WO2023139706A1

WO2023139706A1 - Processing device

Info

Publication number: WO2023139706A1
Application number: PCT/JP2022/001838
Authority: WO
Inventors: 裕太井手口; 貴志竹内
Original assignee: 日本電気株式会社
Priority date: 2022-01-19
Filing date: 2022-01-19
Publication date: 2023-07-27

Abstract

A processing device 200 includes: an acquisition unit 221 that acquires information indicating trajectories which were identified on the basis of the results of sensing mobile bodies and which are the paths on which the mobile bodies moved; and a vectorization unit 222 that vectorizes processing for searching combinations of the trajectories acquired by the acquisition unit 221, and that causes a vectorization processing unit to execute such processing.

Description

processing equipment

The present invention relates to processing apparatuses, processing methods, and recording media.

Based on multiple observation results, the trajectories of moving objects such as cars, ships, airplanes, and unmanned guided vehicles may be determined.

For example, Non-Patent Document 1 and Non-Patent Document 2 describe techniques for determining the trajectory of a moving object such as a ship's trajectory. In the case of the techniques described in Non-Patent Literature 1 and Non-Patent Literature 2, after classifying the track hypotheses, global hypotheses are generated, and track hypotheses are selected based on the generated global hypotheses. Non-Patent Document 3, for example, describes a method for generating global hypotheses.

Also, as a related technology, there is Patent Document 1, for example. Patent Literature 1 describes an example of technology used to detect and track an object based on sensor data.

JP 2021-089723 A

When generating global hypotheses as described in Non-Patent Documents 1 to 3, trajectories and trajectories that can be common to the trajectory are sometimes searched. When tracking moving bodies by searching for common trajectories, for example, as the number of moving bodies to be tracked increases, the number of necessary processes increases by the number of combinations. As a result, the processing time has increased.

The tracking of moving objects as described above may require processing in real time, so it is desirable that the processing be as fast as possible. However, combinatorial processing, such as searching for common possible trajectories, is complicated. Therefore, the efficiency of parallelization was poor and speeding up was difficult.

In this way, there was a problem that it was difficult to speed up combination processing such as searching for sharable trajectories.

Therefore, an object of the present invention is to provide a processing device, a processing method, and a recording medium that can solve the problem that it is difficult to speed up combination processing such as searching for sharable trajectories.

In order to achieve such an object, the processing device, which is one aspect of the present disclosure,
an acquisition unit that acquires information indicating a trajectory, which is a route traveled by the mobile object, that is specified based on a sensing result of the mobile object;
a vectorization unit that vectorizes a process of searching for a combination of trajectories acquired by the acquisition unit and causes a vector processing unit to execute the process;
It has a configuration of

In addition, a processing method that is another aspect of the present disclosure includes:
The information processing device
Acquiring information indicating a trajectory, which is a route traveled by the moving body, which is specified based on the sensing result of the moving body;
A configuration is adopted in which the process of searching for combinations of acquired trajectories is vectorized and executed by the vector processing unit.

In addition, a recording medium that is another aspect of the present disclosure includes:
information processing equipment,
Acquiring information indicating a trajectory, which is a route traveled by the moving body, which is specified based on the sensing result of the moving body;
A computer-readable recording medium recording a program for realizing a process of vectorizing a process of searching for a combination of acquired trajectories and causing a vector processing unit to execute the process.

According to each configuration as described above, it is possible to provide a processing device, a processing method, and a recording medium capable of speeding up combination processing such as searching for sharable trajectories.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure for demonstrating the outline|summary of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure for demonstrating the outline|summary of this invention. It is a block diagram which shows the structural example of a processing apparatus. FIG. 10 is a diagram showing an example of determining a trajectory and a common possible trajectory in the first stage; It is a figure which shows an example of vectorization. FIG. 10 is a diagram showing another example of vectorization; FIG. 10 is a diagram showing another example of vectorization; It is a figure which shows an example of a determination condition. FIG. 4 is a diagram showing a detailed example of vectorization in the first method; FIG. 4 is a diagram showing a detailed example of vectorization in the first method; FIG. 10 is a diagram showing a detailed example of vectorization in the second method; FIG. 10 is a diagram showing a detailed example of vectorization in the third method; It is a flowchart which shows the operation example of a processing apparatus. FIG. 11 is a block diagram showing a configuration example of a processing device according to a second embodiment of the present disclosure; FIG. It is a block diagram which shows the structural example of a processing apparatus.

[First Embodiment]
A first embodiment of the present disclosure will be described with reference to FIGS. 1 to 13. FIG. 1 and 2 are diagrams for explaining the outline of the present invention. FIG. 3 is a block diagram showing a configuration example of the processing device 100. As shown in FIG. FIG. 4 is a diagram showing an example of determination of a trajectory and a common possible trajectory in the first stage. 5 to 7 are diagrams showing an example of vectorization. FIG. 8 is a diagram showing an example of determination conditions. 9 and 10 are diagrams showing detailed examples of vectorization in the first method. FIG. 11 is a diagram showing a detailed example of vectorization in the second method. FIG. 12 is a diagram showing a detailed example of vectorization in the third method. FIG. 13 is a flow chart showing an operation example of the processing device 100 .

In the first embodiment of the present disclosure, as an example of combination processing, a processing device 100 that is an information processing device that searches for a combination of simultaneously selectable trajectories will be described. For example, as shown in FIG. 1, it is assumed that three moving objects are observed in one frame (frame 1) and three moving objects are observed in the next frame (frame 2) using sensors such as radio waves and sound waves (the number of moving objects can be arbitrary). In such a case, mobile 1 in frame 1 is assumed to correspond to any of

mobiles

1, 2, 3 in frame 2. In other words, one of trajectory 11 formed by moving body 1 of frame 1 to moving body 1 of frame 2, trajectory 12 formed by moving body 1 of frame 1 to moving body 2 of frame 2, and trajectory 13 formed by moving body 1 of frame 1 to moving body 3 of frame 2 is assumed to be formed. The same can be said for moving

bodies

2 and 3 in frame 1 .

The processing device 100 described in this embodiment, for example, searches for combinations of trajectories as described above without omission by the method illustrated in FIG. First, the processing device 100 focuses on a certain trajectory and extracts common possible trajectories that are trajectories that can be shared with the focused trajectory. At this time, the processing device 100 performs the above-described extraction process so as not to extract the same combination that is only different in order. For example, in the case of FIG. 2 , the processing device 100 focuses on the trajectory 22 and

extracts trajectories

11 , 33 , 13 , and 31 as common possible trajectories that can be shared with the trajectory 22 . Next, the processing device 100 extracts common possible trajectories by focusing on the trajectory 11 . At this time, the processing device 100 extracts common possible trajectories so as not to extract the same combination as the combination extracted by focusing on the trajectory 22 . For example, in the example shown in FIG. 2, the combination of “trajectory 22, trajectory 11” has already been extracted at the stage where attention is focused on trajectory 22 . Therefore, the processing device 100 extracts the trajectory 33, the trajectory 23, and the trajectory 32 as common possible trajectories that can be shared with the trajectory 11, but does not extract the trajectory 22 that is the same combination. For example, the processing device 100 extracts common possible trajectories so as not to extract the same combination by repeating the above-described processing focusing on each trajectory as the first-stage processing.

"Moving objects" refer to objects that move, such as cars, ships, airplanes, and unmanned guided vehicles. The moving body may be other than those exemplified above. Also, a common possible trajectory refers to, for example, a trajectory that can physically coexist (exist). For example, trajectory 11 and trajectory 22 can coexist, but trajectory 11 and trajectory 13 cannot coexist because there are two moving bodies 1 in frame 1, and are not considered common possible trajectories. Common possible trajectories may be partially limited in advance in preprocessing or the like, such as trajectories whose movement distance is within a threshold value among trajectories that can physically coexist, or trajectories formed between moving bodies having a predetermined feature amount. In addition, the order of trajectories that the processing device 100 pays attention to may be determined arbitrarily.

In addition, after the first-stage processing, the processing device 100, as the second-stage processing, extracts common possible trajectories that are further commonable trajectories to each trajectory indicated by the common possible trajectories extracted in the first-stage processing, so as not to extract the same combination as in the first-stage processing. Further, after the processing of searching for combinations in the second stage is completed, the processing device 100 extracts, as the processing of the third stage, common possible trajectories that are further commonable trajectories indicated by the common possible trajectories extracted in the second stage processing. After that, the processing device 100 repeats the same processing until no more combinations are extracted. As will be described later, the processing device 100 described in the present embodiment vectorizes the second and subsequent stages of extraction processing and causes the vector processing unit 130 such as a vector engine to perform the extraction processing. That is, the processing device 100 vectorizes the processing of searching for combinations in the second and subsequent stages, and causes the vector processing unit 130 to perform the processing. Further, as described above, the processing device 100 performs extraction processing so as not to extract the same combination. Therefore, the number of possible common trajectories decreases as the stage becomes later, or even in the same stage, as the attention is focused later. Therefore, the processing device 100 can change the vectorization method according to the processing status of searching for a combination of the order of attention, the number of stages of processing, the number of common possible trajectories in a given trajectory, and the like. It should be noted that specific examples of the judgment when changing the vectorization method and the vectorization method will be described later.

3 shows a configuration example of the processing device 100. FIG. Referring to FIG. 3, the processing device 100 has, for example, a storage unit 110, an arithmetic processing unit 120, and a vector processing unit . In addition, the processing device 100 is communicably connected to an external device such as a sensor that detects a moving object using sound waves or radio waves. The processing device 100 can receive the result of sensing by the sensor or the like from an external device such as a sensor.

The storage unit 110 is a storage device such as a hard disk or memory. The storage unit 110 stores processing information and programs 112 necessary for various processes in the arithmetic processing unit 120 and the like. The program 112 realizes various processing units by being read and executed by the arithmetic processing unit 120 . The program 112 is preloaded from an external device or recording medium via the data input/output function of the processing device 100 and stored in the storage unit 110 . Main information stored in the storage unit 110 includes sensing information 111, for example.

The sensing information 111 includes information indicating the position of the moving object detected by an external device such as a sensor (for example, position information such as latitude and longitude information). For example, the sensing information 111 includes information indicating the positions of multiple moving objects in multiple frames. The sensing information 111 is updated each time information indicating a sensing result is received from an external device such as a sensor.

The arithmetic processing unit 120 has an arithmetic device such as a processor and its peripheral circuits. The arithmetic processing unit 120 reads the program 112 from the storage unit 110 and executes it, so that the hardware and the program 112 cooperate to realize various processing units. Main processing units realized by the arithmetic processing unit 120 include, for example, a trajectory determination unit 121 , a vectorization method determination unit 122 , and a vectorization execution unit 123 . Among the processing units realized by the arithmetic processing unit 120, at least the vectorization method determination unit 122 and the vectorization execution unit 123 may include, for example, a compiler realized by the arithmetic processing unit 120 reading and executing the program 112 or the like.

The trajectory determination unit 121 identifies, for example, a plurality of trajectories such as paths traveled by the moving body based on the position information of the moving body in multiple frames indicated by the sensing information 111 . Then, the trajectory determination unit 121 performs the above-described first-stage processing on the plurality of identified trajectories. That is, the trajectory determination unit 121 performs processing for each specified trajectory to extract a common possible trajectory in the trajectory focused on an arbitrary trajectory. At this time, the trajectory determination unit 121 extracts common possible trajectories so as not to extract the same combination that differs only in order. Further, the trajectory determination unit 121 adds each trajectory indicated by the extracted common possible trajectories to the processing targets for the next common possible trajectory search.

FIG. 4 shows a processing example of the trajectory determination unit 121 when three moving bodies are detected in each of

frames

1 and 2 as illustrated in FIG. Referring to FIG. 4, the trajectory determination unit 121 focuses on the trajectory 22, for example. Then, the trajectory determination unit 121 extracts a common possible trajectory that is a trajectory that can be shared with the trajectory 22 . For example, the trajectory determination unit 121 extracts trajectory 11, trajectory 33, trajectory 13, and trajectory 31 as common possible trajectories. Next, for example, the trajectory determination unit 121 focuses on the trajectory 11 . Then, the trajectory determination unit 121 extracts a common possible trajectory, which is a trajectory that can be shared with the trajectory 11, so as not to extract the same combination as an already extracted combination. For example, in the case of FIG. 4, the trajectory determination unit 121

extracts trajectories

33, 23, and 32 as common possible trajectories, but does not extract trajectory 22 that is the same combination as the already extracted combination.

For example, the trajectory determination unit 121 extracts common possible trajectories so as not to extract the same combination by repeating the same process focusing on each specified trajectory, such as trajectory 33, trajectory 21, trajectory 23, . After that, the trajectory determination unit 121 adds each trajectory indicated by the extracted common possible trajectories to the processing targets for the next common possible trajectory search.

It should be noted that, as described above, the trajectory determination unit 121 does not extract the same combination as the already extracted combination. Therefore, as shown in FIG. 4, there is a possibility that the same combination of sharable trajectories has been previously extracted for trajectories that are focused on later, and the number of sharable trajectories that are actually extracted decreases. For example, in the case illustrated in FIG. 4 , the trajectory determination unit 121 does not extract a sharable trajectory when focusing on the trajectory 31 . This is because all combinations of trajectories 31 and sharable trajectories have already been extracted before focusing on trajectory 31 .

Further, the trajectory determination unit 121 may be configured to perform the above-described first-stage processing on the trajectory that has undergone predetermined preprocessing by the preprocessing unit realized by, for example, the arithmetic processing unit 120 reading and executing the program 112. For example, in the pre-processing, among trajectories that can physically coexist, a process of limiting common possible trajectories that can be shared with a certain trajectory, such as a trajectory whose moving distance is within a threshold or a trajectory formed between moving bodies having a predetermined feature amount, may be performed. In this way, the trajectory determination unit 121, which functions as an acquisition unit that acquires information indicating a trajectory, may acquire information indicating a trajectory based on the position information of a moving object in multiple frames indicated by the sensing information 111, or may acquire information indicating a trajectory from another processing unit such as a preprocessing unit.

The vectorization method determination unit 122 is a determination unit that determines a method for vectorizing the process of searching for a combination for each one or more processing targets. For example, the vectorization method determination unit 122 determines which of the predetermined methods should be used to vectorize the process of searching for a combination based on the processing status of the process of searching for a combination of trajectories, such as the order of attention, the number of stages of processing, and the number of common possible trajectories in a given trajectory. For example, the vectorization method determination unit 122 determines whether to vectorize the combination search process using any one of the first method, the second method, and the third method, based on the processing status of the process of searching for a combination of trajectories.

Here, an overview of the first method will be described with reference to FIG. Referring to FIG. 5, in the first method, for each trajectory indicated by a common possible trajectory corresponding to a certain trajectory in the previous stage, which is one stage before the search target stage, the process of searching for a common possible trajectory and adding it to the next processing target is vectorized. That is, in the first method, the process of searching for combinations of trajectories indicated by common possible trajectories corresponding to one processing target is vectorized. For example, in the case of FIG. 5, in the first stage, which is the preceding stage,

trajectories

11, 33, 13, and 31 are extracted as common possible trajectories for trajectory 22. FIG. Therefore, in the first method, common possible trajectories are further searched for each of trajectory 11, trajectory 33, trajectory 13, and trajectory 31, and each trajectory indicated by the searched common possible trajectory is vectorized as the next processing target.

Also, FIG. 6 shows an overview of the second method. Referring to FIG. 6, in the second method, for each trajectory indicated by the common possible trajectories corresponding to the plurality of trajectories in the previous stage, further search for common possible trajectories and adding them to the next processing target are performed collectively. That is, in the second method, the process of searching for combinations of trajectories indicated by common possible trajectories corresponding to a plurality of processing targets is vectorized. For example, in the case of FIG. 6, in the first stage, which is the preceding stage,

trajectories

11, 33, 13, and 31 are extracted as common possible trajectories for trajectory 22. FIG. Further, in the case of FIG. 6, the trajectory 33, the trajectory 23, and the trajectory 32 are extracted as common possible trajectories of the trajectory 11 in the first stage. Therefore, in the second method,

trajectories

11, 33, 13, and 31 that can be common to trajectory 22, and

trajectories

33, 23, and 32 that can be common to trajectory 11 are further searched for common trajectories, and the process of adding each trajectory indicated by the searched common trajectory to the next processing target is vectorized. Note that the number of trajectories to be collectively processed in the second method may be set arbitrarily. For example, the number of trajectories to be collectively processed in the second method may be set according to the total number of common possible trajectories corresponding to the respective trajectories to be collectively processed.

Also, FIG. 7 shows an overview of the third method. Referring to FIG. 7, the third method combines some of the processes of the first method. For example, in the third method, for each trajectory indicated by the common possible trajectory corresponding to one certain trajectory in the previous stage, the processing for searching for common possible trajectories is performed multiple times, and then the processing for searching for combinations is vectorized so that the processing for adding to the next processing target is performed collectively. In this way, in the third method, the process of searching for a combination is vectorized so that after performing the process of searching for a combination in the first method a plurality of times, the process of adding each trajectory indicated by the searched common possible trajectory to the next processing target is collectively performed.

For example, as described above, the vectorization method determination unit 122 determines which of the above-described first method, second method, and third method should be used to vectorize the combination search process based on the processing status of the combination search process. Here, FIG. 8 shows a diagram for explaining an example of determination based on the processing status. For example, as shown in FIG. 8, the number of sharable trajectories corresponding to trajectories in the previous stage decreases as the number of processing stages becomes later. Therefore, for example, the vectorization method determination unit 122 can determine which of the first method and the second method should be used for vectorization based on the number of stages of processing. For example, the vectorization method determination unit 122 determines to vectorize by the first method when the number of processing stages is less than a predetermined value, and determines to vectorize by the second method when the number of processing stages is equal to or greater than the predetermined value. In other words, the vectorization method determination unit 122 determines to vectorize the process of searching for a combination by the first method when it is assumed that the number of trajectories to be searched (that is, the number of sharable trajectories in the previous stage) is sufficiently large based on the processing status such as the number of processing stages. On the other hand, when it is assumed that there are few trajectories to be searched based on the number of stages of processing, the vectorization method determination unit 122 determines to vectorize the processing of searching for combinations by the second method. In this way, the vectorization method determination unit 122 can determine which of the first method and the second method should be used for vectorization based on the amount of processing determined based on the processing status such as the number of stages of processing.

Also, for example, as shown in FIG. 8, the number of sharable trajectories corresponding to the trajectory decreases as the focus is later, even in the same stage. Therefore, for example, the vectorization method determination unit 122 can determine which of the first method and the third method should be used for vectorization based on the order of attention. For example, the vectorization method determination unit 122 determines to vectorize by the first method when the order of attention is less than a predetermined value, and determines to vectorize by the third method when the order of attention is equal to or greater than the predetermined value. In other words, the vectorization method determination unit 122 determines to vectorize the process of searching for combinations by the first method when it is assumed that there are sufficiently many trajectories to be searched based on the order of attention. On the other hand, when it is assumed that there are few trajectories to be searched based on the order of attention, the vectorization method determination unit 122 determines to vectorize the process of searching for combinations by the third method. In this way, the vectorization method determination unit 122 can determine which of the first method and the third method should be used for vectorization based on the amount of processing determined based on the processing status such as the order of attention.

For example, the vectorization method determination unit 122 can determine whether to use any of the above determination methods or a combination of the above determination methods to vectorize the process of searching for a combination using the first method, the second method, or the third method. The vectorization method determination unit 122 may determine, for example, based on the number of stages of processing, which of the first method and the third method should be used for vectorization, and whether to use the first method or the second method for vectorization based on the number of sharable trajectories in the previous stage.

The timing at which the vectorization method determination unit 122 makes the above determination may be set arbitrarily. For example, the vectorization method determination unit 122 can determine for each stage which method should be used for vectorization. That is, the vectorization method determination unit 122 can collectively determine which method is used for vectorization for a certain stage. The vectorization method determination unit 122 may determine which method should be used to vectorize the process of searching for a combination of sharable trajectories corresponding to the next one or more trajectories each time a process corresponding to the result of determining that vectorization should be performed using a certain method is completed.

The vectorization execution unit 123 (vectorization unit) vectorizes the process of searching for combinations according to the determination of the vectorization method determination unit 122 . Then, the vectorization execution unit 123 causes the vector processing unit 130 to execute vector processing. It should be noted that the method described in this embodiment is a process of confirming common combinations, so simple vectorization is not possible. Therefore, the vectorization execution unit 123 performs vectorization using a buffer.

For example, FIG. 9 is a diagram for explaining in more detail the process of vectorization by the first method. Referring to FIG. 9, the vectorization execution unit 123 first prepares a buffer corresponding to the trajectory number in the previous stage. For example, in the case of the second stage of processing as illustrated in FIG. 5, the first stage, which is the preceding stage, includes

trajectories

22, 11, 33, 21, 23, 12, 32, 13, and 31. Therefore, the vectorization execution unit 123 prepares buffers corresponding to the numbers of the trajectories in the storage unit 110 or the like.

The vectorization execution unit 123 also performs vectorization by generating an instruction for causing the vector processing unit 130 to perform the following processing, for example.
• 1 is stored in the buffer corresponding to the common possible trajectory in the previous stage among the prepared buffers.
・Check if there is 1 in the buffer indicated by the preceding common possible trajectory corresponding to the trajectory to be judged, and if there is 1, the buffer adds the number of 1 to the common possible trajectory frame of the trajectory to be judged. ・Perform the same judgment process for each trajectory.

As an example, as shown in FIG. 9, in the case of the second-stage processing as illustrated in FIG. 5, the commands are as follows.
Store 1 in buffers corresponding to trajectory 11, trajectory 33, trajectory 13, and trajectory 31, which are sharable trajectories in the previous stage.
Check if there is 1 in the buffers (33, 23, 32) indicated by the previous common possible trajectory corresponding to the trajectory 11 to be determined, and if there is 1, the buffer adds the number of 1 to the common possible trajectory frame of the trajectory to be determined.
(In this case, 1 is stored in buffers corresponding to trajectory 11, trajectory 33, trajectory 13, and trajectory 31, so there is 1 in buffer 33. Therefore, 33 is added to the common possible trajectory frame of trajectory 11, which is the determination target.)
Check if there is a 1 in the buffers (21, 12) indicated by the preceding common possible trajectory corresponding to the trajectory 33 to be determined, and if there is 1, add the number of 1 to the common possible trajectory frame of the trajectory to be determined.
(In this case, 1 is stored in the buffers corresponding to trajectory 11, trajectory 33, trajectory 13, and trajectory 31, so there is no 1 in

buffers

21 and 12. Therefore, Φ indicating that there is no common possible trajectory is added to the common possible trajectory frame of trajectory 33, which is the determination target.)
Check if there is 1 in the buffer (31) indicated by the previous common possible trajectory corresponding to the trajectory 13 to be determined, and if there is 1, the buffer adds the number of 1 to the common possible trajectory frame of the trajectory to be determined.
(In this case, 1 is stored in buffers corresponding to trajectory 11, trajectory 33, trajectory 13, and trajectory 31, so there is 1 in buffer 31. Therefore, 31 is added to the common possible trajectory frame of trajectory 13, which is the determination target.)
- The preceding common possible trajectory corresponding to the trajectory 31 to be determined indicates that there is no combination of the trajectory 31 and the sharable trajectory. Therefore, no further confirmation is performed.
- The trajectory 33 and the trajectory 31 indicated by the number added to the common possible trajectory frame are to be processed next.

When preparing the buffer, the vectorization execution unit 123 prepares the buffer corresponding to the trajectory number in the previous stage. At this time, the vectorization execution unit 123 can prepare a buffer corresponding to the trajectory number determined by the same processing (processing for each trajectory when multiple trajectories are collectively processed) in the previous stage. For example, FIG. 10 shows an example of a buffer prepared by the vectorization execution unit 123 in the third stage. Referring to FIG. 10 , when searching for common possible trajectories for trajectory 33 and trajectory 31 in the processing of the third stage, the trajectories determined by the same processing in the previous stage are

trajectories

11, 33, 13, and 31. Therefore, the vectorization execution unit 123 can prepare buffers corresponding to the numbers of the trajectories in the storage unit 110 or the like. Further, when searching for a common possible trajectory for trajectory 32 in the processing of the third stage,

trajectories

33, 23, and 32 are the trajectories determined by the same processing in the previous stage. Therefore, the vectorization execution unit 123 can prepare buffers corresponding to the numbers of the trajectories in the storage unit 110 or the like.

Also, FIG. 11 is a diagram for explaining in more detail the process for vectorization by the second method. Referring to FIG. 11, the vectorization execution unit 123 first prepares a number of buffers corresponding to the number of the trajectory in the preceding stage and corresponding to the number of vector lengths corresponding to the number of trajectories to be processed simultaneously. For example, in the case of the second-stage processing illustrated in FIG. 6, the first stage, which is the preceding stage, includes

trajectories

22, 11, 33, 21, 23, 12, 32, 13, and 31. Also, in the case illustrated in FIG. 6, two trajectories are processed at the same time as an example. Therefore, as shown in FIG. 11, the vectorization execution unit 123 prepares a two-line buffer in the storage unit 110 or the like corresponding to each trajectory number.

The vectorization execution unit 123 also performs vectorization by generating an instruction for causing the vector processing unit 130 to perform the following processing, for example.
Store 1 in the buffer corresponding to the previous common possible trajectory for the row corresponding to the trajectory to be processed.
For each row of the buffer, it is checked whether there is 1 in the buffer indicated by the preceding common possible trajectory corresponding to the trajectory to be determined, and if there is 1, the buffer adds the number of 1 to the common possible trajectory frame of the trajectory to be determined.
・Similar determination processing is performed for each trajectory. ・The trajectory indicated by the number added to the common possible trajectory frame is the next processing target.

As an example, as shown in FIG. 11, in the case of the second stage processing as illustrated in FIG. 6, the following instructions are used.
For the first row of the buffer, 1 is stored in the buffers corresponding to

trajectories

11, 33, 13, and 31, which are sharable trajectories in the previous stage. Also, for the second row of the buffer, 1 is stored in the buffer corresponding to the trajectory 33, trajectory 23, and trajectory 32, which are the sharable trajectories in the previous stage.
・Check if there is a 1 in 33 of the first line of the buffer and 21 of the second line.
(In this case, there is 1 in the buffer of 33 on the first line. Therefore, 33 is added to the common possible trajectory frame of trajectory 11 to be determined.)
・Check if there is a 1 in 23 on the first line of the buffer and 12 on the second line.
(In this case there is no 1 in each buffer)
・Check if there is a 1 in 32 of the first row of the buffer, and if there is a 1, the buffer adds the number of 1 to the common possible trajectory frame of the trajectory to be determined.
(In this case there is no 1 in each buffer)
The same process is performed with the trajectory 33 and the trajectory 23 as the trajectories to be determined. After that, the same judgment process is performed for each trajectory ・The trajectory indicated by the number added to the common possible trajectory frame is the next processing target

Also, FIG. 12 is a diagram for explaining in more detail the process of vectorization by the third method. Referring to FIG. 12, in the third method, after performing the determination processing for a plurality of trajectories in the first method, vectorization is performed by generating an instruction indicating that the next processing target is to be added at the same time based on the results of the determination processing for the plurality of trajectories.

For example, as described above, the vectorization execution unit 123 performs vectorization by generating instructions according to each method as described above according to the determination of the vectorization method determination unit 122 . Then, the vectorization execution unit 123 causes the vector processing unit 130 to execute vector processing using the generated instructions.

The vector processing unit 130 has a vector processor and the like, and executes vector processing according to instructions from the vectorization execution unit 123 . The vector processing unit 130 may be a known vector engine or the like.

The above is a configuration example of the processing device 100 . Next, an operation example of the processing device 100 will be described with reference to FIG. 13 .

FIG. 13 is a flowchart showing an operation example of the processing device 100. FIG. Referring to FIG. 13 , the trajectory determination unit 121 identifies, for example, a plurality of trajectories such as paths traveled by the moving object, based on the position information of the moving object in multiple frames indicated by the sensing information 111 . Then, the trajectory determination unit 121 performs the first-stage process on the plurality of specified trajectories. That is, the trajectory determination unit 121 extracts a common possible trajectory for the first stage (step S101).

The vectorization method determination unit 122 determines which of the predetermined methods should be used to vectorize the combination search process based on the processing status of the trajectory combination search process (step S102). For example, the vectorization method determination unit 122 determines whether to vectorize the combination search process using any one of the first method, the second method, and the third method, based on the processing status of the process of searching for a combination of trajectories.

The vectorization execution unit 123 vectorizes the process of searching for combinations according to the determination of the vectorization method determination unit 122 . Then, the vectorization execution unit 123 causes the vector processing unit 130 to execute vector processing (step S103).

After the vector processing in step S103, when the processing target is finished (step S104, Yes), the processing device 100 finishes the processing. On the other hand, if there is a process target (step S104, No), the vectorization method determination unit 122 returns to the determination of step S102.

The above is an operation example of the processing device 100 .

Thus, the processing device 100 has the vectorization execution unit 123 . With such a configuration, the vectorization execution unit 123 can vectorize the process of searching for a combination of trajectories and cause the vector processing unit 130 to perform the vectorization. In general, the process of searching for a combination of trajectories as described above is a memory bottleneck process. Therefore, the processing can be speeded up by causing the vector processing unit 130 with high memory access speed to perform the processing. In other words, for example, according to the method described in this embodiment, it is possible to parallelize the process of generating global hypotheses as described in Non-Patent Document 3. As a result, high speed processing can be realized.

The processing device 100 also has a vectorization method determination unit 122 . With such a configuration, the vectorization execution unit 123 can execute vectorization by the method determined by the vectorization method determination unit 122 according to the processing status of the process of searching for a combination of trajectories. In the process of searching for a combination of trajectories, since the search process is performed so as not to extract the same combination, the number of possible common trajectories decreases as the stage becomes later, or even in the same stage, the later the attention is paid. Therefore, the efficiency of vector processing can be improved by performing vectorization by a method determined according to the processing status of processing for searching for a combination of trajectories.

It should be noted that the processing device 100 described in the present embodiment searches for combinations of simultaneously selectable trajectories, as described above. The result of the search performed by the processing device 100 can be used, for example, when tracking a moving object. The result of the search performed by the processing device 100 may be used in situations other than tracking the moving object.

[Second embodiment]
Next, a second embodiment of the present disclosure will be described with reference to FIGS. 14 and 15. FIG. FIG. 14 is a diagram showing a hardware configuration example of the processing device 200. As shown in FIG. FIG. 15 is a block diagram showing a configuration example of the processing device 200. As shown in FIG.

In the second embodiment of the present disclosure, a processing device 200, which is an information processing device that searches for combinations of trajectories and the like, will be described. FIG. 14 shows a hardware configuration example of the processing device 200 . Referring to FIG. 14, the processing device 200 has the following hardware configuration as an example.
A processor (CPU: Central Processing Unit) 201 that functions as a processing management unit that vectorizes processing and causes the vector processing unit to process it.
A vector processor 202 that functions as a vector processing unit that performs vector processing
- Storage device 203 for storing program group 204
The processing device 200 may include a ROM (Read Only Memory), a RAM (Random Access Memory), a drive device for reading and writing to a recording medium outside the information processing device, a communication interface for connecting to a communication network outside the information processing device, an input/output interface for inputting and outputting data, a bus for connecting each component, and the like.

Also, the processor 201 acquires the program group 204 and the processor 201 executes it, so that the processing device 200 can realize the functions of the acquisition unit 221 and the vectorization unit 222 shown in FIG. The program group 204 is stored in advance in, for example, the storage device 203 or the ROM of the processing device 200, and is loaded into the RAM or the like by the processor 201 as necessary and executed. Also, the program group 204 may be supplied to the processor 201 via a communication network, or may be stored in a recording medium in advance, and the drive device may read the program and supply it to the processor 201 .

Note that FIG. 14 shows a hardware configuration example of the processing device 200 . The hardware configuration of the processing device 200 is not limited to that described above.

The acquisition unit 221 acquires information indicating a trajectory, which is a route traveled by the mobile body, specified based on the sensing result of the mobile body. For example, the acquisition unit 221 may acquire information indicating the trajectory based on the position information of the moving object indicated by the sensing result of the moving object.

The vectorization unit 222 vectorizes the process of searching for a combination of trajectories acquired by the acquisition unit 221 and causes the vector processing unit to execute it. For example, the vectorization unit 222 may vectorize the process of searching for a combination of trajectories by generating an instruction for extracting a common possible trajectory, which is a trajectory that can be shared with a trajectory, using a buffer.

Thus, the processing device 200 has the vectorization section 222 . With such a configuration, the vectorization unit 222 can vectorize the process of searching for a combination of trajectories and cause the vector processing unit to perform the vectorization. In general, the process of searching for a combination of trajectories as described above is a memory bottleneck process. Therefore, the processing can be speeded up by allowing the vector processing unit with high memory access speed to perform the processing.

Note that the processing device 200 described above can be realized by installing a predetermined program in an information processing device such as the processing device 200 . Specifically, a program that is another aspect of the present invention is a program that acquires information indicating a trajectory, which is a route traveled by a mobile body, specified based on the sensing result of the mobile body, vectorizes a process of searching for a combination of the acquired trajectories, and causes a vector processing unit to execute the process.

In addition, the processing method executed by an information processing device such as the processing device 200 described above is a method of acquiring information indicating a trajectory, which is a route traveled by a moving object, which is specified based on the sensing result of the moving object, vectorizing a process of searching for a combination of the acquired trajectories, and causing a vector processing unit to execute the processing.

Even the invention of the program, the computer-readable recording medium recording the program, or the processing method having the above-described configuration can achieve the above-described object of the present invention because it has the same actions and effects as the above-described processing apparatus 200.

<Appendix>
Some or all of the above embodiments may also be described as the following appendices. The outline of the processing apparatus and the like in the present invention will be described below. However, the present invention is not limited to the following configurations.

(Appendix 1)
an acquisition unit that acquires information indicating a trajectory, which is a route traveled by the mobile object, that is specified based on a sensing result of the mobile object;
a vectorization unit that vectorizes a process of searching for a combination of trajectories acquired by the acquisition unit and causes a vector processing unit to execute the process;
A processing device having
(Appendix 2)
The processing apparatus according to Appendix 1,
The vectorization unit vectorizes a process of searching for a combination of trajectories by generating an instruction for extracting a common possible trajectory, which is a trajectory that can be shared with a trajectory, using a buffer.
(Appendix 3)
The processing apparatus according to Appendix 1 or Appendix 2,
a determination unit that determines whether to vectorize the process of searching for a combination of trajectories using a predetermined method based on the processing status of the process of searching for a combination of trajectories;
The processing device, wherein the vectorization unit vectorizes a process of searching for a combination of trajectories according to the determination result of the determination unit.
(Appendix 4)
The processing device according to Appendix 3,
The determining unit determines which of a first method of vectorizing a process of searching for a combination of trajectories indicated by a common possible trajectory corresponding to one processing target and a second method of vectorizing a process of searching for a combination of each trajectory indicated by the common possible trajectories corresponding to a plurality of processing targets based on the processing status of the processing of searching for a combination of trajectories.
(Appendix 5)
The processing device according to Appendix 4,
The determination unit determines which of the first method and the second method is used for vectorization according to the amount of processing determined based on the processing status of processing for searching for a combination of trajectories. Processing device.
(Appendix 6)
The processing apparatus according to any one of appendices 3 to 5,
Based on the processing status of the process of searching for a combination of trajectories, the determination unit determines which of a first method of vectorizing a process of searching for a combination of trajectories indicated by a common possible trajectory corresponding to one processing target, and a third method of vectorizing a process of performing a process of collectively adding processing targets according to the search result after performing multiple searches for combinations of each trajectory indicated by the common possible trajectory corresponding to one processing target.
(Appendix 7)
The processing device according to Appendix 6,
The determination unit determines which of the first method and the third method is used for vectorization according to the amount of processing determined based on the processing status of processing for searching for a combination of trajectories. Processing device.
(Appendix 8)
The processing apparatus according to any one of Supplements 1 to 7,
a determination unit that extracts a common possible trajectory that can be shared with each trajectory acquired by the acquisition unit;
The vectorization unit vectorizes a process of further searching for a common possible trajectory for the trajectory indicated by the common possible trajectory.
(Appendix 9)
The information processing device
Acquiring information indicating a trajectory, which is a route traveled by the moving object, which is specified based on the sensing result of the moving object;
A processing method in which the process of searching for combinations of acquired trajectories is vectorized and executed by the vector processing unit.
(Appendix 10)
information processing equipment,
Acquiring information indicating a trajectory, which is a route traveled by the moving object, which is specified based on the sensing result of the moving object;
A computer-readable recording medium recording a program for vectorizing a process of searching for a combination of acquired trajectories and causing the vector processing unit to execute the process.

Although the present invention has been described with reference to the above-described embodiments, the present invention is not limited to the above-described embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.

100 processing device 110 storage unit 111 sensing information 112 program 120 arithmetic processing unit 121 trajectory determination unit 122 vectorization method determination unit 123 vectorization execution unit 130 vector processing unit 200 processing device 201 processor 202 vector processor 203 storage device 204 program group 221 acquisition unit 222 vectorization unit

Claims

an acquisition unit that acquires information indicating a trajectory, which is a route traveled by the mobile object, that is specified based on a sensing result of the mobile object;
a vectorization unit that vectorizes a process of searching for a combination of trajectories acquired by the acquisition unit and causes a vector processing unit to execute the process;
A processing device having
The processing apparatus according to claim 1,
The vectorization unit vectorizes a process of searching for a combination of trajectories by generating an instruction for extracting a common possible trajectory, which is a trajectory that can be shared with a trajectory, using a buffer.
The processing apparatus according to claim 1 or claim 2,
a determination unit that determines whether to vectorize the process of searching for a combination of trajectories using a predetermined method based on the processing status of the process of searching for a combination of trajectories;
The processing device, wherein the vectorization unit vectorizes a process of searching for a combination of trajectories according to the determination result of the determination unit.
A processing apparatus according to claim 3,
The determining unit determines which of a first method of vectorizing a process of searching for a combination of trajectories indicated by a common possible trajectory corresponding to one processing target and a second method of vectorizing a process of searching for a combination of each trajectory indicated by the common possible trajectories corresponding to a plurality of processing targets based on the processing status of the processing of searching for a combination of trajectories.
A processing apparatus according to claim 4,
The determination unit determines which of the first method and the second method is used for vectorization according to the amount of processing determined based on the processing status of processing for searching for a combination of trajectories. Processing device.
A processing apparatus according to any one of claims 3 to 5,
Based on the processing status of the process of searching for combinations of trajectories, the determining unit determines which of the first method of vectorizing the process of searching for a combination of trajectories indicated by the common possible trajectories corresponding to one processing target, and the third method of vectorizing the processing of performing a process of collectively adding processing targets according to the search results after performing multiple searches for combinations of each trajectory indicated by the common possible trajectories corresponding to one processing target.
A processing apparatus according to claim 6,
The determination unit determines which of the first method and the third method is used for vectorization according to the amount of processing determined based on the processing status of processing for searching for a combination of trajectories. Processing device.
A processing apparatus according to any one of claims 1 to 7,
a determination unit that extracts a common possible trajectory that can be shared with each trajectory acquired by the acquisition unit;
The vectorization unit vectorizes a process of further searching for a common possible trajectory for the trajectory indicated by the common possible trajectory.
The information processing device
Acquiring information indicating a trajectory, which is a route traveled by the moving body, which is specified based on the sensing result of the moving body;
A processing method in which the process of searching for combinations of acquired trajectories is vectorized and executed by the vector processing unit.
information processing equipment,
Acquiring information indicating a trajectory, which is a route traveled by the moving body, which is specified based on the sensing result of the moving body;
A computer-readable recording medium recording a program for vectorizing a process of searching for a combination of acquired trajectories and causing the vector processing unit to execute the process.