic set in the private land, efficiency for moving a plurality of mobile bodies in the private land, and the like. Note that the user map 20 may include information such as an explanation of the route shown in the map, as shown in the route display 29. For example, the user can confirm the route destination included in the user map 20 and the route display 29 through the display included in the mobile unit 100 to confirm the destination of the route and the detailed route in the private land.

Next, the user map 30 transmitted to users having different attributes will be described with reference to FIG. FIG. 3 is a plan view (2) for explaining the information processing according to the first embodiment of the present disclosure.

The user map 30 shown in FIG. 3 is a map corresponding to the same private land as the user map 20 shown in FIG. In the example of FIG. 3, it is assumed that the user who visits the private land is one of the friends of the owner of the private land and visits the owner who owns the home in the area 25. That is, the user map 30 is provided to the user who has entered the private land to visit the owner's home, and the destination set in the user map 30 is the area 25.

In the example of FIG. 3, the moving body 100 on which the user rides transmits its own identification information to the information processing apparatus 200 when passing through the gate 22. The information processing device 200 receives the identification information and collates it with the registered user information. Moreover, in the example of FIG. 3, the mobile body 100 transmits identification information identifying the visit information together with the identification information of the user. The visit information is information registered in advance by the user (or the owner) on the information processing device 200 side, and includes the scheduled visit date and time, the name of the visit destination, the purpose of the visit, and the like. That is, the information processing device 200 accepts registration of a visit schedule from a user who visits a private land, compares it with the information registered at the timing when the user actually visits, and determines the destination of the user and the expiration date of the user map. Etc. are judged.

The information processing apparatus 200 determines that the user has the attribute of “friend on private land” based on the identification information transmitted from the mobile body 100. Further, the information processing apparatus 200 determines that the destination of the user is the “region 25” or the like based on the collation with the visit information.

Here, since the attribute of the user is other than “owner”, the information processing apparatus 200 determines the area to be masked in the map provided to the user according to the information set in the map information of the private land. For example, when the map information of the private land has a setting such as “mask other than the vicinity of the specified route”, the information processing apparatus 200 determines the route to be provided to the user, and then determines the area other than the vicinity of the route. To mask. Further, since the user has the attribute of “friend”, the information processing apparatus 200 sets a predetermined usage deadline (for example, 2 days) in the provided user map 30.

The information processing apparatus 200 acquires various types of information as described above as the setting information of the user map 30, and determines the mode of the user map 30 based on the acquired setting information. Then, the information processing device 200 generates the user map 30 according to the determined mode, and transmits the generated user map 30 to the mobile body 100.

As shown in FIG. 3, in the user map 30, with the area 25 as the destination, the route 31 to the area 28 which is the parking position for the friend (customer parking lot) associated with the area 25, or from the area 28. A route 32 on foot to area 25 is included. As described above, even if the route using the moving body 100 (route traveling by car) and the route using different moving means (route traveling on foot in the example of FIG. 3) are mixed in the user map. Good.

Further, the user map 30 may include a route 33 or a route 34 when the user departs from the area 25 and moves out of the private land. The route 31 and the route 34 are set, for example, on the basis of traffic rules such as one-way traffic set in the private land, efficiency for moving a plurality of moving bodies in the private land, and the like. The user can confirm the destination of the route and the detailed route in the private land by visually recognizing the route display 39 together with the route included in the user map 30 via the display provided in the mobile unit 100.

Further, as shown in FIG. 3, in the user map 30, areas other than the vicinity of the routes 31 to 34 are masked. Therefore, the user who has acquired the user map 30 can check the route to the area 25 and control the automatic driving to the area 25, but cannot check the entire private land. In this way, the information processing apparatus 200 can secure the privacy and security of other residents who live in the private land by generating the user map 30 in which the information corresponding to the user is disclosed. .. Further, the information processing apparatus 200 warns the display of the moving object 100 or controls the moving object 100 so that the moving object cannot move to the masked area when the user tries to enter the masked area, for example. May be.

As described above, when the user is not the owner, the information processing apparatus 200 masks a region of the private land away from the destination of the visitor or sets a route suitable for the user who cannot use the owner parking lot. The user map 30 that has been set is provided. As a result, the information processing apparatus 200 can provide the user map 30 optimized for the visiting user and protect the privacy of the private land.

Next, the user map 40 transmitted to the user having an attribute different from that of FIG. 3 will be described with reference to FIG. FIG. 4 is a plan view (3) for explaining the information processing according to the first embodiment of the present disclosure.

The user map 40 shown in FIG. 4 is a map corresponding to the same private land as the user map 20 shown in FIG. In the example of FIG. 4, it is assumed that a user who visits a private land is a delivery company that delivers packages to the owner of the private land. That is, the user map 40 is provided to the user who has entered the private land to deliver the luggage to the owner's home, and the destination set in the user map 40 is the area 25.

In the example of FIG. 4, the moving body 100 on which the user gets on transmits the identification information of itself to the information processing apparatus 200 when passing through the gate 22. The information processing device 200 receives the identification information and collates it with the registered user information. Moreover, in the example of FIG. 4, the mobile body 100 transmits identification information for identifying the visit information together with the identification information for the user. The visit information in FIG. 4 is information registered in advance by the delivery company on the information processing device 200 side, and includes the scheduled visit date and time, the name of the visit destination, and the like. In this case, there may be a plurality of pieces of visit information regarding the user who has visited. For example, when one user delivers to a plurality of delivery destinations in a private land, the user may have identification information of a plurality of visit information in one visit.

The information processing apparatus 200 determines that the user has the attribute “delivery company” based on the identification information transmitted from the mobile body 100. Further, the information processing apparatus 200 determines that the destination of the user is the “region 25” or the like based on the collation with the visit information.

Here, since the attribute of the user is other than “owner”, the information processing apparatus 200 determines the area to be masked in the map provided to the user according to the information set in the map information of the private land. For example, when the map information of the private land has a setting such as “mask other than the vicinity of the specified route”, the information processing apparatus 200 determines the route to be provided to the user, and then determines the area other than the vicinity of the route. To mask. Further, since the user has the attribute of “delivery company”, the information processing apparatus 200 sets a predetermined expiration date (for example, 2 hours) in the provided user map 30.

In addition, when the information processing apparatus 200 has an attribute that the user temporarily uses the user map 40, such as “delivery company”, the information processing apparatus 200 sets not only the date and time but also the number of times of use as the expiration date. Good. For example, the information processing apparatus 200 may set a restriction on the user map 40 such that the user map 40 cannot be used when the user passes through the gate 22 and then leaves the private land through the gate 22. ..

The information processing apparatus 200 acquires various kinds of information as described above as the setting information of the user map 40, and determines the mode of the user map 40 based on the acquired setting information. Then, the information processing apparatus 200 generates the user map 40 according to the determined mode, and transmits the generated user map 40 to the mobile body 100.

As shown in FIG. 4, on the user map 40, the route 41 to the region 27, which is the parking position (temporary stop position) for the temporary stop associated with the region 25 with the region 25 as the destination, and the region 27. To area 25 on foot route 42 is included.

Further, the user map 40 may include a route 43 or a route 44 when the user departs from the area 25 and moves outside the private land. The route 41 and the route 44 are set, for example, on the basis of traffic rules such as one-way traffic set in the private land, efficiency for moving a plurality of moving bodies in the private land, and the like. The user can confirm the destination of the route and the detailed route in the private land by visually recognizing the route display 49 together with the route included in the user map 40 via the display provided in the mobile unit 100.

Further, as shown in FIG. 4, in the user map 40, areas other than the vicinity of the routes 41 to 44 are masked. As described above, like the user map 30 in FIG. 3, the information processing apparatus 200 generates the user map 40 in which the information corresponding to the user is disclosed, thereby ensuring the privacy of other residents who live in the private land. , Security can be maintained. Further, the information processing apparatus 200 warns the display of the moving object 100 or controls the moving object 100 so that the moving object cannot move to the masked area when the user tries to enter the masked area, for example. May be.

In this way, the information processing device 200 provides the user map 40 in which different routes are set according to the attributes of the user. As a result, the information processing apparatus 200 can provide the user map 40 optimized for the visiting user and protect the privacy of the private land.

As described above, the information processing apparatus 200 determines the mode of the user map to be provided to the user based on the map information corresponding to the specific area such as the private land and the user information registered in advance, An optimal map can be provided for each user. Hereinafter, a system and an apparatus for executing the above information processing will be described in detail with reference to the drawings.

[1-2. Configuration of Information Processing System According to First Embodiment]
The configuration of the information processing system 1 including the mobile unit 100 and the information processing apparatus 200 will be described with reference to FIG. FIG. 5 is a diagram showing a configuration example of the information processing system 1 according to the first embodiment of the present disclosure. The mobile unit 100 and the information processing apparatus 200 are connected to each other via a network N (for example, the Internet) illustrated in FIG. The information processing system 1 may include a plurality of mobile bodies 100 and a plurality of information processing devices 200.

The mobile body 100 is an example of an autonomous mobile body that receives a user map according to the present disclosure and moves based on the received user map. The moving body 100 is, for example, an information processing terminal mounted on an automobile vehicle that performs automatic driving. The mobile unit 100 may be a smartphone, a tablet terminal, or the like carried by the user.

Note that in the embodiment, an automobile is taken as an example of the vehicle body of the moving body 100, but the moving body 100 is not limited to the automobile. For example, the moving body 100 may be in any form as long as it is a moving body such as a motorcycle, a robot, a drone or the like that can control movement based on map information.

The information processing device 200 is an example of an information processing device according to the present disclosure. The information processing device 200 is an information processing device used by an administrator who manages private land, and is, for example, a server device for managing movement of visitors in a parking lot which is a private land.

The information processing device 200 may be installed in a private land or may be a cloud server installed on the network N.

[1-3. Configuration of Mobile Object According to First Embodiment]
First, the configuration of the moving body 100 will be described. As shown in FIG. 5, the mobile unit 100 has a communication unit 110, a storage unit 120, and a control unit 130. The mobile unit 100 has an input unit (for example, a keyboard and a mouse) that receives various operations from a user who uses the mobile unit 100, and a display unit (for example, a liquid crystal display) for displaying various information. You may.

The communication unit 110 is realized by, for example, a NIC (Network Interface Card) or the like. The communication unit 110 is connected to the network N by wire or wirelessly, and transmits/receives information to/from the information processing device 200 or the like via the network N.

The storage unit 120 is realized by, for example, a semiconductor memory device such as a RAM (Random Access Memory) or a flash memory (Flash Memory), or a storage device such as a hard disk or an optical disk. The storage unit 120 includes a user information storage unit 121, a vehicle information storage unit 122, and a user map storage unit 123.

FIG. 6 shows an example of the user information storage unit 121 according to the first embodiment. FIG. 6 is a diagram illustrating an example of the user information storage unit 121 according to the first embodiment of the present disclosure. In the example shown in FIG. 6, the user information storage unit 121 has items such as “registered user ID”, “user type”, “visit information ID”, and “visit date and time”.

“Registered user ID” indicates identification information for identifying a registered user, which is issued when the user is registered in the information processing device 200 as a user who uses a private property. The “user type” indicates, among the attributes of the user, information indicating the relationship between the registered user and the private property. For example, if the user is one of the owners of the private land, the information of "owner" is stored in the user type item. When the user is considered as a resident instead of the owner, “resident” may be used as the user type item. If the user is a friend or acquaintance of the owner of the private land, information such as “friend” or “acquaintance” is stored in the user type item. If the user is a delivery company delivering packages to a private land or a taxi company visiting a private land, the information of “delivery company” or “taxi company” is stored in the item of the user type. In the case of non-friends such as a delivery company and a taxi company, “non-friend” may be collectively used for the item of user type.

“Visit information ID” indicates identification information for identifying the visit information, which is issued when a user who intends to visit a private land registers the visit information in the information processing device 200. The "scheduled visit date and time" indicates the scheduled date and time when the user visits the private property.

That is, in the example shown in FIG. 6, the user having the registered user ID “U11” has the user type “delivery company” and the visit information identified by the visit information ID “R11” or “R12”. This indicates that the processing device 200 is registered. Further, in the visit information identified by the visit information ID “R11”, the scheduled visit date and time of the user is “October 1, 2018 10:00”, and in the visit information identified by the visit information ID “R12”, the user is Indicates that the scheduled visit date and time is “October 3, 2018, 10:00”.

The vehicle information storage unit 122 stores information about the vehicle of the moving body 10 that is controlled manually or automatically by the user.

FIG. 7 shows an example of the vehicle information storage unit 122 according to the first embodiment. FIG. 7 is a diagram illustrating an example of the vehicle information storage unit 122 according to the first embodiment of the present disclosure. In the example shown in FIG. 7, the vehicle information storage unit 122 has items such as “registered user ID”, “vehicle type and vehicle body information”, and “driving control”.

"Registered user ID" corresponds to the same item shown in FIG. “Vehicle type and vehicle body information” indicates information such as the vehicle type of the vehicle of the moving body 100 and the size and weight of the vehicle body. In FIG. 7, the data of the vehicle type and the vehicle body information is shown by a concept such as “A11”, but in reality, such items include the specific vehicle type name, the vehicle body height, the vehicle body width, the vehicle body length, and the vehicle body width. Specific information corresponding to the weight and the like is stored.

“Operation control” indicates a control method of the mobile unit 100. For example, when the driving control includes “automatic driving”, it indicates that the moving body 100 is an autonomous moving body that realizes automatic driving using map information and various sensors.

That is, in the example shown in FIG. 7, the moving body 100 used by the user whose registered user ID is “U11” has vehicle type and vehicle body information of “A11” and driving control of “automatic driving or manual driving”. Is shown.

The user map storage unit 123 stores information about the user map provided by the information processing apparatus 200.

FIG. 8 shows an example of the user map storage unit 123 according to the first embodiment. FIG. 8 is a diagram illustrating an example of the user map storage unit 123 according to the first embodiment of the present disclosure. In the example shown in FIG. 8, the user map storage unit 123 stores items such as “user map ID”, “map and route information”, “provision date/time”, “use period”, “use restriction information”, and “movement log”. Have.

“User map ID” indicates identification information for identifying the user map. The “map and route information” is map information included in the user map, and includes image data indicating the topography and the layout of buildings, meta information such as position information (longitude, latitude, etc.) corresponding to each area, and The route and the like to the destination determined by the information processing device 200 are shown. In FIG. 8, the map and the route information are shown by a concept such as “C11”, but in reality, such items include specific image data to be displayed on the display as a map and a positional relationship such as topography. Specific information such as meta information indicating the is stored.

“Provision date and time” indicates the date and time when the user map is provided to the user from the information processing device 200. The “use period” indicates a period when the user can use the user map. “Usage restriction information” indicates information related to usage restrictions other than the expiration date. In FIG. 8, the usage restriction information is shown by a concept such as “D11”, but in reality, the number of times the user can refer to the user map (the number of times of use) and the discard of the user map are included in such items. Specific information such as conditions (discarding at the time of leaving the private land) and information indicating a masked area of the private land is stored.

“Movement log” indicates a log moved by the user (moving object 100) in the area corresponding to the user map. In FIG. 8, the movement log is shown by a concept such as “E11”, but in reality, such items include the actual route that the user has traveled on the private land, the number of times the user has changed direction, and Specific information such as the distance traveled, the time spent in a certain area, the number of times of approaching other vehicles, and the like are stored.

That is, in the example shown in FIG. 8, the user map with the user map ID “B11” includes “C11” as the map and route information, and the date and time provided by the information processing apparatus 200 is “October 1, 2018. It is indicated that it is "10 o'clock day". Further, the user map indicates that the usage deadline is “12:00 on October 1, 2018” and the usage restriction information is “D11”. In addition, it is indicated that the movement log moved by the user using the user map is “E11”.

Return to Figure 5 and continue the explanation. In the control unit 130, for example, a program (for example, a mobile body control program according to the present disclosure) stored in the mobile body 100 by a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or the like is a RAM (Random Access Memory). ) Etc. are executed as a work area. The control unit 130 is a controller and may be realized by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

As shown in FIG. 5, the control unit 130 includes a transmission unit 131, a reception unit 132, and a movement control unit 133, and realizes or executes the information processing functions and actions described below. The internal configuration of the control unit 130 is not limited to the configuration shown in FIG. 5, and may be any other configuration as long as it is a configuration for performing information processing described later.

The transmitting unit 131 transmits various kinds of information. For example, the transmission unit 131 transmits a registration request as a user who uses private land to the information processing apparatus 200. For example, the transmission unit 131 transmits a registration request to the information processing apparatus 200 before the user visits the private land according to the operation of the user.

At this time, the transmitting unit 131 may refer to the user information storage unit 121, for example, and transmit the attribute information (type, etc.) of the user, the vehicle type and body information of the moving body 100, etc. to the information processing apparatus 200. Further, the transmission unit 131 may transmit, to the information processing apparatus 200, the visit information in which the scheduled date and time of the user's visit and the destination are set according to the input from the user.

The transmitting unit 131 also transmits a request to enter the private land when the mobile unit 100 enters the private land. Specifically, the transmission unit 131 transmits a request to enter the private land at a predetermined timing before the user visits the private land. For example, when the mobile unit 100 approaches the gate 22 that separates the private land from the public road, the transmission unit 131 responds to a control signal or the like issued from the gate 22 and transmits a request to enter the private land to the information processing apparatus 200. To do. The request to enter the private land may be transmitted in any form. For example, when the gate 22 itself has a function of communicating with the information processing apparatus 200, the transmission unit 131 may transmit a request for entering the private land to the information processing apparatus 200 via the gate 22. Further, the transmitting unit 131 may transmit a request for entering the private land in advance before reaching the vicinity of the private land.

The transmitting unit 131 transmits identification information for identifying a user to the information processing apparatus 200 together with a request for entering a private land. The information processing apparatus 200 can authenticate the user who is going to enter the private land by collating the transmitted identification information with the information registered in advance.

Note that the transmission unit 131 may transmit attribute information of the user requesting the entrance or information regarding the moving body 100 to enter together with the request for entering the private land. For example, the transmission unit 131 transmits the changed information to the information processing apparatus 200 when the vehicle type of the mobile unit 100 has been changed since the registration or when the user attribute information has been changed since the registration. As a result, the information processing apparatus 200 can specify an empty space in the parking lot in accordance with the user's attribute or specify an approach route that matches the user's vehicle type in the user map transmitted to the mobile object 100. it can.

Also, the transmission unit 131 may transmit a request for a user map together with the identification information. As described above, generally, private land does not have publicly available map information. Therefore, it becomes difficult for the user to move within the private land, especially when the moving body 100 is controlled by automatic driving. Therefore, the transmission unit 131 requests the information processing apparatus 200 for a user map so that the movement of the moving body 100 within the private land does not occur.

Note that the transmission unit 131 may receive input of user information from the user in advance, or input of vehicle type and body information. The transmission unit 131 stores the received information in the user information storage unit 121 and the vehicle information storage unit 122.

The receiving unit 132 receives various kinds of information. For example, the receiving unit 132 is a user map that is map information of private land from the information processing apparatus 200 that responds to the request transmitted by the transmitting unit 131, and is map information corresponding to the user identification information transmitted by the transmitting unit 131. To receive.

As described above, the user map includes various meta information as well as coordinates and images (so-called map information) indicating a private land area. For example, the receiving unit 132 receives a route to enter or leave a private land, or a user map including information about a traffic rule in the private land. Specifically, the receiving unit 132 receives a user map including meta information such as the route 23, the route 24, and the area 26 indicating the parking position illustrated in FIG. 2. Although FIG. 2 shows an example in which the route 23 and the route 24 are displayed in the user map 20, the route 23 and the route 24 do not necessarily have to be displayed in the user map 20. That is, the route 23, the route 24, and the like are internal information used only for automatic driving or the like, and may be information that cannot be browsed by the user.

Also, the receiving unit 132 may receive a user map including information indicating an area where the mobile body 100 can park on the private land. For example, the receiving unit 132 receives a user map including information indicating areas in which the mobile body 100 such as an automobile can park, such as the

areas

27 and 28 illustrated in FIG. 2. In addition, the receiving unit 132 may receive, together with the information indicating the parking available area, meta information that specifies which size and type of vehicle can be parked in which parking frame. Thereby, the mobile body 100 can perform the parking according to the intention of the administrator when the vehicle is parked by the automatic driving.

Also, the receiving unit 132 may receive, as meta information, a user map including position information (for example, latitude, longitude, altitude, etc.) of reference points set in advance by a manager of a private land.

The receiving unit 132 may also receive information indicating the format of the user map. As described above, since the user map is arbitrarily generated by the administrator of the private land, the format may not conform to the public road map information. In this case, the receiving unit 132 appropriately performs a conversion process according to the data format or the like in advance to appropriately perform the automatic operation of the mobile body 100 or display the map on the display. be able to.

The movement control unit 133 controls the movement of the moving body 100. The movement control unit 133 controls the movement of the mobile body 100 based on the user map received by the reception unit 132. The movement control unit 133 includes a route search unit 134, a driving execution unit 135, a display unit 136, and a movement log acquisition unit 137.

The route search unit 134 searches for a route along which the mobile body 100 travels. For example, the route search unit 134 searches for a route along which the mobile body 100 travels, based on the user map received by the reception unit 132.

For example, when the route specified by the information processing device 200 is set on the user map, the route search unit 134 sets the route as the route on which the mobile body 100 travels. Further, when the route specified by the information processing device 200 is not set in the user map, the route search unit 134 complies with the traffic rules set in the user map and reaches the destination in the shortest time. Explore the route. Note that various known techniques may be used for the route search processing.

The operation execution unit 135 controls the movement of the moving body 100. For example, the driving execution unit 135 controls the moving body 100 to travel the route searched by the route searching unit 134 according to a known automatic driving control technique.

The display unit 136 displays a user map and a route on which the mobile body 100 travels on a display or the like. Further, the display unit 136 may display another vehicle, an obstacle, or the like on the display via a sensor such as a camera attached to the exterior of the moving body 100. The user may perform control such as causing the moving body 100 to take an avoidance action based on the content displayed by the display unit 136.

The movement log acquisition unit 137 stores information on the movement of the mobile unit 100 on the private land corresponding to the user map. For example, the movement log acquisition unit 137 may acquire the movement log by writing the route that the user actually moved on the user map. The movement log acquisition unit 137 may also acquire the transition of the position information of the moving body 100 as a movement log.

Further, the movement log acquisition unit 137 may acquire the difference between the route specified by the information processing device 200 and the route on which the mobile body 100 actually travels. As a result, the information processing apparatus 200 can learn that the designated route is dangerous and that a route that is more efficient than the designated route exists. Note that the information processing apparatus 200 performs processing such as notifying the mobile body 100 of a warning when the difference between the route specified by the information processing apparatus 200 and the route actually traveled by the mobile body 100 exceeds a predetermined threshold value. You can go.

[1-4. Configuration of Information Processing Device According to First Embodiment]
Next, the configuration of the information processing device 200 will be described. As shown in FIG. 5, the information processing device 200 includes a communication unit 210, a storage unit 220, and a control unit 230. The information processing apparatus 200 includes an input unit (for example, a keyboard and a mouse) that receives various operations from an administrator who uses the information processing apparatus 200, and a display unit (for example, a liquid crystal display, etc.) for displaying various information. ) May be included.

The communication unit 210 is realized by, for example, a NIC or the like. The communication unit 210 is connected to the network N by wire or wirelessly, and transmits/receives information to/from the mobile body 100 and the like via the network N.

The storage unit 220 is realized by, for example, a semiconductor memory device such as a RAM or a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 220 includes a map information storage unit 221, a registered user storage unit 222, and a visit history storage unit 223.

The map information storage unit 221 stores map information corresponding to private land. For example, the map information storage unit 221 stores map information including the topography of a private land created by an administrator who manages the private land, traffic rules set for the topography, and the like.

FIG. 9 shows an example of the map information storage unit 221 according to the first embodiment. FIG. 9 is a diagram illustrating an example of the map information storage unit 221 according to the first embodiment of the present disclosure. In the example shown in FIG. 9, the map information storage unit 221 has items such as “private land map information ID”, “map information”, “route information”, “use restriction setting”, and “dynamic information”.

“Private land map information ID” indicates identification information for identifying map information corresponding to a private land. The “map information” indicates information on the size, topography, division, building, etc. of private land. The map information may be image data showing an area in the private land. Further, the map information may include various meta information such as an approach point and an approach route from the public road to the private land, and absolute position information corresponding to the private land.

“Route information” indicates information for creating a route for traveling on private land. For example, the route information is one-way rules in private land, information in which a route from a gate to a predetermined destination is specifically set, and the like.

“Use restriction setting” indicates information on the use restriction set in the private land map information. For example, the usage restriction setting includes a setting of the period and the number of times the user can use the user map generated based on the private land map information, and a setting of limiting the usable area. The information on the restrictions on the usable areas includes the range and conditions for masking the information on private land.

"Dynamic information" indicates dynamic information within the private land. The dynamic information is, for example, information indicating a passage or an area where many people pass through the private land depending on a time zone, information indicating a section which cannot be temporarily passed due to construction work, or the like.

Note that in the example of FIG. 9, the information of each item is conceptually shown as “G01”, but in reality, these items store specific information corresponding to each item.

That is, in the example shown in FIG. 9, the private land map information whose private land map information ID is "MP01" includes "G01" as the map information, "H01" as the route information, and "J01" as the usage restriction setting. Is included, indicating that “K01” is included as dynamic information.

The registered user storage unit 222 stores information about the user registered in the information processing device 200 as a user who visits a private land.

FIG. 10 shows an example of the registered user storage unit 222 according to the first embodiment. FIG. 10 is a diagram illustrating an example of the registered user storage unit 222 according to the first embodiment of the present disclosure. In the example shown in FIG. 10, the registered user storage unit 222 stores “registered user ID”, “user type”, “user name”, “vehicle type and vehicle body information”, “registration date/time”, “visit information ID”, and “visit information ID”. It has items such as "scheduled visit date", "visit destination", "approval", and "reliability".

Each item of “registered user ID”, “user type”, “vehicle type and body information”, “visit information ID”, and “scheduled visit date/time” corresponds to the same item shown in FIG. 6 or 7.

"User name" indicates the name of the registered user. When the registered user is a delivery company, etc., the user name may be the name of the company.

“Registration date and time” indicates the date and time when the user was registered in the information processing device 200. “Visiting destination” indicates the name or identification information of the visiting destination. In the embodiment, the “visit destination” is indicated by the “user name”.

“Approval” indicates whether or not the information processing apparatus 200 has officially approved the user or visit information. When "approval" is "completed", it indicates that the user or visit information has been approved and is considered to be official. When "approval" is "not yet", it indicates a state (waiting for approval) in which the user or the visit information has not been approved and is not regarded as official by the information processing device 200 or the manager of the private property.

"Reliability" indicates the reliability of the registered user. For example, the reliability is determined according to whether or not the registered user is the owner, the frequency and time of visit of the user, the behavior at the time of visit, and the like. For example, the information processing apparatus 200 may allow a highly reliable user to browse a user map for a relatively long time, specify a route that reaches a destination earlier, or the like. Good.

That is, in the example shown in FIG. 10, the user having the registered user ID “U01” has the user type “owner” and the user name “L01”. Further, the vehicle type and body information of the mobile unit 100 used by the user is “B01”, the registration date and time is “April 1, 2015 10:00”, the registration is “approved”, and the reliability is It shows that it is “100”.

Further, in another example, a user whose registered user ID is “U02” has a user type of “friend” and a user name of “L02”. The vehicle type and vehicle body information of the mobile unit 100 used by the user is “B02”, and the registration date and time is “April 1, 2016 10:00”. Further, the user has registered the visit information identified by the visit information ID “R13”, the scheduled visit date and time is “October 4, 2018 13:00”, and the visit destination is “L01”. , Indicates that the registration is “approved”. Further, it indicates that the reliability of the user is “90”.

The visit history storage unit 223 stores the movement log of the user who has visited, the contents in which the map information is updated based on the movement log, and the like.

FIG. 11 shows an example of the visit history storage unit 223 according to the first embodiment. FIG. 11 is a diagram illustrating an example of the visit history storage unit 223 according to the first embodiment of the present disclosure. In the example illustrated in FIG. 11, the visit history storage unit 223 stores “visit information ID”, “usage status”, “usage end date/time”, “registered user ID”, “movement log”, “evaluation”, and “map update”. It has an item such as "information".

Each item of “visit information ID”, “registered user ID”, and “migration log” corresponds to the same item shown in FIGS. 8 and 10.

"Usage status" indicates the status of planned visits registered as the visit information. Specifically, when the user who has registered the visit information has completed the visit and the visit information has been completed, “Done” is stored in the “Usage status” item. The completion of the visit information may be when the expiration date of the user map has passed, when the user deleted the user map, or when the user left the private land. May be If the user who has registered the visit information is visiting and the user map continues to be provided to the user, “in use” is stored in the “usage status” item.

“Usage end date and time” indicates the date and time when the use of the user map is finished. “Evaluation” indicates information obtained by evaluating the registered user from the contents of the visit information and the movement log. In FIG. 11, the evaluation is shown by a concept such as “M05”, but in reality, such items include the distance and time that the user has traveled along the designated route, the distance deviated from the designated route, and the like. Specific information such as time, staying time, moving speed, and the like, which is quantified as the behavior of the user on the private land, is stored. For example, the information stored in the evaluation item is used to calculate the reliability of the registered user.

”Map update information” indicates the information that updates the map information from the contents of visit information and movement log. In FIG. 11, the map update information is shown by a concept such as “N05”, but actually, in such an item, a location where the user has stopped moving (for example, a location where an obstacle cannot move). Specific information such as information indicating that the vehicle is to be deleted from the designated route, and changes to traffic rules that are supposed to allow more efficient movement (for example, changing the speed limit on a predetermined passage) are stored. ..

That is, in the example shown in FIG. 11, the visit information having the visit information ID “R01” has already been used (visited), and its use end date and time is “12:00 on September 30, 2018”. It shows that there is. The registered user of the visit information having the visit information ID “R01” is the user identified by “U05”, the movement log is “E05”, the evaluation is “M05”, and the visit information depends on the visit information. It indicates that the map update information is “N05”.

Return to Figure 5 and continue the explanation. The control unit 230 is realized by, for example, a CPU, an MPU, or the like executing a program (for example, an information processing program according to the present disclosure) stored in the information processing apparatus 200 as a work area. The control unit 230 is a controller, and may be realized by an integrated circuit such as ASIC or FPGA.

As illustrated in FIG. 5, the control unit 230 includes a registration unit 231, an acquisition unit 232, a determination unit 233, a generation unit 234, a providing unit 235, and a learning unit 236, and information described below. Realize or execute processing functions and actions. The internal configuration of the control unit 230 is not limited to the configuration shown in FIG. 5, and may be another configuration as long as it is a configuration for performing information processing described later.

The registration unit 231 registers a user who visits a private property and visit information. For example, the registration unit 231 acquires information about a user who plans to visit a private property and registers the information in the database. With this, the manager of the private land can confirm the information of the user who visits the private land in advance, so that it is possible to prevent a suspicious person from unexpectedly visiting the private land.

For example, the registration unit 231 registers the user as a registered user having “owner” authority at the timing when the user owns the private property. Further, the registration unit 231 registers a friend or acquaintance as a registered user in response to a registration request from a friend or acquaintance, a registration request from the owner, or the like for the owner's friend or acquaintance.

Further, the registration unit 231 accepts a registration request for a business operator who visits a private land to perform a job, based on a predetermined procedure (for example, a registration form on a website) via the network N. In this case, the registration unit 231 determines whether to register the trader as a registered user after authentication of the owner of the private land, the manager of the private land, and the like.

The flow of registration processing executed by the registration unit 231 will be described with reference to FIGS. 12 and 13. FIG. 12 is a sequence diagram (1) showing the flow of registration processing according to the first embodiment of the present disclosure. FIG. 12 illustrates an example in which the prospective visitor is an acquaintance of the owner, and transmits a registration request to the information processing device 200 via the owner.

In the example of FIG. 12, the prospective visitor requests the owner to register (step S21). Specifically, the prospective visitor requests the owner to register himself/herself in the information processing device 200 as a registered user.

The owner registers the user information of the prospective visitor and the visit information including the visit date and time, the destination, etc. in the information processing device 200 via a predetermined registration form or the like (step S22).

The information processing device 200 refers to the information registered by the owner and determines whether the prospective visitor is a user who has already been issued with the registered user ID. If the prospective visitor is a user who has not been issued with the registered user ID, the information processing apparatus 200 issues a new ID to the prospective visitor, associates the ID with the visit information, and stores the registered user. The visit information is registered in the section 222. Further, if the prospective visitor is a user who has been issued the registered user ID, the information processing apparatus 200 uses the existing ID to register the visit information of the prospective visitor in the registered user storage unit 222 ( Step S23).

Note that in the example of FIG. 12, the information processing apparatus 200 determines that the prospective visitor is a reliable user because the owner itself requests the registration. In this case, the information processing device 200 approves the prospective visitor and the visit information transmitted via the owner.

Subsequently, the information processing apparatus 200 returns the approved visit registration ID to the owner (step S24). The owner transmits the approved visit registration ID to the prospective visitor (step S25). That is, the owner notifies the prospective visitor that the visit has been approved. As will be described later, the prospective visitor can be provided with the user map by transmitting the transmitted visit information ID (and registered user ID) to the information processing device 200 at the time of visit.

Next, an example in which the prospective visitor himself requests the information processing apparatus 200 for registration will be described with reference to FIG. FIG. 13 is a sequence diagram (2) showing the flow of registration processing according to the first embodiment of the present disclosure. For example, FIG. 13 shows an example in which the prospective visitor is a delivery company that delivers packages to the owner.

In the example of FIG. 13, the prospective visitor requests the information processing apparatus 200 to register the prospective visit with the owner's house, which is the delivery destination of the package, as the destination (step S31). Specifically, the prospective visitor transmits to the information processing apparatus 200 a request for registration of visitation information including a destination, a scheduled visit date and time, and the like.

The information processing device 200 refers to the registration request and determines whether the prospective visitor is a user who has already been issued with the registered user ID. If the prospective visitor is a user who has not been issued with the registered user ID, the information processing apparatus 200 issues a new ID to the prospective visitor, associates the ID with the visit information, and stores the registered user. The visit information is registered in the section 222. Further, if the prospective visitor is a user who has been issued the registered user ID, the information processing apparatus 200 uses the existing ID to register the visit information of the prospective visitor in the registered user storage unit 222 ( Step S32).

Note that, in the example of FIG. 13, the information processing apparatus 200 further determines whether or not the prospective visitor is a reliable user, because the prospective visitor itself is a registration request. For example, the information processing apparatus 200 notifies the owner registered as the visit destination of the request to approve the prospective visitor or the visit information (step S33). For example, the information processing apparatus 200 presents the name of the prospective visitor and the visit date and time, and if the prospective visitor is reliable, notifies the owner that the approval of the visit is requested.

If the owner determines that there is no problem with the prospective visitor or the visit information, the owner approves the visit information. Then, the owner replies to the information processing apparatus 200 that the visit information has been approved (step S34).

The information processing device 200 approves the visit information when the owner replies that the visit information is approved (step S35). If there is no response from the owner that the visit information has been approved, the information processing apparatus 200 may reply to the prospective visitor that the visit information has not been approved.

After that, the information processing apparatus 200 transmits the visit information ID corresponding to the approved visit information to the prospective visitor (step S36). This completes the registration of the visit information.

The acquisition unit 232 acquires various information. For example, the acquisition unit 232 acquires the map information corresponding to the private land based on the information input by the administrator of the private land. The acquisition unit 232 stores the acquired map information in the map information storage unit 221.

Further, the acquisition unit 232 acquires information regarding a registered user who is a user registered in advance on the information processing apparatus 200 side when a user who is a planned visitor visits a private land.

As the information regarding the registered user, the acquisition unit 232 identifies, for example, identification information for identifying the user and visit information registered in advance on the information processing apparatus 200 side and indicating visit to the destination included in the map information. To obtain the identification information. Specifically, the acquisition unit 232 acquires a user registration ID that indicates a user who has visited, and a visit information ID that identifies visit information.

The acquisition unit 232 may also acquire, as the information regarding the registered user, information indicating the relationship between the registered user and the private land included in the map information. The information indicating the relationship with the private land is, for example, that the user is the "owner" of the private land or "friend (of the owner of the private land)" among the information indicating the attributes of the user, It is information indicating that it is a "delivery company (delivering parcels to owners of private land)" and the like. For example, the acquisition unit 232 acquires identification information such as a user registration ID from the user when the user visits a private land. Then, the acquisition unit 232 refers to the registered user storage unit 222 and acquires the “information indicating the relationship with the private land” associated with the identification information. That is, the "information indicating the relationship with the private land" is, for example, information stored in the item "user type" shown in FIG.

The acquisition unit 232 may also acquire the reliability of the registered user as the information regarding the registered user. For example, the acquisition unit 232 acquires identification information such as a user registration ID from the user when the user visits a private land. The acquisition unit 232 then refers to the registered user storage unit 222 and acquires the “reliability” associated with the identification information. The determination unit 233 described below may determine the aspect of the user map based on the reliability as well as the user type.

Further, the acquisition unit 232 may acquire, as the information regarding the registered user, information regarding the vehicle type or the vehicle body of the moving body on which the registered user rides. For example, the acquisition unit 232 acquires identification information such as a user registration ID from the user when the user visits a private land. Then, the acquisition unit 232 refers to the registered user storage unit 222 and acquires the “vehicle type and vehicle body information” associated with the identification information. With this, the acquisition unit 232 can reflect the vehicle type and the vehicle body information in the form of the user map, and thus can provide the user map including the route optimized for the vehicle type and the vehicle body.

Note that the acquisition unit 232 may acquire information indicating what kind of object the mobile body 100 is when the mobile body 100 is not a car. Specifically, the acquisition unit 232 may acquire, as the information regarding the registered user, information regarding the registered user who has at least one of an automobile, a motorcycle, a robot, and a drone as the moving body 100. Thereby, the determination unit 233, which will be described later, can determine a route or a destination suitable for the type of the mobile unit 100.

In addition, the acquisition unit 232 may acquire information about the registered user, triggered by a request from the registered user who uses the moving object 100 or when the moving object 100 is located at a predetermined specific position. .. For example, the acquisition unit 232 may acquire the identification information and the like from the user at a predetermined timing prior to the visit (for example, one hour before the scheduled visit date and time). In addition, the acquisition unit 232 receives the identification information from the user when the moving body 100 is located at a predetermined specific position (for example, when the moving body 100 reaches a gate serving as a boundary between a public road and a private land). You may get it.

The flow of the acquisition process executed by the acquisition unit 232 will be described with reference to FIG. FIG. 14 is a flowchart showing the flow of the acquisition process according to the first embodiment of the present disclosure. FIG. 14 shows a flow in which the acquisition unit 232 acquires the identification information from the user who has visited and collates the identification information with the registered information.

First, the acquisition unit 232 acquires a user registration ID and a visit information ID from a user who has visited a private property (step S41). Then, the acquisition unit 232 collates each acquired identification information with the information registered in advance (step S42). Specifically, the acquisition unit 232 determines whether or not each acquired identification information matches any of the registered user IDs registered in the registered user storage unit 222 and the visit information ID.

Based on the collation result, the acquisition unit 232 determines whether the acquired information is valid (step S43). For example, the acquisition unit 232 determines that the information acquired from the user is valid when any of the information registered in advance and the acquired identification information match. When the acquisition unit 232 determines that the acquired information is valid (step S43; Yes), the acquisition unit 232 refers to the registered user storage unit 222 based on the matching identification information, and acquires information about the registered user registered in advance. Read out (step S44).

Subsequently, the acquisition unit 232 issues a private land driving permission to the user who has transmitted the identification information in step S41 (step S45). The private land driving permission means, for example, that the user is allowed to enter the private land. For example, when the acquisition unit 232 issues a driving permit for private land, the acquisition unit 232 executes processing such as opening a gate to the private land.

If the acquisition unit 232 determines that the information acquired in step S41 is not valid (step S43; No), the acquisition unit 232 does not issue a private land driving permission to the user (step S46). In this case, the acquisition unit 232 notifies the user that the identification information is not valid, that the visit information has not been registered in advance, or the like.

Also, the acquisition unit 232 may acquire various information from the user even after the user enters the private land. For example, the acquisition unit 232 may acquire information regarding the movement of the mobile body 100 within the area corresponding to the user map from the registered user who is provided with the user map. That is, the acquisition unit 232 acquires the movement log of the user on the private land. The acquisition unit 232 stores the acquired movement log in the visit history storage unit 223. The learning unit 236 described later can perform a predetermined learning process such as updating the map information using the movement log acquired by the acquisition unit 232.

Note that the acquisition unit 232 may acquire the movement log of the user's movement log acquired while the moving body 100 is moving, or may acquire the movement log using the function of the own device. For example, the acquisition unit 232 detects the movement of each vehicle or person traveling in the private land using various sensors installed in the private land. In addition, the acquisition unit 232 may detect information such as whether or not the vehicle is parked in the parking space and information regarding the vehicle passing through the private land in real time. Then, the acquisition unit 232 may acquire the movement log of the visiting user based on the detected information. Alternatively, the acquisition unit 232 determines the movement of the mobile body 100 based on a satellite positioning system such as a GPS (Global Positioning System) positioning function mounted on the mobile body 100 or a GNSS signal from a GNSS (Global Navigation Satellite System) satellite. The movement log may be acquired by tracking.

The determination unit 233 determines the form of the user map, which is the map information provided to the registered user, based on the information about the registered user acquired by the acquisition unit 232.

For example, the determination unit 233 determines the usage deadline or usage restriction of the user map based on the information about the registered user. Thereby, the determination unit 233 can determine the mode of the user map optimized for each registered user.

Specifically, the determination unit 233 determines a route that can be used by the registered user on the user map, based on the information regarding the vehicle type or the vehicle body of the moving body 100 on which the registered user rides. For example, the determination unit 233 determines the route specified to the user on the user map based on whether or not the vehicle body of the moving body 100 can pass on the road in the private land, or based on a determination criterion such as ease of movement. judge. For example, the determination unit 233 may specify, for the moving body 100 having a relatively large vehicle body, a route that passes through a relatively wide road among the privately owned roads.

In addition, the determination unit 233 sets the position at which the moving body 100 is parked based on whether the moving body 100 can be parked (whether the width and length of the vehicle body match the size of the parking position). However, a route that leads to the set parking position may be determined.

The determination unit 233 may also determine the expiration date or the usage restriction of the user map based on the information indicating the relationship between the registered user and the private property or the reliability of the registered user. Thereby, the determination unit 233 can appropriately provide the user map according to the user type, the user's reliability, and the like.

For example, the determination unit 233 determines the period or number of times that the registered user can use the user map as the use period. As an example, the determination unit 233 provides a registered user whose user type is “owner” with a user map that has no expiration date or number of restrictions. Further, the determination unit 233 determines that the registered user whose user type is “friend” has a certain degree of reliability, and sets the expiration date for a relatively long period (for example, 2 days or 3 days). Set in user map. In this case, the registered user can move within the private land based on the user map held in the moving object 100 without receiving the user map each time the user enters the private land.

On the other hand, the determination unit 233 relatively short time (for example, 2 hours) for a registered user whose user type is such as “delivery company” or “taxi company” who is apparently visiting a private land temporarily. Set the expiration date on the user map. As a result, the determination unit 233 can limit the use of the user map to the registered user who has little relation to the private land for a short time, and thus can ensure security. In addition, the determination unit 233 may set the use of the provided user map to “once” as a mode of the user map for the registered user who is apparently visiting the private land temporarily. Good. That is, the determination unit 233 makes settings so that the registered user cannot use the user map again to perform automatic driving or browse the user map when the user who has visited the private land exits. Accordingly, the determination unit 233 can prevent the situation where the user map is brought out when the registered user with low reliability leaves the private land.

Note that the determination unit 233 may determine the period or the number of times the user map can be used according to the reliability of the registered user, not limited to the user type. For example, the determination unit 233 may set a long expiration date or set a large number of times of use, assuming that the registered user whose reliability exceeds a predetermined threshold has a certain degree of reliability.

Further, the determination unit 233 may determine an area of the user map that can be viewed or run by the registered user, as a use restriction of the user map. As an example, the determination unit 233 determines that all areas of the private land are browseable or drivable areas as a mode of the user map for the registered user whose user type is “owner”. As a result, the owner can travel in any area on the private land as long as it complies with the traffic rules.

Further, the determination unit 233 determines that the registered user whose user type is “friend” has a certain degree of reliability, and browses the vicinity of the owner's home or the like as a mode of the user map. It may be determined to be a travelable area. On the other hand, the determination unit 233 may determine that the user cannot browse or run in the residence of the owner unrelated to the user, in the vicinity of the facility shared by the owner, or the like. In this case, the determination unit 233 can prevent the information of the area from leaking by masking the information of the area or not designating it as the route.

The determination unit 233 also browses or registers areas other than the specific destination even for registered users whose user types such as “delivery company” and “taxi company” who are likely to visit private land temporarily. It may be determined that the region is not run. Accordingly, the determination unit 233 can appropriately protect security and privacy even when a registered user with low reliability visits a private land.

The determination unit 233 may also determine the route to be specified for the registered user according to the date and time when the registered user visits the private land or the date and time when the registered user uses the user map. For example, the determination unit 233 refers to the dynamic information stored in the map information storage unit 221, and recognizes that a child frequently comes and goes at a certain time zone on a certain road in the private land. In this case, the determination unit 233 may specify, for the user who travels in the specific time zone, a route that does not travel the road on which the child frequently travels. Alternatively, the determination unit 233 may appropriately change the route specified to the user in accordance with the day of the week when it is observed that the flow of people is different between holidays and weekdays based on the dynamic information. ..

Further, when the acquisition unit 232 acquires the movement log of the mobile unit 100, the determination unit 233, based on the information regarding the movement of the mobile unit 100 within the area corresponding to the user map, a new user map mode. May be determined. For example, when the moving log or the like indicating that the moving body 100 provided with the user map could not smoothly move on the designated route is acquired, the determination unit 233 provides the user to the next user. As a map mode, a route different from the route may be designated.

The generation unit 234 generates a user map, which is map information provided to registered users, based on the mode determined by the determination unit 233. Specifically, the generation unit 234 generates the user map to be provided to the registered user according to the user map mode (user map setting information) determined by the determination unit 233. The data format of the user map may be any format as long as it is common with known map data or the like that can be read by the mobile unit 100.

The providing unit 235 provides the registered user with the user map generated by the generating unit 234. Specifically, the providing unit 235 provides the registered user for whom the passage permission of the private land has been issued with the user map set according to the registered user. For example, the providing unit 235 transmits the generated user map data to the mobile body 100 via the network N.

Also, the providing unit 235 may notify the registered user when the registered user who has provided the user map does not move appropriately. For example, the providing unit 235 notifies the registered user of a warning based on the information about the movement of the moving body 100 within the area corresponding to the user map and the route or the destination set on the user map.

Specifically, the providing unit 235 refers to the movement log, and when the registered user is moving a route different from the route set in the user map, or when the registered user stops at a different destination, the registered user To notify the warning. Further, the providing unit 235 may notify the owner, which is the destination (visit), that the registered user is off the route or is heading to a different destination. As a result, the owner of the visited destination can contact the registered user himself to inform him of the correct destination or guide him to the correct route.

The learning unit 236 performs a learning process such as updating map information or updating registered user information based on the registered user movement log.

For example, the learning unit 236 updates the map information such that the road is set to be impassable when the impassable road or the like is found based on the movement log.

Further, the learning unit 236 evaluates the registered user based on the movement log of the user, and reflects the evaluated value in the information of the registered user. For example, the learning unit 236 identifies the registered user based on criteria such as whether the registered user has moved according to the designated route, the number and frequency of visits by the registered user, and whether the registered user has visited according to the scheduled scheduled date and time. evaluate. Then, the learning unit 236 reflects the evaluated value on the reliability of the registered user.

The flow of the above-described user map mode determination processing and generation processing will be described with reference to FIGS. 15 to 21.

First, the outline of the flow until the user map is provided to the registered user will be described with reference to FIG. FIG. 15 is a flowchart showing the flow of the providing process according to the first embodiment of the present disclosure.

The acquisition unit 232 refers to the registered user storage unit 222 based on the identification information acquired from the visiting user, and acquires information about the visitor (user) (step S51). The acquisition unit 232 does not necessarily acquire the information from the registered user storage unit 222, but may acquire the information from the visiting user. Specifically, the acquisition unit 232 may acquire the information about the vehicle type and the vehicle body from the user together with the identification information when the information about the vehicle type and the vehicle body when the user visits the private land is not registered in advance. ..

Subsequently, the acquisition unit 232 determines information regarding the destination (visit) of the user (step S52). Further, the acquisition unit 232 determines the operation control method of the moving body 100 on which the user gets on (step S53).

Then, the determination unit 233 determines the mode of the user map provided to the registered user based on the determined various setting information (step S54). Subsequently, the generation unit 234 generates a user map to be provided to the registered user (step S55). After that, the providing unit 235 provides the generated user map to the registered user (step S56).

Next, the detailed flow of the determination processing in steps S52 to S54 will be described with reference to FIGS. FIG. 16 is a flowchart (1) showing the flow of the determination process according to the first embodiment of the present disclosure. Specifically, FIG. 16 illustrates an example in which the determination unit 233 determines a detailed destination on the user map.

First, the determination unit 233 reads out the registration information registered in the registered user storage unit 222 (step S61). The determination unit 233 specifies the visit destination of the registered user based on the read information (step S62).

Further, the determination unit 233 identifies the user type of the registered user (step S63). First, the determination unit 233 determines whether the user type is "owner" (step S64). When the user type is “owner” (step S64; Yes), the determination unit 233 outputs the owner parking position (for example, corresponding to the area 26 in FIG. 2) as the destination (step S65).

On the other hand, when the user type is not “owner” (step S64; No), the determination unit 233 determines whether the user type is “friend etc.” (step S66). When the user type is "friends or the like" (step S66; Yes), the determination unit 233 outputs the customer parking position (for example, corresponding to the area 28 in FIG. 2) as the destination (step S67).

On the other hand, when the user type is not "friends or the like", that is, when the user is "non-friend" (step S66; No), the determination unit 233 outputs the temporary parking position (corresponding to, for example, the area 27 in FIG. 2) as the destination. Yes (step S68).

The determination unit 233 outputs the setting information of the destination in the form of the user map provided to the user obtained by the above process (step S69).

Next, an example of a process in which the determination unit 233 determines information regarding the movement of the mobile unit 100 will be described with reference to FIG. FIG. 17 is a flowchart (2) showing the flow of the determination process according to the first embodiment of the present disclosure.

The determination unit 233 reads out the registration information registered in the registered user storage unit 222 (step S81). The determination unit 233 identifies the operation control method of the moving body 100 on which the registered user gets on the basis of the read information (step S82). For example, the determination unit 233 identifies whether the moving body 100 is controlled by automatic driving or manual driving.

Further, the determination unit 233 identifies the vehicle type and body information of the moving body 100 (step S83). The determination unit 233 sets a travelable area and a route suitable for the driving control method, the vehicle type, and the vehicle body based on the identified information (step S84).

The determination unit 233 outputs the setting information in which the drivable area and the route are set in the form of the user map provided to the user obtained by the above process (step S85).

Next, an example of the process in which the determination unit 233 determines information regarding the usage restriction of the user map and the like will be described with reference to FIG. FIG. 18 is a flowchart (3) showing the flow of determination processing according to the first embodiment of the present disclosure.

The determination unit 233 reads out the registration information registered in the registered user storage unit 222 (step S91). The determination unit 233 identifies the user type of the registered user based on the read information (step S92).

First, the determination unit 233 determines whether the user type is "owner" (step S93). When the user type is "owner" (step S93; Yes), the determination unit 233 does not set the expiration date on the user map (step S94).

On the other hand, when the user type is not “owner” (step S93; No), the determination unit 233 determines whether the user type is “friend etc.” (step S95). When the user type is "friends and the like" (step S95; Yes), the determination unit 233 sets a predetermined usage period (for example, two days) on the user map (step S96).

On the other hand, when the user type is not "friends or the like" (step S95; No), the determination unit 233 determines that the user has a predetermined expiration date (for example, 2 hours) or the number of times of use (only once). Etc.) are set in the user map (step S97).

Further, the determination unit 233 determines whether the user type is “delivery company” (step S98). When the user type is “delivery company” (step S98; Yes), the determination unit 233 sets a delivery route (for example, a route that uses a temporary stop position near home) in addition to the setting of the expiration date. Yes (step S99). If the user type is not “delivery company” (step S98; No), the determination unit 233 adds to the setting of the use deadline, and the boarding/alighting route (for example, a route that uses a stop position for boarding/alighting into/from a taxi). Is set (step S100).

Here, the determination unit 233 determines whether there is any other usage restriction (step S101). When there is another usage restriction (step S101; Yes), the determination unit 233 continues the determination processing of other conditions. Although illustration of such processing is omitted, the determination unit 233 executes, for example, determination processing based on the reliability of the user. If there are no other usage restrictions (step S101; No), the determination unit 233 outputs the setting information that reflects the determination processing regarding the mode of the user map so far (step S102).

Next, an example of processing in which the generation unit 234 generates a user map based on the setting information output by the determination unit 233 will be described using FIG. 19. FIG. 19 is a flowchart showing the flow of the generation process according to the first embodiment of the present disclosure.

The generation unit 234 reads the registration information registered in advance and the existing map information (step S111). Further, the generation unit 234 reads the setting information for each user output by the determination unit 233 (step S112).

Here, the generation unit 234 determines whether or not the mobile body 100 is controlled by automatic driving (step S113). When the moving body 100 is controlled by automatic driving (step S113; Yes), the production|generation part 234 sets the route for automatic driving on a user map (step S114). The route set by the generation unit 234 may include control information for controlling the automatic operation of the moving body 100 as well as information indicating only the moving route.

On the other hand, when the mobile body 100 is controlled by manual driving (step S113; No), the generation unit 234 sets a route for manual driving on the user map (step S115).

Also, the generation unit 234 embeds the traffic rules of private land, parking restriction settings, etc. in the user map along with the route setting (step S116). Thereby, the user who uses the user map can move according to the rule of private land even if the user deviates from the designated route.

Furthermore, the generation unit 234 determines whether or not there is a usage deadline setting for the user map (step S117). When the expiration date is set (step S117; Yes), the generation unit 234 embeds the expiration date setting in the user map (step S118).

Further, when using the user map, the generation unit 234 determines whether or not there is a restriction that the user map can be used only once (step S119). When there is a limitation that can be used only once (step S119; Yes), the generation unit 234 embeds a setting in which the user map is valid until the user leaves the private land (step S120).

The setting information is embedded as described above, and the generation unit 234 generates a user map to be provided to the user in accordance with, for example, a data format that the mobile body 100 can read (step S121).

Next, an example of processing when the providing unit 235 provides the user map to the user will be described with reference to FIG. 20. FIG. 20 is a flowchart showing the flow of the providing process according to the first embodiment of the present disclosure.

The providing unit 235 determines whether the registered user who has provided the user map has been issued a driving permit in the private land (step S121). When the driving permission in the private land has been issued (step S121; Yes), the providing unit 235 determines whether or not to request the user to return the movement log (step S122). For example, when the providing unit 235 cannot acquire the movement log of the moving body 100 only by the function of the own device (when the movement of the moving body 100 cannot be tracked), the providing unit 235 requests the moving body 100 to return the movement log. ..

When requesting the reply of the movement log (step S122; Yes), the providing unit 235 determines whether or not there is a reply from the mobile unit 100 (step S123). When there is a reply from the mobile unit 100 (step S123; Yes), the providing unit 235 starts recording the movement log (step S124).

After starting recording the movement log or when not requesting to return the movement log (step S122; No), the providing unit 235 notifies the user of the movement permission in the private land (step S125). In other words, the providing unit 235 permits the use of the user map.

In the first place, if the driving permission in the private land has not been issued to the user (step S121; No), or if there is no response to the movement log reply request (step S123; No), the providing unit 235 moves the vehicle in the private land. Is notified to the user (step S126).

Next, with reference to FIG. 21, an example of the process executed by the providing unit 235 while the user is moving on the private land and the learning process executed by the learning unit 236 after acquiring the movement log will be described. FIG. 21 is a flowchart showing the flow of the providing process and the learning process according to the first embodiment of the present disclosure.

The providing unit 235 determines whether the user has left the private land (step S131). When the user has not left the private land (step S131; No), the providing unit 235 continues acquisition and recording of the movement log (step S132).

Then, the providing unit 235 determines whether or not the movement indicated in the movement log is along the route designated on the user map (step S133). When it follows the route designated on the user map (step S133; Yes), the providing unit 235 determines whether or not the destination or parking position of the movement is appropriate (the destination of the user matches the designated region). Whether or not) is determined (step S134). When the destination of movement and the parking position are appropriate (step S134; Yes), the providing unit 235 repeats the process of step S131.

On the other hand, if the route is not along the route specified in the user map (step S133; No), or if the destination or parking position of the movement is not appropriate (step S134; No), the providing unit 235 notifies the user. A warning is notified (step S135). For example, the providing unit 235 highlights the designated route or destination on the display of the mobile body 100, or transmits a voice prompting the mobile body 100 to return to the designated route.

After that, when the user leaves the private land (step S131; Yes), the learning unit 236 updates the map information based on the acquired movement log (step S136). The learning unit 236 also updates the user information (for example, the reliability of the user) based on the acquired movement log (step S137).

[1-5. Modification Example According to First Embodiment]
Next, an example in which the assumptions in the first embodiment are different and an example (modification) in which different information processing is executed will be described.

(1-5-1. User map information amount)
For example, in the first embodiment, a mode in which a route for automatic driving or a route for manual driving is designated as the mode of the user map provided to the user. Here, the form of the user map may differ in the amount of information depending on whether it is premised on automatic driving or manual driving.

For example, a user map that is premised on autonomous driving has information that defines road areas, information that defines lanes, distinction from parks and roads, entrances and exits of residential areas, information about buildings and areas by the road, pedestrians, etc. The detailed information such as the dynamic information, which is a determination factor for performing the automatic driving, may be incorporated. For example, a user map that is premised on autonomous driving may be based on a so-called dynamic map format used for autonomous driving vehicles. Thereby, the moving body 100 can perform appropriate automatic driving based on the user map provided from the information processing apparatus 200.

On the other hand, the user map that is premised on manual driving may only include information that includes section information within the private land and traffic rules within the private land. That is, the user map that is premised on the manual driving may have any form as long as the information allows the user to drive based on the information of the private land displayed on the display of the mobile unit 100. With this, the information processing apparatus 200 can suppress the capacity of the user map transmitted to the mobile body 100, and thus can reduce the load on the generation and transmission of the user map.

In this way, the information processing apparatus 200 acquires, as the information regarding the registered user, information regarding operation control that indicates whether the moving body 100 used by the registered user is operated automatically or manually. Then, the information processing apparatus 200 may determine the mode of the information amount of the user map provided to the registered user according to the information regarding the driving control.

With this, the information processing apparatus 200 can appropriately provide the necessary and sufficient user map to be used by the visiting user in accordance with the operation control method of the mobile unit 100 used by the user.

(1-5-2. User reliability)
The information processing device 200 may use various kinds of information for determining the reliability of the user. For example, the information processing device 200 may determine the reliability according to the user type. As an example, the information processing apparatus 200 may refer to a database in which the reliability is set according to the user type such as the owner or a friend, and determine the reliability based on the information held in the database. For example, the information processing apparatus 200 sets a relatively high degree of reliability for the owner and his family, a lower degree of reliability for the owner's friends than the owner, etc. The reliability may be set lower than that of the owner's friend or the like.

Further, the information processing apparatus 200 may perform processing such that the reliability is increased or decreased by a predetermined value each time the user visits the private property. For example, the processing is such that the reliability increases as the number of times of entering the private land increases. Further, the information processing device 200 may perform a process of increasing or decreasing the reliability according to the stop time or the stay time. For example, the reliability is increased as the stop time or the stay time is longer. Further, the information processing apparatus 200 may change the route or parking position designated by the user according to the reliability. For example, the information processing apparatus 200 may specify the parking position closer to the residence of the owner, which is the destination, as the user has higher reliability. Further, the information processing apparatus 200 may specify a parking position far from the residence of the owner, which is the destination, to the user having a relatively low reliability.

Further, the information processing device 200 may change the information of the private land disclosed to the user according to the reliability. For example, the information processing apparatus 200 may provide a user map in which the wider the private land is disclosed, the higher the reliability of the user. In this case, the information processing apparatus 200 may not specify a strict route, but may specify that the user can freely travel in areas other than the restricted area.

In this way, the information processing apparatus 200 may arbitrarily determine the reliability of the visiting user and the form of the user map according to the reliability. Thereby, the information processing apparatus 200 can flexibly determine the mode of the user map to be provided according to the information of each user.

(1-5-3. Providing processing according to user reaction)
When the user responds to the user map, the information processing apparatus 200 may perform the process of redetermining the mode of the user map.

For example, when the mobile body 100 cannot read the provided user map, or when the route shown on the user map cannot be traveled due to the size of the vehicle body or the obstacles, the information processing apparatus 200 indicates that fact. Send to.

When the information processing device 200 receives the reason why the user map cannot be used from the mobile unit 100, the information processing device 200 re-determines the mode of the user map according to the reason. For example, the information processing apparatus 200 changes the format of the user map or regenerates the user map in which a different route is designated. Then, the information processing device 200 transmits the regenerated user map to the mobile body 100.

As described above, the information processing apparatus 200 may acquire various reactions from the mobile unit 100 after providing the user map, and may determine the mode of the user map again based on the acquired information. As a result, the information processing apparatus 200 can increase the possibility of providing a user map that does not hinder the use.

(1-5-4. Identification information)
The information processing apparatus 200 acquires the identification information from the user, for example, when the user arrives at the private land gate. Here, the acquisition of the identification information may be performed in various modes.

For example, the user may send the identification information to the information processing apparatus 200 by holding the identification information stored in the terminal, the IC card, or the like owned by the user over the reader at the gate. In addition, the user may transmit the identification information to the information processing apparatus 200 by presenting biometric information such as a fingerprint or a face to the reader of the gate.

(1-5-5. Movement log)
The information processing apparatus 200 may acquire various information other than the traveled route as the user's movement log.

For example, the information processing device 200 may acquire information that controls the movement of the moving body 100. As an example, the information processing apparatus 200 acquires a steering wheel operation on the moving body 100, a control amount of a brake or an accelerator, a steering angle, a transition of traveling speed, a waypoint setting, and the like.

As a result, the information processing apparatus 200 can analyze information relating to various movements, not limited to the route traveled by the user, and is useful for improving the safety of traffic on private land and reviewing the traffic rules of private land. You can get information.

(2. Second embodiment)
Next, a second embodiment will be described. In the second embodiment, information processing executed when a plurality of destinations of the user are set will be described as an example. The description of the same contents as those in the first embodiment will be omitted.

Information processing according to the second embodiment will be described with reference to FIG. FIG. 22 is a diagram showing an outline of information processing according to the second embodiment of the present disclosure.

The user map 50 shown in FIG. 22 is a map corresponding to the same private land as the user map 20 shown in FIG. In the example of FIG. 22, it is assumed that the user who visits the private land is a delivery company that delivers the package to the owner of the private land. That is, the user map 50 is provided to the user who has entered the private land to deliver the package to the owner's home.

In the example of FIG. 22, it is assumed that the user plans to visit multiple destinations. For example, the user visits the area 25 and the area 61 as two destinations. In this case, when the information processing apparatus 200 acquires the identification information from the user, the information processing apparatus 200 determines the route to be specified to the user based on the scheduled visit date and time of each destination, the position in the private land, and the like.

For example, the information processing apparatus 200 sets the area 25 having the earliest scheduled visit date and time as the first destination and the area 61 having the later scheduled visit date and time as the second destination. Then, the information processing apparatus 200 determines the route from the gate 22 to the region 25, the route moving from the region 25 to the region 61, and the route from the region 61 to the gate 22.

Specifically, as shown in FIG. 22, the information processing apparatus 200 determines a route 51 indicating a movement route from the gate 22 to the region 27 which is the temporary stop position corresponding to the region 25, as the route to be specified to the user. To do. Further, the information processing device 200 determines the route 52 and the route 53 which are the walking sections from the area 27 to the area 25. Further, the information processing device 200 determines the route 54 indicating the movement route from the area 27 to the area 62 which is the temporary stop position corresponding to the area 61 which is the second destination. For example, the information processing apparatus 200 determines the shortest route from the area 27 to the area 62 as the route 54. In addition, the information processing apparatus 200 determines the route 55 and the route 56 that are the walking sections from the area 62 to the area 61. After that, the information processing apparatus 200 confirms that the next destination is not set, and determines the route 57 indicating the movement route from the area 61 which is the second destination to the gate 22.

Then, the information processing apparatus 200 provides the user with the user map in which the routes 51 to 57 shown in FIG. 22 are set. At this time, the information processing apparatus 200 may include the route display 59 indicating the transportation means and the destination in the user map.

Note that the information processing apparatus 200 may determine the mode of the user map so that areas other than the vicinity of the routes 51 to 57 are masked, as shown in FIG.

In this way, the information processing apparatus 200 may provide a user map for designating a route connecting a plurality of destinations when a user having a plurality of destinations visits. Thereby, the information processing apparatus 200 can improve the convenience of the user who visits a plurality of destinations.

(3. Other embodiments)
The processing according to each of the above-described embodiments may be implemented in various different forms other than each of the above-described embodiments.

[3-1. Configuration of moving body]
In the above embodiment, the moving body 100 may be a user terminal owned by a user or may be realized by an autonomous moving body (for example, a car) itself that performs automatic driving. Here, when the moving body 100 is the autonomous moving body itself, the moving body 100 is not limited to the configuration shown in FIG. 5 and may have the following configurations. Each unit described below may be included in the control unit 130 illustrated in FIG. 5, for example.

For example, the mobile body 100 has an automatic operation control unit, a detection unit, a self-position estimation unit, a situation analysis unit, a planning unit, and an operation control unit. The mobile unit 100 includes an input unit, a data acquisition unit, a vehicle communication unit, an in-vehicle device, an output control unit, an output unit, a drive system control unit, a drive system system, a body system control unit, a body system system, a vehicle storage unit, And you may provide an automatic driving control part.

The input unit is equipped with a device that the passenger uses to input various data and instructions. For example, the input unit includes an operation device such as a touch panel, a button, a microphone, a switch, and a lever, and an operation device that can be input by a method other than manual operation such as voice or gesture. Further, for example, the input unit may be a remote control device using infrared rays or other radio waves, or an externally connected device such as a mobile device or a wearable device corresponding to the operation of the moving body 100. The input unit generates an input signal based on the data and instructions input by the passenger, and supplies the input signal to each unit of the moving body 100.

The data acquisition unit includes various sensors that acquire data used for processing the mobile unit 100, and supplies the acquired data to each unit of the mobile unit 100.

For example, the data acquisition unit includes various sensors for detecting the state of the vehicle, etc. Specifically, for example, the data acquisition unit includes a gyro sensor, an acceleration sensor, an inertial measurement unit (IMU), an accelerator pedal operation amount, a brake pedal operation amount, a steering wheel steering angle, an engine speed, and a motor. A sensor or the like for detecting the number of rotations or the rotation speed of the wheels is provided.

Also, for example, the data acquisition unit includes various sensors for detecting information outside the vehicle. Specifically, for example, the data acquisition unit includes an imaging device such as a ToF (Time Of Flight) camera, a stereo camera, a monocular camera, an infrared camera, and other cameras. In addition, for example, the data acquisition unit includes an environment sensor for detecting weather or weather, and an ambient information detection sensor for detecting an object around the vehicle. The environment sensor includes, for example, a raindrop sensor, a fog sensor, a sunshine sensor, a snow sensor, and the like. The ambient information detection sensor includes, for example, an ultrasonic sensor, radar, LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), sonar, and the like.

Further, for example, the data acquisition unit includes various sensors for detecting the current position of the vehicle. Specifically, for example, the data acquisition unit includes a GNSS receiver that receives a GNSS signal from a GNSS (Global Navigation Satellite System) satellite.

Also, for example, the data acquisition unit includes various sensors for detecting information inside the vehicle. Specifically, for example, the data acquisition unit includes an imaging device that images the driver, a biometric sensor that detects biometric information of the driver, and a microphone that collects sound in the vehicle interior. The biometric sensor is provided on, for example, a seat surface or a steering wheel, and detects biometric information of an occupant sitting on a seat or a driver who holds the steering wheel.

The vehicle communication unit communicates with in-vehicle devices, various devices outside the vehicle, a server, a base station, and the like to transmit data supplied from each unit of the mobile unit 100 and receive received data to each unit of the mobile unit 100. Or to supply. The communication protocol supported by the vehicle communication unit is not particularly limited, and the vehicle communication unit can support a plurality of types of communication protocols.

For example, the vehicle communication unit wirelessly communicates with in-vehicle devices by wireless LAN, Bluetooth (registered trademark), NFC (Near Field Communication), WUSB (Wireless USB), or the like. In addition, for example, the vehicle communication unit uses a USB (Universal Serial Bus), HDMI (registered trademark) (High-Definition Multimedia Interface), or MHL (Mobile High) via a connection terminal (and a cable if necessary). -Wired communication with in-vehicle equipment by definition link etc.

Furthermore, for example, the vehicle communication unit is connected to a device (for example, an application server or a control server) that exists on an external network (for example, the Internet, a cloud network, or a network unique to a business operator) via a base station or an access point. Communicate. In addition, for example, the vehicle communication unit uses P2P (Peer To Peer) technology to communicate with terminals (for example, pedestrian or store terminals or MTC (Machine Type Communication) terminals) that are in the vicinity of the vehicle. Communicate. Further, for example, the vehicle communication unit has vehicle-to-vehicle communication, vehicle-to-infrastructure communication, vehicle-to-home communication, and vehicle-to-pedestrian communication. V2X communication such as communication is performed. In addition, for example, the vehicle communication unit includes a beacon reception unit, receives radio waves or electromagnetic waves transmitted from wireless stations installed on the road, and obtains information such as the current position, traffic congestion, traffic restrictions, and required time. To do.

The in-vehicle device includes, for example, a mobile device or a wearable device that the passenger has, an information device that is carried in or attached to the vehicle, and a navigation device that searches for a route to an arbitrary destination.

The output control unit controls the output of various information to the passengers of the own vehicle or the outside of the vehicle. For example, the output control unit generates an output signal including at least one of visual information (for example, image data) and auditory information (for example, audio data), and supplies the output signal to the output unit to output from the output unit. Controls the output of visual and auditory information. Specifically, for example, the output control unit combines the image data captured by the image capturing devices having different data acquisition units to generate a bird's-eye view image or a panoramic image, and outputs the output signal including the generated image to the output unit. Supply to. Further, for example, the output control unit generates voice data including a warning sound or a warning message for a danger such as collision, contact, or entry into a dangerous zone, and supplies an output signal including the generated voice data to the output unit. ..

The output unit is equipped with a device capable of outputting visual information or auditory information to the passengers of the vehicle or outside the vehicle. For example, the output unit includes a display device, an instrument panel, an audio speaker, headphones, a wearable device such as a glasses-type display worn by a passenger, a projector, a lamp, and the like. The display device included in the output unit displays visual information in the driver's visual field, such as a device having a normal display, a head-up display, a transmissive display, or a device having an AR (Augmented Reality) display function. It may be a device that does.

The drive system control unit controls the drive system by generating various control signals and supplying them to the drive system. In addition, the drive system control unit supplies a control signal to each unit other than the drive system system as necessary to notify the control state of the drive system system.

-The drive system includes various devices related to the drive system of the vehicle. For example, a drive system includes a drive force generation device for generating a drive force of an internal combustion engine or a drive motor, a drive force transmission mechanism for transmitting the drive force to wheels, a steering mechanism for adjusting a steering angle, a control mechanism. Equipped with a braking device that generates power, ABS (Antilock Brake System), ESC (Electronic Stability Control), and electric power steering device.

The body system control unit controls the body system by generating various control signals and supplying them to the body system. Further, the body system control unit supplies a control signal to each unit other than the body system system as necessary to notify the control state of the body system system.

The body system is equipped with various body-related devices mounted on the vehicle body. For example, the body system includes a keyless entry system, a smart key system, a power window device, a power seat, a steering wheel, an air conditioner, and various lamps (for example, headlights, backlights, brake lights, winkers, fog lights, etc.). Equipped with.

The vehicle storage unit includes, for example, magnetic storage devices such as ROM (Read Only Memory), RAM (Random Access Memory), and HDD (Hard Disc Drive), semiconductor storage devices, optical storage devices, and magneto-optical storage devices. .. The vehicle storage unit stores various programs and data used by each unit of the mobile unit 100. For example, the vehicle storage unit stores map data such as a three-dimensional high-precision map such as a dynamic map, a global map that is less accurate than the high-precision map and covers a large area, and a local map including information around the vehicle. Memorize

Automatic driving control unit controls autonomous driving such as autonomous driving or driving assistance. Specifically, for example, the automatic driving control unit includes collision avoidance or impact mitigation of the own vehicle, follow-up traveling based on an inter-vehicle distance, vehicle speed maintenance traveling, collision warning of the own vehicle, or lane departure warning of the own vehicle. Performs cooperative control for the purpose of realizing the functions of ADAS (Advanced Driver Assistance System). Further, for example, the automatic driving control unit performs cooperative control for the purpose of autonomous driving that autonomously travels without depending on the operation of the driver. The automatic driving control unit includes a detection unit, a self-position estimation unit, a situation analysis unit, a planning unit, and an operation control unit.

Detecting unit detects various information required for automatic driving control. The detection unit includes a vehicle exterior information detection unit, a vehicle interior information detection unit, and a vehicle state detection unit.

The outside-vehicle information detection unit performs detection processing of information outside the own vehicle based on data or signals from each unit of the mobile unit 100. For example, the vehicle exterior information detection unit performs detection processing, recognition processing, and tracking processing of an object around the vehicle, and detection processing of a distance to the object. Objects to be detected include vehicles, people, obstacles, structures, roads, traffic lights, traffic signs, road markings, and the like. In addition, for example, the vehicle outside information detection unit performs detection processing of the environment around the vehicle. The surrounding environment to be detected includes, for example, weather, temperature, humidity, brightness, and road surface condition. The outside-vehicle information detection unit sends data indicating the result of the detection process to the self-position estimation unit, the map analysis unit of the situation analysis unit, the traffic rule recognition unit, the situation recognition unit, and the emergency avoidance unit of the operation control unit. Supply.

The in-vehicle information detection unit performs in-vehicle information detection processing based on data or signals from each unit of the mobile unit 100. For example, the in-vehicle information detection unit performs driver authentication processing and recognition processing, driver state detection processing, passenger detection processing, and in-vehicle environment detection processing. The driver's state to be detected includes, for example, physical condition, arousal level, concentration level, fatigue level, line-of-sight direction, and the like. The environment inside the vehicle to be detected includes, for example, temperature, humidity, brightness, odor, and the like. The in-vehicle information detection unit supplies data indicating the result of the detection process to the situation recognition unit of the situation analysis unit, the emergency situation avoidance unit of the operation control unit, and the like.

The vehicle state detection unit performs a process of detecting the state of the vehicle based on data or signals from each unit of the mobile unit 100. The state of the vehicle to be detected includes, for example, speed, acceleration, steering angle, presence/absence of abnormality, content of driving operation, position and inclination of power seat, state of door lock, and other in-vehicle devices. State etc. are included. The vehicle state detection unit supplies data indicating the result of the detection process to the situation recognition unit of the situation analysis unit, the emergency situation avoidance unit of the operation control unit, and the like.

The self-position estimation unit estimates the position and orientation of the own vehicle based on data or signals from each part of the mobile unit 100 such as the vehicle exterior information detection unit and the situation recognition unit of the situation analysis unit. The self-position estimation unit also generates a local map (hereinafter referred to as a self-position estimation map) used for estimating the self-position, if necessary. The self-position estimation map is, for example, a high-precision map using a technology such as SLAM (Simultaneous Localization and Mapping). The self-position estimation unit supplies data indicating the result of the estimation process to the map analysis unit, the traffic rule recognition unit, the situation recognition unit, and the like of the situation analysis unit. Also, the self-position estimation unit stores the self-position estimation map in the vehicle storage unit.

The situation analysis unit analyzes the situation of the vehicle and surroundings. The situation analysis unit includes a map analysis unit, a traffic rule recognition unit, a situation recognition unit, and a situation prediction unit.

The map analysis unit performs analysis processing of various maps stored in the vehicle storage unit while using data or signals from each unit of the mobile body 100 such as the self-position estimation unit and the vehicle exterior information detection unit as necessary. Build a map that contains the information needed to handle autonomous driving. The map analysis unit supplies the constructed map to the traffic rule recognition unit, the situation recognition unit, the situation prediction unit, the route planning unit, the action planning unit, the operation planning unit, and the like of the planning unit.

The traffic rule recognition unit recognizes traffic rules around the own vehicle based on data or signals from each part of the mobile unit 100 such as the self-position estimation unit, the vehicle outside information detection unit, and the map analysis unit. By this recognition processing, for example, the position and state of the signal around the own vehicle, the content of traffic regulation around the own vehicle, the lane in which the vehicle can travel, and the like are recognized. The traffic rule recognition unit supplies data indicating the result of the recognition process to the situation prediction unit and the like.

The situation recognition unit is a situation regarding the own vehicle based on data or signals from each unit of the mobile body 100 such as the self-position estimation unit, the vehicle exterior information detection unit, the vehicle interior information detection unit, the vehicle state detection unit, and the map analysis unit. Recognition processing is performed. For example, the situation recognition unit performs recognition processing of the situation of the own vehicle, the situation around the own vehicle, the situation of the driver of the own vehicle, and the like. Further, the situation recognition unit generates a local map (hereinafter, referred to as a situation recognition map) used for recognizing the situation around the own vehicle, if necessary. The situation recognition map is, for example, an Occupancy Grid Map.

The situation of the subject vehicle to be recognized includes, for example, the position, posture, movement (for example, speed, acceleration, moving direction, etc.) of the subject vehicle, and the presence/absence and content of an abnormality. The situation around the subject vehicle to be recognized is, for example, the type and position of a stationary object in the surroundings, the type and position of a moving object in the surroundings, position and movement (for example, speed, acceleration, moving direction, etc.), and surrounding roads. The configuration and the condition of the road surface, and the surrounding weather, temperature, humidity, and brightness are included. The driver's state to be recognized includes, for example, physical condition, arousal level, concentration level, fatigue level, line-of-sight movement, and driving operation.

The situation recognition unit supplies data indicating the result of recognition processing (including a situation recognition map, if necessary) to the self-position estimation unit, situation prediction unit, and the like. Further, the situation recognition unit stores the situation recognition map in the vehicle storage unit.

The situation prediction unit performs a prediction process of the situation regarding the own vehicle based on data or signals from each unit of the mobile unit 100 such as the map analysis unit, the traffic rule recognition unit, and the situation recognition unit. For example, the situation prediction unit performs a prediction process of the situation of the own vehicle, the situation around the own vehicle, the situation of the driver, and the like.

The situation of the subject vehicle to be predicted includes, for example, the behavior of the subject vehicle, the occurrence of an abnormality, and the mileage that can be traveled. The situation around the subject vehicle to be predicted includes, for example, the behavior of a moving object around the subject vehicle, a change in the signal state, and a change in the environment such as the weather. The driver's situation to be predicted includes, for example, the driver's behavior and physical condition.

The situation prediction unit supplies the data indicating the result of the prediction process, together with the data from the traffic rule recognition unit and the situation recognition unit, to the route planning unit, the action planning unit, the operation planning unit, etc. of the planning unit.

The route planning unit plans a route to the destination based on data or signals from each unit of the mobile unit 100 such as the map analysis unit and the situation prediction unit. For example, the route planning unit sets a route from the current position to the designated destination based on the global map. Further, for example, the route planning unit appropriately changes the route based on traffic jams, accidents, traffic restrictions, construction conditions, and the physical condition of the driver. The route planning unit supplies data indicating the planned route to the action planning unit and the like.

The action planning unit, based on data or signals from each unit of the mobile unit 100, such as the map analysis unit and the situation prediction unit, is designed to safely drive the route planned by the route planning unit within the planned time. Plan car behavior. For example, the action planning unit makes plans such as start, stop, traveling direction (for example, forward, backward, left turn, right turn, direction change, etc.), travel lane, travel speed, and overtaking. The action planning unit supplies data indicating the planned action of the own vehicle to the action planning unit and the like.

The operation planning unit plans the operation of the own vehicle for realizing the action planned by the action planning unit, based on the data or signals from each unit of the mobile unit 100 such as the map analysis unit and the situation prediction unit. For example, the motion planning unit plans acceleration, deceleration, a traveling track, and the like. The operation planning unit supplies data indicating the planned operation of the own vehicle to the acceleration/deceleration control unit and the direction control unit of the operation control unit.

The operation control unit controls the operation of the vehicle. The operation control unit includes an emergency avoidance unit, an acceleration/deceleration control unit, and a direction control unit.

The emergency avoidance unit is configured to detect an emergency such as a collision, a contact, an entry into a dangerous zone, a driver's abnormality, or a vehicle abnormality based on the detection results of the vehicle exterior information detection unit, the vehicle interior information detection unit, and the vehicle state detection unit. Detecting the situation. When detecting the occurrence of an emergency, the emergency avoidance unit plans the operation of the own vehicle for avoiding an emergency such as a sudden stop or a sharp turn. The emergency avoidance unit supplies data indicating the planned operation of the own vehicle to the acceleration/deceleration control unit, the direction control unit, and the like.

The acceleration/deceleration control unit performs acceleration/deceleration control for realizing the operation of the vehicle planned by the operation planning unit or the emergency situation avoidance unit. For example, the acceleration/deceleration control unit calculates a control target value of a driving force generation device or a braking device for realizing planned acceleration, deceleration, or sudden stop, and outputs a control command indicating the calculated control target value to the drive system. Supply to the control unit.

The direction control unit performs direction control to realize the operation of the vehicle planned by the operation planning unit or the emergency situation avoidance unit. For example, the direction control unit calculates the control target value of the steering mechanism for realizing the planned traveling track or steep turn by the operation planning unit or the emergency avoidance unit, and drives the control command indicating the calculated control target value. Supply to the system controller.

[3-2. Other]
Of the processes described in the above embodiments, all or part of the processes described as being automatically performed may be manually performed, or all of the processes described as manually performed. Alternatively, a part thereof can be automatically performed by a known method. In addition, the processing procedures, specific names, information including various data and parameters shown in the above-mentioned documents and drawings can be arbitrarily changed unless otherwise specified. For example, the various kinds of information shown in each drawing are not limited to the illustrated information.

Also, each component of each device shown in the drawings is functionally conceptual, and does not necessarily have to be physically configured as shown. That is, the specific form of distribution/integration of each device is not limited to that shown in the figure, and all or a part of the device may be functionally or physically distributed/arranged in arbitrary units according to various loads or usage conditions. It can be integrated and configured.

Also, the above-described respective embodiments and modified examples can be appropriately combined within a range in which the processing content is not inconsistent.

Also, the effects described in this specification are merely examples and are not limited, and there may be other effects.

(4. Hardware configuration)
The information devices such as the mobile object 100 and the information processing device 200 according to the above-described embodiments are realized by the computer 1000 having the configuration illustrated in FIG. 23, for example. Hereinafter, the information processing apparatus 200 according to the first embodiment will be described as an example. FIG. 23 is a hardware configuration diagram illustrating an example of a computer 1000 that realizes the functions of the information processing device 200. The computer 1000 includes a CPU 1100, a RAM 1200, a ROM (Read Only Memory) 1300, an HDD (Hard Disk Drive) 1400, a communication interface 1500, and an input/output interface 1600. Each unit of the computer 1000 is connected by a bus 1050.

The CPU 1100 operates based on a program stored in the ROM 1300 or the HDD 1400, and controls each part. For example, the CPU 1100 expands a program stored in the ROM 1300 or the HDD 1400 into the RAM 1200 and executes processing corresponding to various programs.

The ROM 1300 stores a boot program such as a BIOS (Basic Input Output System) executed by the CPU 1100 when the computer 1000 starts up, a program dependent on the hardware of the computer 1000, and the like.

The HDD 1400 is a computer-readable recording medium that non-temporarily records a program executed by the CPU 1100, data used by the program, and the like. Specifically, the HDD 1400 is a recording medium that records the information processing program according to the present disclosure, which is an example of the program data 1450.

The communication interface 1500 is an interface for connecting the computer 1000 to an external network 1550 (for example, the Internet). For example, the CPU 1100 receives data from another device or transmits the data generated by the CPU 1100 to another device via the communication interface 1500.

The input/output interface 1600 is an interface for connecting the input/output device 1650 and the computer 1000. For example, the CPU 1100 receives data from an input device such as a keyboard or a mouse via the input/output interface 1600. The CPU 1100 also transmits data to an output device such as a display, a speaker, a printer, etc. via the input/output interface 1600. Also, the input/output interface 1600 may function as a media interface for reading a program or the like recorded in a predetermined recording medium (medium). Examples of media include optical recording media such as DVD (Digital Versatile Disc) and PD (Phase change rewritable Disk), magneto-optical recording media such as MO (Magneto-Optical disk), tape media, magnetic recording media, and semiconductor memory. Is.

For example, when the computer 1000 functions as the information processing device 200 according to the first embodiment, the CPU 1100 of the computer 1000 executes the information processing program loaded on the RAM 1200 to realize the functions of the control unit 230 and the like. To do. Further, the HDD 1400 stores the information processing program according to the present disclosure and the data in the storage unit 220. Note that the CPU 1100 reads the program data 1450 from the HDD 1400 and executes the program data, but as another example, these programs may be acquired from another device via the external network 1550.

Note that the present technology may also be configured as below.
(1)
An information processing device for providing map information to a mobile body,
An acquisition unit that acquires information about a registered user who is a user registered in advance on the information processing device side;
A determination unit that determines the aspect of the user map that is the map information provided to the registered user based on the acquired information about the registered user,
Information processing device equipped with.
(2)
The acquisition unit is
As the information regarding the registered user, identification information for identifying the user, and identification information for identifying the visit information registered in advance on the information processing device side and indicating the visit to the destination included in the map information are included. The information processing apparatus according to (1) above.
(3)
The acquisition unit is
The information processing apparatus according to (1) or (2) above, which acquires, as the information related to the registered user, information indicating the relationship between the registered user and the private land included in the map information.
(4)
The acquisition unit is
The information processing apparatus according to any one of (1) to (3), wherein the reliability of the registered user is acquired as the information related to the registered user.
(5)
The acquisition unit is
The information processing apparatus according to any one of (1) to (4), wherein, as the information related to the registered user, information related to a vehicle type or a vehicle body of a moving body on which the registered user rides is acquired.
(6)
The determination unit,
The information processing apparatus according to any one of (1) to (5), wherein the expiration date or usage restriction of the user map is determined based on the acquired information about the registered user.
(7)
The acquisition unit is
As information about the registered user, information indicating the relationship between the registered user and the private land included in the map information or the reliability of the registered user is acquired,
The determination unit,
The information processing according to (6), wherein the expiration date or usage restriction of the user map is determined based on the information indicating the relationship between the registered user and the private land included in the map information or the reliability of the registered user. apparatus.
(8)
The determination unit,
The information processing apparatus according to (7), wherein as the expiration date, a period or number of times that the registered user can use the user map is determined.
(9)
The determination unit,
The information processing apparatus according to (7) or (8) above, wherein, as the usage restriction, an area of the user map that can be viewed or run by the registered user is determined.
(10)
The acquisition unit is
As the information regarding the registered user, the date and time when the registered user visits a private land or the date and time when the registered user uses a user map is acquired,
The determination unit,
The route specified for the registered user is determined according to the date and time when the registered user visits a private land or the date and time when the registered user uses a user map. Information processing device.
(11)
A generation unit that generates a user map that is map information provided to the registered user based on the mode determined by the determination unit;
The information processing apparatus according to any one of (1) to (10), further including: a providing unit that provides the generated user map to the registered user.
(12)
The acquisition unit is
From the registered user provided with the user map, obtain information about the movement of the mobile object within the area corresponding to the user map,
The determination unit,
The information processing apparatus according to (11), wherein a mode of a new user map is determined based on information about movement of the moving body within an area corresponding to the user map.
(13)
The providing unit is
A warning is sent to the registered user based on the information about the movement of the moving body within the area corresponding to the user map and the route or destination corresponding to the registered user set in the user map. The information processing apparatus according to (11) or (12).
(14)
The acquisition unit is
The information processing device according to any one of (1) to (13), wherein, as the information about the registered user, information about a registered user having at least one of an automobile, a motorcycle, a robot, and a drone as a moving body is acquired.
(15)
The acquisition unit is
The information related to the registered user is acquired in response to a request from the registered user who uses the moving object or when the moving object is located at a predetermined specific position. (1) to (14) The information processing device according to any one.
(16)
The acquisition unit is
As the information about the registered user, information about the operation control indicating whether the moving body used by the registered user is performed by automatic operation or by manual operation,
The determination unit,
The information processing device according to any one of (1) to (15), wherein the information amount of the user map provided to the registered user is determined according to the information regarding the operation control.
(17)
An information processing device that provides map information to mobile units,
Obtain information about a registered user who is a user registered in advance on the information processing device side,
An information processing method for determining a form of a user map, which is map information provided to the registered user, based on the acquired information about the registered user.
(18)
A mobile body that receives map information from an information processing device,
A transmission unit that transmits identification information indicating that the information processing apparatus is registered to the information processing apparatus,
From the information processing device that has received the identification information, a receiving unit that receives a user map that is map information corresponding to the identification information,
A movement control unit that controls movement of the moving body based on the received user map;
A mobile unit equipped with.
(19)
A mobile unit that receives map information from an information processing device
Transmitting identification information indicating that the information processing device is registered to the information processing device,
From the information processing device that has received the identification information, receives a user map that is map information corresponding to the identification information,
A mobile body control method for controlling the movement of the mobile body based on the received user map.
(20)
An information processing device that provides map information to mobile units,
An acquisition unit that acquires information about a registered user who is a user registered in advance on the information processing device side;
A determination unit that determines the aspect of the user map that is the map information provided to the registered user based on the acquired information about the registered user,
Information processing program to function as.
(21)
A mobile unit that receives map information from an information processing device,
A transmission unit that transmits identification information indicating that the information processing apparatus is registered to the information processing apparatus,
From the information processing device that receives the identification information, a receiving unit that receives a user map that is map information corresponding to the identification information,
A movement control unit that controls movement of the moving body based on the received user map;
A mobile body control program to function as.

1 Information Processing System 100 Mobile Object 110 Communication Unit 120 Storage Unit 121 User Information Storage Unit 122 Vehicle Information Storage Unit 123 User Map Storage Unit 130 Control Unit 131 Transmission Unit 132 Reception Unit 133 Movement Control Unit 134 Route Search Unit 135 Driving Execution Unit 136 Display unit 137 Movement log acquisition unit 200 Information processing device 210 Communication unit 220 Storage unit 221 Map information storage unit 222 Registered user storage unit 223 Visit history storage unit 230 Control unit 231 Registration unit 232 Acquisition unit 233 Judgment unit 234 Generation unit 235 Providing unit 236 Learning Department

Claims

An information processing device for providing map information to a mobile body,
An acquisition unit that acquires information about a registered user who is a user registered in advance on the information processing device side;
A determination unit that determines the aspect of the user map that is the map information provided to the registered user based on the acquired information about the registered user,
Information processing device equipped with.
The acquisition unit is
As the information regarding the registered user, identification information for identifying the user, and identification information for identifying the visit information registered in advance on the information processing device side and indicating the visit to the destination included in the map information are included. The information processing device according to claim 1.
The acquisition unit is
The information processing apparatus according to claim 1, wherein information indicating the relationship between the registered user and the private land included in the map information is acquired as the information related to the registered user.
The acquisition unit is
The information processing apparatus according to claim 1, wherein the reliability of the registered user is acquired as the information related to the registered user.
The acquisition unit is
The information processing apparatus according to claim 1, wherein, as the information about the registered user, information about a vehicle type or a vehicle body of a moving body on which the registered user rides is acquired.
The determination unit,
The information processing apparatus according to claim 1, wherein a usage deadline or usage restriction of the user map is determined based on the acquired information about the registered user.
The acquisition unit is
As information about the registered user, information indicating the relationship between the registered user and the private land included in the map information or the reliability of the registered user is acquired,
The determination unit,
The information processing apparatus according to claim 6, wherein the expiration date or usage restriction of the user map is determined based on information indicating a relationship between the registered user and a private land included in the map information or the reliability of the registered user. ..
The determination unit,
The information processing apparatus according to claim 7, wherein as the expiration date, the period or the number of times the registered user can use the user map is determined.
The determination unit,
The information processing apparatus according to claim 7, wherein, as the usage restriction, an area of the user map that can be viewed or run by the registered user is determined.
The acquisition unit is
As the information regarding the registered user, the date and time when the registered user visits a private land or the date and time when the registered user uses a user map is acquired,
The determination unit,
The information processing apparatus according to claim 7, wherein the route specified for the registered user is determined according to the date and time when the registered user visits a private land or the date and time when the registered user uses a user map.
A generation unit that generates a user map that is map information provided to the registered user based on the mode determined by the determination unit;
The information processing apparatus according to claim 1, further comprising: a providing unit that provides the generated user map to the registered user.
The acquisition unit is
From the registered user provided with the user map, obtain information about the movement of the mobile object within the area corresponding to the user map,
The determination unit,
The information processing apparatus according to claim 11, wherein a mode of a new user map is determined based on information about movement of the moving body within an area corresponding to the user map.
The providing unit is
A warning is sent to the registered user based on the information about the movement of the moving body within the area corresponding to the user map and the route or destination corresponding to the registered user set in the user map. The information processing device according to claim 11.
The acquisition unit is
The information processing apparatus according to claim 1, wherein, as the information about the registered user, information about a registered user having at least one of an automobile, a motorcycle, a robot, and a drone as a moving body is acquired.
The acquisition unit is
The information processing apparatus according to claim 1, wherein the information related to the registered user is acquired in response to a request from a registered user who uses the moving body, or when the moving body is located at a predetermined specific position. ..
The acquisition unit is
As the information related to the registered user, whether the moving body used by the registered user is performed by automatic driving, or obtain information about driving control indicating whether it is performed by manual driving,
The determination unit,
The information processing apparatus according to claim 1, wherein the information amount of the user map provided to the registered user is determined according to the information regarding the operation control.
An information processing device that provides map information to mobile units,
Obtain information about a registered user who is a user registered in advance on the information processing device side,
An information processing method for determining a form of a user map, which is map information provided to the registered user, based on the acquired information about the registered user.
A mobile body that receives map information from an information processing device,
A transmission unit that transmits identification information indicating that the information processing apparatus is registered to the information processing apparatus,
From the information processing device that has received the identification information, a receiving unit that receives a user map that is map information corresponding to the identification information,
A movement control unit that controls movement of the moving body based on the received user map;
A mobile unit equipped with.
A mobile unit that receives map information from an information processing device
Transmitting identification information indicating that the information processing device is registered to the information processing device,
From the information processing device that has received the identification information, receives a user map that is map information corresponding to the identification information,
A mobile body control method for controlling the movement of the mobile body based on the received user map.