JP2019003605A - Information processing device and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information processing device capable of more accurately predicting danger due to a moving body in the vicinity. An information processing device 10 exists in the vicinity of a first moving body 100 by using an acquisition unit 20 that acquires sensing information obtained by sensing around the first moving body 100 and the sensing information. A second movement that exists around the first moving body 100 and is affected by the detected object 120 by using the object detection unit 31 that detects the object 120 in a specific state and the sensing information. A moving body detection unit 32 that detects the body 110, a behavior estimation unit 40 that estimates the behavior of the detected second moving body 110 based on a specific state, and a first movement based on the estimated behavior. The generation unit 50 that generates at least one output information of the information used for the movement control of the body 100 and the information provided to the moving body existing around the first moving body 100, and the at least one output information. An output unit 60 for outputting is provided. [Selection diagram] Fig. 1

Description

  The present disclosure relates to an information processing apparatus and a program mounted on a moving body such as a vehicle.

  Conventionally, an apparatus for estimating a predicted course of a first vehicle based on a positional relationship between a first vehicle traveling in front of the host vehicle and a second vehicle traveling further ahead is disclosed ( For example, Patent Document 1). For example, when the positional relationship between the first vehicle and the second vehicle is close, and there is a space on the left and right of the second vehicle, the predicted course of the first vehicle travels on the right or left side of the second vehicle. It can be estimated that it will be a course.

International Publication No. 2008/056806

  However, in Patent Document 1, it is difficult to accurately estimate, for example, whether the first vehicle moves to the right side or the left side of the second vehicle. Therefore, when the risk prediction for the host vehicle is performed based on the behavior of the first vehicle, it is difficult to accurately perform the risk prediction.

  Therefore, the present disclosure has been made in order to solve the above-described problem, and an object thereof is to provide an information processing apparatus and a program that can more accurately predict a danger by a surrounding moving body.

  An information processing apparatus according to an aspect of the present disclosure is an information processing apparatus mounted on a first moving body, and obtains sensing information obtained by sensing around the first moving body; An object detection unit that detects an object that exists in the vicinity of the first moving body using the sensing information, and that exists in the vicinity of the first moving body using the sensing information. And a moving body detecting unit that detects a second moving body that is influenced by a path of the detected object, and a behavior estimation that estimates the detected behavior of the second moving body based on the specific state. And at least one output of information used for movement control of the first moving body and information provided to the moving body existing around the first moving body based on the estimated behavior A generator for generating information; Serial and an output unit outputting at least one output information.

  Note that these comprehensive or specific aspects may be realized by a system, apparatus, method, recording medium, or computer program, and any combination of the system, apparatus, method, recording medium, and computer program. It may be realized with.

  According to the information processing apparatus and the program according to the present disclosure, it is possible to more accurately predict the danger by the surrounding moving body.

FIG. 1 is a block diagram illustrating an example of a configuration of an information processing device according to an embodiment. FIG. 2 is a diagram illustrating an example of a traveling landscape viewed from the first moving body. FIG. 3 is a diagram illustrating another example of the traveling scenery viewed from the first moving body. FIG. 4 is a flowchart illustrating an example of the operation of the information processing apparatus according to the embodiment. FIG. 5 is a flowchart illustrating an example of the operation of the behavior estimation unit according to the embodiment. FIG. 6 is a flowchart for explaining information output from the output unit according to the embodiment. FIG. 7 is a diagram illustrating an example of the specific state of the object and the behavior of the second moving body affected by the object. FIG. 8 is a flowchart illustrating an example of the operation of the information processing apparatus when the second moving object and the object exist in the same lane. FIG. 9 is a flowchart illustrating another example of the operation of the information processing apparatus when the second moving object and the object exist in the same lane. FIG. 10 is a flowchart illustrating an example of the operation of the information processing apparatus when the second moving object and the object exist in the adjacent lane. FIG. 11 is a flowchart illustrating an example of the operation of the information processing apparatus when the second moving object and the object exist in the oncoming lane. FIG. 12 is a flowchart illustrating an example of the operation of the information processing apparatus when the second moving object and the object exist in the intersection lane.

  An information processing apparatus according to an embodiment of the present disclosure is an information processing apparatus mounted on a first moving body, and includes an acquisition unit that acquires sensing information obtained by sensing around the first moving body, and the sensing information. Using the object detection unit that detects an object that exists in the vicinity of the first moving body and is in a specific state, and the sensing information is used to detect the object that exists in the vicinity of the first moving body. A moving body detecting unit that detects a second moving body that is influenced by a path of the object, a behavior estimating unit that estimates the detected behavior of the second moving body based on the specific state, and an estimation Based on the obtained behavior, at least one output information of information used for movement control of the first moving body and information provided to the moving body existing in the vicinity of the first moving body is generated. The generator and at least the And an output unit that outputs one output information.

  For example, when the object existing around the first moving body is in a specific state, the second moving body existing around the first moving body may be influenced by the course. For example, when the object and the second moving body are vehicles, when the second moving body travels behind the object, the object enters a specific state in which the object decelerates or stops, etc. The moving body is affected by the course. At this time, when the first moving body travels behind the second moving body, the behavior of the second moving body changes based on the specific state of the object, so that the first moving body Risk of danger. Therefore, by estimating the behavior of the second moving body based on the specific state of the object, it is possible to know what kind of behavior the second moving body will take. Can be predicted more accurately. As a result, the first moving body performs control for avoiding the danger caused by the behavior of the second moving body, or the behavior of the second moving body is transferred to other moving bodies existing around the first moving body. Can be notified.

  In addition, the object includes a vehicle, and the specific state is a state in which intention is displayed using lighting of a lamp mounted on the vehicle, or a running state, width-shifting, meandering, or wobbling state May be included. The object may include a person or an animal, and the specific state may include a state where the person or the animal exists on a roadway. The object may include a traffic light, and the specific state may include a state in which the traffic light instructs to stop or turn right or left.

  As specific states, these states are states in which the behavior of the second moving body can change. Since these states can be easily detected by shooting with a camera or the like, the behavior of the second moving body can be estimated. Note that the state where the intention is displayed using the ramp means a state where the vehicle is turning right, left, changing lanes, decelerating or stopping by a turn indicator, a brake lamp or a hazard lamp of the vehicle.

  Further, the second moving body may travel on a traveling road that is the same as, adjacent to, or intersects with the road on which the object is present.

  According to this, the second moving body that is the target of behavior estimation is a moving body that travels on the same, adjacent, or intersecting road as the road on which the object exists. For example, when the second moving body is traveling on the same traveling path as the road on which the object exists, the behavior of the second moving body when the object is in a specific state where the object is decelerated or stopped, etc. Can be estimated. In addition, for example, when the second moving body is traveling on a road adjacent to the road on which the object exists, the second moving body when the object is in a specific state such as turning left or right or changing lanes. Can be estimated. In addition, for example, when the second moving body is traveling on a traveling road intersecting with a road where the object exists, the behavior of the second moving body when the object is in a specific state such as a right or left turn Can be estimated.

  The behavior estimating unit may further estimate the behavior based on the state of the second moving body.

  Even if the object is in a specific state, the estimation result of the behavior of the second moving body may change depending on the state of the second moving body. Therefore, by estimating the behavior of the second moving body based on the state of the second moving body in addition to the specific state of the object, the behavior can be estimated more accurately.

  Further, the behavior estimation unit may further estimate the behavior based on a relationship between the object and the second moving body.

  Even if the object is in a specific state, the estimation result of the behavior of the second moving body may change depending on the relationship between the object and the second moving body. Therefore, by estimating the behavior of the second moving body based on the relationship between the object and the second moving body in addition to the specific state of the object, the behavior can be estimated more accurately.

  The control information may be further generated based on a relationship between the first moving body and the second moving body.

  The movement control performed by the first moving body using the estimation result of the behavior of the second moving body may vary depending on the relationship between the first moving body and the second moving body. . Therefore, more accurate control information can be generated based on the relationship between the first moving body and the second moving body.

  Further, the relationship may include a positional relationship.

  According to this, the behavior of the second moving body can be estimated more accurately based on the positional relationship between the object and the second moving body. Further, more accurate control information can be generated based on the positional relationship between the first moving body and the second moving body.

  Further, the relationship may include a relationship regarding at least one of speed and direction.

  According to this, the behavior of the second moving body can be estimated more accurately based on the relationship between the object, the second moving body, and at least one of speed and direction. Further, more accurate control information can be generated based on the relationship between at least one of the speed and direction of the first moving body and the second moving body.

  Further, the behavior estimation unit may further estimate the behavior based on a road situation around the object.

  Even if the object is in a specific state, the estimation result of the behavior of the second moving body may change depending on the road conditions around the object. Therefore, by estimating the behavior of the second moving body based on the road condition around the object in addition to the specific state of the object, the behavior can be estimated more accurately.

  Further, the behavior estimation unit may further estimate the behavior based on a road situation around the second moving body.

  Even if the object is in a specific state, the estimation result of the behavior of the second moving body may change depending on the road conditions around the second moving body. Therefore, by estimating the behavior of the second moving body based on the road condition around the second moving body in addition to the specific state of the object, the behavior can be estimated more accurately.

  When there are a plurality of the second moving bodies, the behavior estimating unit estimates the behaviors of the plurality of second moving bodies to be matched, and the generating unit is configured to match the plurality of second moving bodies. The at least one output information may be generated based on each of the behaviors.

  According to this, it can suppress that each of the estimated behavior interferes. Therefore, the first moving body can be operated more appropriately, and safety can be improved.

  Information used for movement control of the first moving body may include control information for controlling at least one of acceleration, deceleration, and steering of the first moving body.

  According to this, it is possible to appropriately operate acceleration, deceleration, or steering of the first moving body.

  The information used for the movement control of the first moving body includes input information of a process for determining a route plan of the first moving body based on an object existing within a predetermined range from the first moving body. May be included.

  According to this, it becomes easy to control the movement control of the first moving body in real time according to the behavior of the second moving body. In addition, even if there are a plurality of second moving bodies, it is possible to more easily ensure consistency with each of the behaviors of the plurality of second moving bodies.

  Moreover, the program of this indication is a program which controls operation | movement of the information processing apparatus mounted in a 1st moving body, Comprising: The acquisition step which acquires the sensing information obtained by sensing the periphery of the said 1st moving body Using the sensing information, an object detection step for detecting an object existing around the first moving body and in a specific state, and using the sensing information, the periphery of the first moving body. A moving body detecting step for detecting a second moving body that is present in the path and is influenced by the detected object, and the behavior of the detected second moving body is estimated based on the specific state Based on the behavior estimation step and the estimated behavior, information used for the movement control of the first mobile body and a small amount of information provided to the mobile body existing around the first mobile body Comprising a generation step of generating a Kutomo one output information, and an output step of outputting at least one output information.

  According to this, it is possible to provide a program capable of more accurately predicting danger by surrounding mobile objects.

  Hereinafter, embodiments will be specifically described with reference to the drawings.

  It should be noted that each of the embodiments described below shows a comprehensive or specific example. Numerical values, shapes, components, arrangement positions and connection forms of components, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present invention. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept are described as optional constituent elements.

(Embodiment)
The embodiment will be described below with reference to FIGS.

[1. Configuration of information processing apparatus]
FIG. 1 is a block diagram illustrating an example of the configuration of the information processing apparatus 10 according to the first embodiment. FIG. 1 also shows a first moving body 100 on which the information processing apparatus 10 is mounted and a camera 70 mounted on the first moving body 100.

  The camera 70 is a camera that photographs the periphery of the first moving body 100, and can photograph the front, side, and rear of the first moving body 100, for example. The camera 70 may be a camera such as a drive recorder. The first moving body 100 may further include a radar, a LIDAR, or the like.

  The information processing apparatus 10 is mounted on the first moving body 100 and includes, for example, one electronic control unit (ECU: Electronic Control Unit) or a plurality of ECUs connected via an in-vehicle network. The information processing apparatus 10 estimates the behavior of the surrounding moving body based on the sensing result obtained from the camera 70 and the like, and controls the engine, brake, steering, and the like of the first moving body generated based on the estimation result Control information including information to be displayed or information presented to the occupant of the first moving body, or the estimation result is output to another moving body. Thereby, the information processing apparatus 10 suppresses the first moving body 100 or a surrounding moving body from falling into a dangerous state. The information processing apparatus 10 includes an acquisition unit 20, a detection unit 30, a behavior estimation unit 40, a generation unit 50, and an output unit 60.

  The acquisition unit 20 acquires sensing information obtained by sensing the periphery of the first moving body 100. For example, the acquisition unit 20 acquires an image obtained by photographing the periphery of the first moving body 100 by the camera 70 as sensing information. For example, the acquisition unit 20 acquires radar information obtained by scanning around the first moving body 100 by radar or LIDAR as sensing information. Information acquired by the acquisition unit 20 is sent to the detection unit 30 and is analyzed or used for determination based on machine learning.

  The detection unit 30 analyzes the sensing information acquired by the acquisition unit 20. The detection unit 30 detects the position, speed, direction, state, and the like of a vehicle, a person, an animal, a traffic signal, or the like existing around the first moving body 100 by analyzing images and radar information. The detection unit 30 includes, for example, an object detection unit 31, a moving body detection unit 32, and a surrounding state detection unit 33 as functional components. Note that the detection by the object detection unit 31, the moving body detection unit 32, and the surrounding state detection unit 33 is not limited to the logical or statistical analysis of images and radar information, but uses, for example, machine learning such as deep learning. May be detected. The detection may be detection using information obtained through vehicle-to-vehicle communication or communication with infrastructure, for example.

  The object detection unit 31 uses the sensing information to detect an object that exists in the vicinity of the first moving body 100 and is in a specific state. Further, the object detection unit 31 detects the position, speed, direction, and the like of an object in a specific state. Here, an object in a specific state will be described with reference to FIGS.

  FIG. 2 is a diagram illustrating an example of a traveling landscape viewed from within the first moving body 100. FIG. 3 is a diagram illustrating another example of the traveling scenery viewed from within the first moving body 100. 2 and 3, as the periphery of the first moving body 100, the second moving body 110 exists in front of the first moving body 100, and the object 120 exists in front of the second moving body 110. The state is shown. In the present embodiment, the first moving body 100, the second moving body 110, and the object 120 are vehicles. FIG. 2 shows a situation where the object 120 is going to turn right by turning on the right lamp (direction indicator). FIG. 3 shows a situation where the object 120 is about to enter the intersection by turning on the left lamp (direction indicator). The specific state includes a state in which an intention is displayed using lighting of a lamp (a direction indicator, a brake lamp, a hazard lamp, or the like) mounted on the object (vehicle) 120 as described above, that is, deceleration Including the state of trying to stop, turn left or right, or change the vehicle. The object detection unit 31 recognizes the lamp lighting state by, for example, logical or statistical analysis such as an image or machine learning, and detects the object 120 in a specific state.

  Note that the specific state is not limited to a state in which intention is displayed using lighting of a lamp. For example, the specific state may include an unstable traveling state such as width-shifting, meandering, or wobbling. These running states are detected by logical or statistical analysis such as images and radar information or machine learning. The specific state may include a failure state that can be confirmed from the outside such as a tire puncture or a failure state that is difficult to confirm from the outside such as a failure of a motor included in the power steering system.

  The moving body detection unit 32 uses the sensing information to detect the second moving body 110 that exists around the first moving body 100 and is influenced by the path by the object 120 detected by the object detection unit 31. . Note that the second moving body 110 is influenced by the course of the object 120 because the object 120 is in a specific state when the second moving body 110 maintains the current traveling state. This means that the object 120 and the second moving body 110 can collide. For example, in the situation shown in FIG. 2, the second moving body 110 that is influenced by the path of the object 120 is a moving body that travels on the same traveling path 200 as the road (the traveling path 200) where the object 120 exists. is there. Further, for example, in the situation shown in FIG. 3, the second moving body 110 that is affected by the path of the object 120 travels on the travel path 200 that intersects the road (the travel path 220) on which the object 120 exists. Is the body. In addition, for example, in the situation shown in FIG. 2, when the object 120 is traveling on the traveling path 210 instead of the traveling path 200, the second moving body 110 that is affected by the path of the object 120 is the object 120. Is a moving body that travels on a traveling path 200 adjacent to the road (traveling path 210) where the vehicle exists. In addition, the detection of the traveling path where the object 120 exists and the traveling path where the second moving body 110 travels is performed using, for example, a white line detection technique.

  The surrounding situation detection unit 33 detects the surrounding situation of the first moving body 100 using the sensing information. For example, the surrounding situation detection unit 33 uses the sensing information to determine the traffic situation on the road that is running, the surroundings of the object 120, the surroundings of the second moving body 110, the surrounding road conditions of the first moving body 100, and the like. To detect. Specifically, the surrounding state detection unit 33 determines whether there is a space on the left and right of the object 120, whether there is a space on the left and right of the second moving body 110, and in front of the first moving body. Detect whether there is space or not.

  The behavior estimation unit 40 estimates the behavior of the second mobile body 110 detected by the mobile body detection unit 32 based on a specific state of the object 120. Note that the behavior estimation unit 40 may further estimate the behavior of the second moving body 110 based on the state of the second moving body 110, and further, between the object 120 and the second moving body 110. The behavior may be estimated based on the relationship, the behavior may be estimated based on the road situation around the object 120, and the road situation around the second moving object 110 may be estimated. Based on the above, the behavior may be estimated.

  Based on the behavior of the second moving body 110 estimated by the behavior estimating section 40, the generation unit 50 is present in the vicinity of the information used for movement control of the first moving body 100 and the first moving body 100. Generating at least one output information of information to be provided to the moving body. Information used for movement control of the first moving body 100 includes, for example, control information for controlling at least one of acceleration, deceleration, and steering of the first moving body 100. For example, the control information is information related to control of the behavior of the vehicle such as “run”, “turn”, “stop” (in other words, acceleration, steering, deceleration). Further, for example, the provided information is information for suppressing a moving body existing around the first moving body 100 from falling into a dangerous state due to the behavior of the second moving body 110. The generation unit 50 generates control information based on the relationship (positional relationship, speed, orientation, etc.) between the first moving body 100 and the second moving body 110.

  The output unit 60 outputs the at least one output information generated by the generation unit 50. For example, when the first moving body 100 is an autonomous driving vehicle, the output unit 60 is a chassis-related ECU related to the control of the behavior of the vehicle such as “turn” and “stop”. It is connected to a brake and the like, and outputs control information to them. For example, when the first moving body 100 is a manually operated vehicle, the output unit 60 uses image (character) information, audio as control information for instructing the behavior of the vehicle such as “turn” and “stop”. Information or both are output to a display or a speaker mounted on the first moving body 100. Note that the output unit 60 uses image (character) information, voice information, and control information as notification information to notify the occupant of the first moving body 100 even when the first moving body 100 is an autonomous driving vehicle. Alternatively, both of them may be output to a display or a speaker mounted on the first moving body 100. Further, the output unit 60 may output control information to the steering, the engine, the brake, and the like to assist manual driving even when the first moving body 100 is a manually operated vehicle. For example, the output unit 60 outputs information related to the behavior of the second moving body 110 to another moving body via the communication unit included in the first moving body 100.

  The ECU is a device including, for example, a processor (microprocessor), a digital circuit such as a memory, an analog circuit, a communication circuit, and the like. The memory is a ROM, a RAM, or the like, and can store a control program (computer program) executed by the processor. For example, when the processor operates according to a control program (computer program), the information processing apparatus 10 realizes various functions (acquisition unit 20, detection unit 30, behavior estimation unit 40, generation unit 50, and output unit 60). Become.

[2. Operation of information processing apparatus]
Next, the operation of the information processing apparatus 10 will be described with reference to FIGS.

  FIG. 4 is a flowchart illustrating an example of the operation of the information processing apparatus 10 according to the embodiment. FIG. 4 shows an example of a basic operation of the information processing apparatus 10. First, the object detection unit 31 detects the object 120 in a specific state (step S11), the moving body detection unit 32 detects the second moving body 110 that is affected by the path by the object 120 (step S12), The behavior estimation unit 40 estimates the behavior of the second moving body 110 based on the specific state of the object 120 (step S13), the generation unit 50 generates output information (step S14), and the output unit 60 Outputs output information (step S15).

  In step S <b> 13, the behavior estimation unit 40 estimates the behavior of the second moving object 110 based on the road condition around the object 120 in addition to the specific state of the object 120. This will be described with reference to FIG.

  FIG. 5 is a flowchart illustrating an example of the operation of the behavior estimation unit 40 in the embodiment. FIG. 5 shows the operation of the behavior estimation unit 40 when the object 120 is in a specific state when the object 120 and the second moving body 110 are in the same lane.

  The behavior estimation unit 40 determines whether or not there is a space where the second moving body 110 can pass the object 120 in a specific state (step S21). For example, the behavior estimation unit 40 performs the determination based on the road situation around the object 120 detected by the surrounding situation detection unit 33.

  If the behavior estimation unit 40 determines that there is a space in which the second moving body 110 can pass the object 120 (Yes in step S21), the behavior estimating unit 40 estimates that the second moving body 110 passes the object 120 (step S22). ).

  On the other hand, when it is determined that there is no space in which the second moving body 110 can pass the object 120 (No in step S21), the behavior estimating unit 40 estimates that the second moving body 110 decelerates or stops (step S21). S23).

  In addition, when the output unit 60 outputs control information in step S <b> 15, in addition to the behavior of the second moving body 110, the output unit 60 further includes between the first moving body 100 and the second moving body 110. Based on the relationship, the control information generated in the generation unit 50 is output. This will be described with reference to FIG.

  FIG. 6 is a flowchart for explaining information output from the output unit 60 in the embodiment. In FIG. 6, it is assumed that the object 120 and the second moving body 110 exist in the same lane, and FIG. 6 shows the information processing apparatus 10 after estimating the behavior of the second moving body 110 in FIG. Shows the operation.

  First, the generation unit 50 determines whether or not the second moving body 110 is present in front of the first moving body 100 (step S31). For example, the generation unit 50 performs the determination based on the position of the second moving body 110 detected by the moving body detection unit 32.

  When the generation unit 50 determines that the second moving body 110 is present in front of the first moving body 100 (Yes in step S31), the behavior estimation unit 40 causes the second moving body 110 to pass the object 120. It is determined whether or not it has been estimated (step S32).

  When the behavior estimation unit 40 determines that the second moving body 110 has overtaken the object 120 (Yes in step S32), the generation unit 50 determines whether the second moving body 110 has overtaken the object 120. It is determined whether or not there is a space where one moving body 100 can pass the object 120 (step S33). For example, the generation unit 50 determines the object 120 after the second moving body 110 has passed the object 120 (for example, several seconds later) based on the current road condition around the object 120 detected by the surrounding condition detection unit 33. This determination is performed by estimating the road conditions around the road.

  If the generation unit 50 determines that there is no space in which the first moving body 100 can pass the object 120 even after the second moving body 110 has passed the object 120 (No in step S33), the first movement is performed. Since the body 100 cannot pass the object 120, control information for decelerating or stopping the first moving body 100 is generated. Then, the output unit 60 outputs the generated control information (step S34).

  On the other hand, the generation unit 50 determines that the behavior estimation unit 40 estimates that the second moving body 110 does not overtake the object 120 (that is, estimates that the vehicle is decelerated or stopped) (No in step S32). Since the moving body 110 of the second vehicle is decelerated or stopped, control information for causing the first moving body 100 to follow the second moving body 110 is generated. In the case of No in step S <b> 32, the generation unit 50 generates control information for decelerating or stopping the first moving body 100 according to the second moving body 110. Then, the output unit 60 outputs the generated control information (step S35).

  In addition, when the generation unit 50 determines that there is a space in which the first moving body 100 can pass the object 120 even after the second moving body 110 has passed the object 120 (Yes in step S33), the first moving body 100 Since the moving body 100 can pass the object 120, control information for causing the first moving body 100 to follow the second moving body 110 is generated. In the case of Yes in step S33, the generation unit 50 generates control information that causes the first moving body 100 to follow the second moving body 110 to pass the object 120. Then, the output unit 60 outputs the generated control information (step S35).

  Further, when the generation unit 50 determines that the second moving body 110 does not exist in front of the first moving body 100 (No in Step S31), the behavior estimation unit 40 determines that the second moving body 110 is the first moving body 110. It is determined whether or not it has been estimated that the mobile object 100 will be interrupted immediately before (step S36). For example, when the behavior estimation unit 40 estimates that the second moving body 110 enters and overtakes the traveling path of the first moving body 100 when the second moving body 110 passes the object 120, the second moving body 110 is moved to the first position. It is estimated that the mobile object 100 is interrupted in front of the user. Further, for example, when the behavior estimation unit 40 estimates that the second moving body 110 decelerates or stops without overtaking the object 120, the second moving body 110 does not interrupt the front of the first moving body 100. Estimated.

  If the generation unit 50 determines that the behavior estimation unit 40 has estimated that the second moving body 110 has entered the immediate vicinity of the first moving body 100 (Yes in step S36), the first moving body 100 is Since there is a risk of collision with the second moving body 110, control information for decelerating or stopping the first moving body 100 is generated. Then, the output unit 60 outputs the generated control information (step S34).

  The generation unit 50 does not generate control information when the behavior estimation unit 40 determines that the second moving object 110 has estimated that the second moving object 110 does not interrupt the front of the first moving object 100 (No in step S36). The first moving body 100 maintains the current traveling.

  As described above, the output unit 60 outputs the control information generated based on the positional relationship between the first moving body 100 and the second moving body 110.

  Note that the output unit 60 outputs control information generated based on the behavior of the second moving body 110 (for example, behavior indicating whether the object 120 is to be overtaken or not to be overtaken). Information indicating the behavior of 110 may be output as information provided to a mobile object existing around the first mobile object 100. For example, after any one of steps S34 to S36 is performed, the output unit 60 outputs information indicating the behavior of the second moving body 110 to the moving bodies existing around the first moving body 100. (Step S37). Thereby, the mobile body existing around the first mobile body 100 can know the behavior of the second mobile body 110, and the danger due to the behavior of the second mobile body 110 can be avoided.

  The example of the operation of the information processing apparatus 10 when the object 120 and the second moving body 110 exist in the same lane has been described with reference to FIGS. 5 and 6, but the specific state of the object 120 and the object Various behaviors of the second moving body 110 affected by 120 can be considered.

  FIG. 7 is a diagram illustrating an example of the specific state of the object 120 and the behavior of the second moving body 110 that is affected by the object 120. (A) of FIG. 7 is a figure which shows an example in case the object 120 and the 2nd moving body 110 exist in the same lane. FIG. 7B is a diagram illustrating an example when the object 120 and the second moving body 110 exist in the adjacent lane. (C) of FIG. 7 is a figure which shows an example in case the object 120 and the 2nd moving body 110 exist in an oncoming lane. (D) of Drawing 7 is a figure showing an example in case object 120 and the 2nd moving body 110 exist in a crossing lane. In FIG. 7, an arrow that bends left or right or up and down after coming out in the traveling direction of the object 120 or the second moving body 110 means a right or left turn, and an arrow that turns in a direction perpendicular to the traveling direction and then bends in the traveling direction Means a lane change.

  For example, with regard to (a) to (d) in FIG. 7, the specific state of the object 120 includes deceleration, stop, right / left turn, left / right lane change, etc., and the behavior of the second moving body 110 is as follows: Deceleration, stop, turn left / right, left / right lane change, maintain current speed, etc. Further, based on the behavior of the second moving body 110, the output content of the output unit 60 (for example, the control content of the first moving body 100) changes. Hereinafter, five application examples of the specific state of the object 120, the behavior of the second moving body 110 estimated according to the specific state, and the control content of the first moving body 100 based on the behavior Will be described.

[3-1. Application example 1]
FIG. 8 is a flowchart illustrating an example of the operation of the information processing apparatus 10 when the second moving body 110 and the object 120 exist in the same lane. In Application Example 1, the first moving body 100 exists in the same lane as the lane in which the second moving body 110 exists.

  First, the object detection unit 31 confirms the stop of the object 120 as a specific state (step S41). For example, the object detection unit 31 confirms the stop of the object 120 by detecting a state such as lighting of a hazard lamp of the object 120, smoke in a smoke cylinder, or installation of a stop display device.

  Next, the behavior estimation unit 40 determines whether there is a space on the right side (for example, the overtaking lane) of the object 120 to be stopped (step S42). For example, the behavior estimation unit 40 performs the determination based on the road situation around the object 120 detected by the surrounding situation detection unit 33.

  When the behavior estimation unit 40 determines that there is a space on the right side of the object 120 (Yes in step S42), the second moving body 110 can pass the object 120. It is estimated that 120 will be overtaken (step S43).

  On the other hand, when the behavior estimation unit 40 determines that there is no space on the right side of the object 120 (No in step S42), the second moving body 110 cannot pass the object 120. Is estimated to stop (step S44).

  After the behavior estimation unit 40 estimates that the second moving body 110 overtakes the object 120 in step S43, the generation unit 50 determines whether there is a space on the right side of the object 120 that the first moving body 100 also overtakes. (Step S45). For example, the generation unit 50 determines the object 120 after the second moving body 110 has passed the object 120 (for example, several seconds later) based on the current road condition around the object 120 detected by the surrounding condition detection unit 33. This determination is performed by estimating the road conditions around the road.

  If the generation unit 50 determines that there is a space on the right side of the object 120 that the first moving body 100 also overtakes (Yes in step S45), the first moving body 100 can overtake the object 120. Control information for causing the second moving body 110 to follow 100 is generated. Then, the output unit 60 outputs the control information, so that the first moving body 100 also follows the second moving body 110 and passes the object 120 (step S46).

  The generation unit 50 determines that the second moving body 110 is estimated to be stopped in step S44, or determines that there is no space on the right side of the object 120 to pass the first moving body 100 (No in step S45). Then, control information for stopping the first moving body 100 is generated. And the output part 60 stops the 1st moving body 100 by outputting the said control information (step S47).

  As described above, in Application Example 1, the second moving body 110 travels on the same road as the road on which the object 120 exists, and the behavior estimation unit 40 further includes a road condition (for example, the object 120) around the object 120. 120), the behavior of the second moving body 110 is estimated. Note that the control information is also generated based on a relationship (for example, a positional relationship) between the first moving body 100 and the second moving body 110. Here, the positional relationship is a relationship in which the first moving body 100 and the second moving body 110 exist in the same lane. In application examples 2 to 5 to be described later, the control information is also generated based on a relationship (for example, a positional relationship) between the first moving body 100 and the second moving body 110.

[3-2. Application example 2]
FIG. 9 is a flowchart illustrating another example of the operation of the information processing apparatus 10 when the second moving body 110 and the object 120 exist in the same lane. In Application Example 2, the first moving body 100 exists in a lane adjacent to the lane in which the second moving body 110 exists.

  First, the object detection unit 31 confirms the stop of the object 120 as a specific state (step S51).

  Next, the behavior estimation unit 40 determines whether or not there is a space in front of the first moving body 100 (step S52). That is, the behavior estimation unit 40 determines whether there is a space on the right side of the object 120 to be stopped and a space on the right side of the second moving body 110. For example, the behavior estimation unit 40 performs the determination based on the road situation around the object 120 detected by the surrounding situation detection unit 33 and the road situation around the second moving body 110.

  If the behavior estimation unit 40 determines that there is a space in front of the first moving body 100 (Yes in step S52), the second moving body 110 can overtake the object 120. It is estimated that the body 110 passes the object 120 (step S53).

  On the other hand, when the behavior estimation unit 40 determines that there is no space in front of the first moving body 100 (No in step S52), the second moving body 110 cannot pass the object 120. It is presumed that the moving body 110 stops (step S54).

  When the behavior estimation unit 40 estimates in step S53 that the second moving body 110 overtakes the object 120, the generation unit 50 determines whether or not the speed of the second moving body 110 is slower than that of the first moving body 100. Determination is made (step S55). For example, the generation unit 50 performs the determination based on the speed of the second moving body 110 detected by the moving body detection unit 32.

  When the generation unit 50 determines that the speed of the second moving body 110 is slower than the first moving body 100 (Yes in Step S55), the first moving body 100 enters the same lane. Since there is a possibility of colliding with the body 110, control information for decelerating the first moving body 100 is generated. And the output part 60 decelerates the 1st moving body 100 by outputting the said control information (step S56). The generation unit 50 may determine whether or not the distance from the first moving body 100 to the second moving body 110 is equal to or greater than a predetermined distance. The predetermined distance is, for example, a distance that allows the second moving body 110 to be recognized in an image obtained by photographing with the camera 70. For example, when the distance from the first moving body 100 to the second moving body 110 is a predetermined distance or more, the first moving body 100 and the second moving body 110 are sufficiently separated from each other. In S56, the first moving body may not decelerate.

  If it is estimated that the second moving body 110 stops in step S54, the second moving body 110 does not enter the same lane as the first moving body 100, and therefore the first moving body 100 maintains the speed. (Step S57). Alternatively, when the generation unit 50 determines that the speed of the second moving body 110 is faster than the first moving body 100 (No in Step S55), the first moving body 100 enters the same lane. Therefore, the first moving body 100 maintains the speed (step S57).

  As described above, in Application Example 2, the second moving body 110 travels on the same road as the road on which the object 120 exists, and the behavior estimation unit 40 further includes a road condition around the object 120 (for example, the object 120 on the right side of 120) and the road condition around the second moving body 110 (for example, the space on the right side of the second moving body 110), the behavior of the second moving body 110 is estimated. Note that the control information is also generated based on the relationship between the first moving body 100 and the second moving body 110 (the relationship between at least one of speed and direction).

[3-3. Application Example 3]
FIG. 10 is a flowchart illustrating an example of the operation of the information processing apparatus 10 when the second moving object 110 and the object 120 exist in the adjacent lane. In Application Example 3, the first moving body 100 exists in the same lane as the lane in which the second moving body 110 exists.

  First, the object detection unit 31 confirms the lane change of the object 120 as a specific state (step S61). For example, the object detection unit 31 confirms the lane change of the object 120 by detecting lighting of a direction indicator of the object 120, a roll or yaw of the vehicle body.

  Next, the behavior estimation unit 40 confirms at least one relationship between speed and direction (also referred to as a speed difference) between the object 120 and the second moving body 110 (step S62). For example, the behavior estimation unit 40 confirms the speed difference based on the speed of the object 120 detected by the object detection unit 31 and the speed of the second mobile body 110 detected by the mobile body detection unit 32.

  Next, the behavior estimation unit 40 determines whether or not the speed of the object 120 is slower than that of the second moving body 110 (step S63).

  If the behavior estimation unit 40 determines that the speed of the object 120 is slower than the second moving body 110 (Yes in step S63), the second moving body 110 may collide with the object 120 entering the same lane. Therefore, it is estimated that the second moving body 110 decelerates (step S64).

  On the other hand, when the behavior estimation unit 40 determines that the speed of the object 120 is faster than the second moving body 110 (No in step S63), the second moving body 110 collides with the object 120 that has entered the same lane. Therefore, it is estimated that the second moving body 110 maintains the speed (step S65).

  When the behavior estimation unit 40 estimates that the second moving body 110 decelerates in step S64, the first moving body 100 may collide with the decelerated second moving body 110. Control information for decelerating the first moving body 100 is generated. And the output part 60 decelerates the 1st moving body 100 by outputting the said control information (step S66). The generation unit 50 may determine whether or not the distance from the first moving body 100 to the second moving body 110 is equal to or greater than a predetermined distance. For example, when the distance from the first moving body 100 to the second moving body 110 is a predetermined distance or more, the first moving body 100 and the second moving body 110 are sufficiently separated from each other. In S66, the first moving body 100 may not decelerate.

  When the behavior estimation unit 40 estimates that the second moving body 110 maintains the speed in step S65, the first moving body 100 can travel following the second moving body 110, so the first moving body 100 maintains the speed (step S67).

  As described above, in the application example 3, the second moving body 110 travels on a traveling path adjacent to the road where the object 120 exists, and the behavior estimation unit 40 further determines the relationship between the object 120 and the second moving body 110. The behavior of the second moving body 110 is estimated based on the relationship between them (for example, the speed difference).

[3-4. Application Example 4]
FIG. 11 is a flowchart illustrating an example of the operation of the information processing apparatus 10 when the second moving body 110 and the object 120 exist in the oncoming lane. In the application example 4, the first moving body 100 exists in the same lane as the lane in which the second moving body 110 exists.

  First, the object detection unit 31 confirms waiting for a right turn of the object 120 as a specific state (step S71). For example, the object detection unit 31 confirms waiting for a right turn of the object 120 by detecting lighting of the direction indicator of the object 120 and the direction of the vehicle body.

  Next, the behavior estimation unit 40 determines whether or not the second moving body 110 is moving at a low speed (step S72). For example, the behavior estimation unit 40 performs the determination based on the speed of the second moving body 110 detected by the moving body detection unit 32. At this time, the behavior estimation unit 40 may determine whether or not the traveling path of the second moving body 110 is congested. Below, when the 2nd mobile body 110 is moving at low speed, it demonstrates that the traveling path of the 2nd mobile body 110 is moving at low speed because of the traffic jam.

  When the behavior estimation unit 40 determines that the second moving body 110 is moving at a low speed (Yes in step S72), the traveling path of the second moving body 110 is congested and causes the object 120 to turn right. Therefore, it is estimated that the second moving body 110 stops in order to give way to the object 120 because no problem occurs even if it stops a little (step S73).

  On the other hand, when the behavior estimation unit 40 determines that the second moving body 110 is not moving at a low speed (No in step S72), the object 120 continues to wait for a right turn, so the second moving body 110 increases the speed. It is estimated that it will be maintained (step S74).

  When the behavior estimating unit 40 estimates that the second moving body 110 stops in step S73, the first moving body 100 may collide with the stopped second moving body 110. Control information for stopping the first moving body 100 is generated. And the output part 60 stops the 1st mobile body 100 by outputting the said control information (step S75).

  When the behavior estimation unit 40 estimates in step S74 that the second moving body 110 maintains the speed, the first moving body 100 can travel following the second moving body 110, so the first moving body 100 maintains the speed (step S76).

  As described above, in the application example 4, the second moving body 110 travels on the traveling path facing the road where the object 120 exists, and the behavior estimation unit 40 further determines the state of the second moving body 110 (for example, Based on the speed of the second moving body 110), the behavior of the second moving body 110 is estimated.

  When the travel path of the second moving body 110 is not congested, even when the second moving body 110 is moving at a low speed, for example, the second moving body 110 is temporarily moving at a low speed and immediately accelerates. Since there is also a possibility, in step S73, the behavior estimation unit 40 may estimate that the speed is maintained without estimating that the second moving body 110 stops.

[3-5. Application Example 5]
FIG. 12 is a flowchart illustrating an example of the operation of the information processing apparatus 10 when the second moving object 110 and the object 120 exist in the intersection lane. In Application Example 5, the first moving body 100 exists in the same lane as the lane in which the second moving body 110 exists. Application example 5 may be a situation where the object 120 comes out of a parking lot or the like.

  First, the object detection unit 31 confirms waiting for a left turn of the object 120 as a specific state (step S81). For example, the object detection unit 31 confirms that the object 120 is waiting to turn left by detecting lighting of the direction indicator of the object 120 and the direction of the vehicle body.

  Next, the behavior estimation unit 40 determines whether or not the second moving body 110 is moving at a low speed (step S82). For example, the behavior estimation unit 40 performs the determination based on the speed of the second moving body 110 detected by the moving body detection unit 32. At this time, the behavior estimation unit 40 may determine whether or not the traveling path of the second moving body 110 is congested. Below, when the 2nd mobile body 110 is moving at low speed, it demonstrates that it is moving at low speed because the driving | running route of the 2nd mobile body 110 is congested.

  When the behavior estimation unit 40 determines that the second moving body 110 is moving at a low speed (Yes in step S82), the traveling path of the second moving body 110 is congested and causes the object 120 to turn right. Therefore, it is estimated that the second moving body 110 stops to give way to the object 120 (step S83).

  On the other hand, when the behavior estimation unit 40 determines that the second moving body 110 is not moving at a low speed (No in step S82), whether or not the distance from the second moving body 110 to the object 120 is sufficiently short. Is determined (step S84). For example, the behavior estimation unit 40 performs the determination based on the position of the object 120 detected by the object detection unit 31 and the position of the second moving body 110 detected by the moving body detection unit 32. Note that the term “sufficiently close” means, for example, that the object 120 is close enough that the second moving body 110 cannot enter the travel path on which the second moving body 110 travels.

  When the behavior estimation unit 40 determines that the distance from the second moving body 110 to the object 120 is not sufficiently close (No in step S84), there is a space in front of the second moving body 110 and the object 120 turns left. Therefore, it is estimated that the second moving body 110 decelerates (step S85).

  On the other hand, when the behavior estimation unit 40 determines that the distance from the second moving body 110 to the object 120 is sufficiently short (Yes in step S84), there is no space in front of the second moving body 110 and the object 120 turns left. Since the possibility of coming is low, it is estimated that the second moving body 110 maintains the speed (step S86).

  When the behavior estimating unit 40 estimates that the second moving body 110 stops in step S83, the first moving body 100 may collide with the stopped second moving body 110. Control information for stopping the first moving body 100 is generated. And the output part 60 stops the 1st mobile body 100 by outputting the said control information (step S87).

  When the behavior estimation unit 40 estimates that the second moving body 110 decelerates in step S85, the first moving body 100 may collide with the decelerated second moving body 110. Control information for decelerating the first moving body 100 is generated. And the output part 60 decelerates the 1st mobile body 100 by outputting the said control information (step S88).

  If the behavior estimation unit 40 estimates in step S86 that the second moving body 110 maintains the speed, the first moving body 100 can travel following the second moving body 110, so the first moving body 100 maintains the speed (step S89).

  As described above, in the application example 4, the second moving body 110 travels on a traveling road that intersects the road where the object 120 exists, and the behavior estimation unit 40 further determines the state of the second moving body 110 (for example, Based on the speed of the second moving body 110), the behavior of the second moving body 110 is estimated. In addition, the behavior estimation unit 40 further estimates the behavior of the second moving body 110 based on the relationship (for example, positional relationship) between the object 120 and the second moving body 110.

[4. Effect]
As described above, for example, when the object 120 existing around the first moving body 100 is in a specific state, the second moving body 110 existing around the first moving body 100 enters the course. May be affected. For example, when the behavior of the second moving body 110 changes based on a specific state of the object 120, the first moving body 100 may be in danger. Therefore, by estimating the behavior of the second moving body 110 based on the specific state of the object 120, it is possible to know what kind of behavior the second moving body 110 will take. The danger can be predicted more accurately by the (second moving body 110). As a result, the first moving body 100 performs control in order to avoid danger due to the behavior of the second moving body 110, or the second moving body is transferred to other moving bodies existing around the first moving body 100. 110 behaviors can be notified.

  Even when the object 120 is in a specific state, the state of the second moving body 110, the relationship between the object 120 and the second moving body 110 (positional relationship, speed, orientation, etc.), The estimation result of the behavior of the second moving body 110 may change depending on the road condition around the object 120 or the road condition around the second moving object 110. Therefore, in addition to the specific state of the object 120, the behavior of the second moving body 110 can be estimated more accurately by estimating the behavior of the second moving body 110 based on these states, relationships, or situations.

  In addition, the movement control of the first moving body 100 using the estimation result of the behavior of the second moving body 110 is determined between the first moving body 100 and the second moving body 110. Depending on the relationship (positional relationship, speed, orientation, etc.). Therefore, more accurate control information can be generated based on the relationship between the first moving body 100 and the second moving body 110.

(Other embodiments)
Although the information processing apparatus 10 of the present disclosure has been described based on the embodiments, the present disclosure is not limited to the above embodiments. Unless it deviates from the gist of the present disclosure, various modifications conceived by those skilled in the art have been made in this embodiment, and forms constructed by combining components in different embodiments are also included in the scope of the present disclosure. It is.

  For example, in the above embodiment, the object 120 is a vehicle, but may be a person, an animal, a traffic light, or the like. When the object 120 is a person or an animal, the specific state of the object 120 may include a state where the person or the person is about to enter the roadway or a state where the person 120 is present on the roadway. In addition, when the object 120 is a person, the specific state of the object 120 is that a person is walking while looking at a mobile terminal such as a smartphone, a so-called walking smartphone, and the traffic light is lit red. It may include a state of trying to cross a pedestrian crossing. Further, when the object 120 is a traffic light, the specific state of the object 120 may include a state in which the traffic light instructs to stop or turn right or left. Further, when the object 120 is a bicycle of the vehicle, the specific state of the object 120 may include a state in which the bicycle is not on the roadside but on the roadway. These states can also be detected by logical or statistical analysis such as images and radar information, machine learning, or the like.

  Further, for example, in the above-described embodiment, the behavior estimation unit 40 further estimates the behavior of the second moving body 110 based on the speed of the second moving body 110 as the state of the second moving body 110. Not limited to this. For example, the state of the second moving body 110 may include the acceleration / deceleration, roll, or yaw state of the second moving body 110. This is because the estimation result of the behavior of the second moving body 110 can change depending on these states.

  In the above-described embodiment, an example in which the second moving body 110 is a single unit has been described. However, a plurality of second moving bodies 110 may be provided. Specifically, the behavior estimation unit 40 estimates the behaviors of the plurality of second moving bodies 110 so as to match each other. The generation unit 50 generates control information or provision information based on each of the estimated behaviors of the plurality of second moving bodies 110.

  Here, when there are a plurality of second moving bodies 110 that are influenced by the path of the object 120, if the behavior of the second moving body 100 is estimated individually, the behavior of the second moving body 110 may interfere. is there. As a result, each actual behavior of the second moving body 110 is different from the estimation result, and it may be difficult to operate the first moving body 100 more appropriately.

  However, according to this configuration, it is possible to suppress interference of each of the estimated behaviors by estimating each of the behaviors of the plurality of second moving bodies 110 to be matched. Therefore, the first moving body 110 can be operated more appropriately, and safety can be improved.

  In the above embodiment, the generation unit 50 has been described as generating the control information of the first moving body 100. However, the generation unit 50 is based on an object existing within a predetermined range from the first moving body 100. Then, input information of processing for determining the route plan of the first moving body 100 may be generated. Specifically, the detection unit 30 detects an object that exists within a predetermined distance from the first moving body 100. If the detected object is not a moving object, the generation unit 50 generates position information indicating the position at the time of detection. When the detected object is a moving object, the generating unit 50 obtains position information indicating the position of the object after a predetermined time estimated from the position at the time of detection and the current moving speed of the object. Generate. Further, when the object is the second moving body 110, the generation unit 50 generates position information indicating a position calculated from the estimated behavior. These pieces of position information are input to the route planning process. The route planning process may be a process using a potential method, for example. Then, the first moving body 100 travels according to the route plan output by the route plan process.

  Thereby, it becomes easy to control the movement control of the first moving body 100 in real time according to the behavior of the second moving body 110. In addition, even if there are a plurality of second moving bodies 110, it is possible to more easily ensure consistency with each of the behaviors of the plurality of second moving bodies 110.

  Further, the present disclosure can be realized not only as the information processing apparatus 10 but also as a method including steps (processes) performed by each component configuring the information processing apparatus 10.

  For example, these steps may be performed by a computer (computer system). The present disclosure can be realized as a program for causing a computer to execute the steps included in these methods. Furthermore, the present disclosure can be realized as a non-transitory computer-readable recording medium such as a CD-ROM or the like on which the program is recorded.

  Specifically, the program is a program that controls the operation of the information processing apparatus 10 mounted on the first moving body 100. The program uses an acquisition step of acquiring sensing information obtained by sensing the periphery of the first moving body 100, and an object that exists in the vicinity of the first moving body 100 and is in a specific state using the sensing information. Using the object detection step for detecting 120 and the sensing information, the moving object detection for detecting the second moving object 110 that exists in the vicinity of the first moving object 100 and is influenced by the path by the detected object 120 is detected. Steps. In addition, the program performs a behavior estimation step of estimating the detected behavior of the second moving body 110 based on a specific state, and controls the movement of the first moving body 100 based on the estimated behavior. A generation step of generating at least one output information of information to be used and information provided to a mobile body existing around the first mobile body 100; and an output step of outputting at least one output information .

  For example, when the present disclosure is realized by a program (software), each step is executed by executing the program using hardware resources such as a computer CPU, a memory, and an input / output circuit. . That is, each step is executed by the CPU obtaining data from a memory or an input / output circuit or the like, and outputting the calculation result to the memory or the input / output circuit or the like.

  In addition, each of the plurality of components included in the information processing apparatus 10 of the above-described embodiment may be realized as a dedicated or general-purpose circuit. These components may be realized as a single circuit or may be realized as a plurality of circuits.

  In addition, a plurality of components included in the information processing apparatus 10 of the above-described embodiment may be realized as an LSI (Large Scale Integration) that is an integrated circuit (IC: Integrated Circuit). These components may be individually made into one chip, or may be made into one chip so as to include a part or all of them. The LSI may be referred to as a system LSI, a super LSI, or an ultra LSI depending on the degree of integration.

  The integrated circuit is not limited to an LSI, and may be realized by a dedicated circuit or a general-purpose processor. A programmable programmable gate array (FPGA) or a reconfigurable processor in which connection and setting of circuit cells inside the LSI can be reconfigured may be used.

  Other forms obtained by subjecting the embodiments to various modifications conceived by those skilled in the art, and forms realized by arbitrarily combining the components and functions of the embodiments without departing from the spirit of the present disclosure Are also included in this disclosure.

DESCRIPTION OF SYMBOLS 10 Information processing apparatus 20 Acquisition part 30 Detection part 31 Object detection part 32 Mobile body detection part 33 Peripheral condition detection part 40 Behavior estimation part 50 Generation part 60 Output part 70 Camera 100 1st mobile body 110 2nd mobile body 120 Object 200, 210, 220 Road

Claims (16)

An information processing apparatus mounted on a first moving body,
An acquisition unit for acquiring sensing information obtained by sensing the periphery of the first moving body;
Using the sensing information, an object detection unit that detects an object existing in a specific state around the first moving body;
Using the sensing information, a moving body detection unit that detects a second moving body that is present around the first moving body and is influenced by a path of the detected object;
A behavior estimation unit that estimates the detected behavior of the second moving body based on the specific state;
Based on the estimated behavior, at least one output information of information used for movement control of the first moving body and information provided to a moving body existing around the first moving body is generated. A generator,
An output unit for outputting the at least one output information;
An information processing apparatus comprising: The object includes a vehicle,
The specific state includes a state in which intention is displayed using lighting of a lamp mounted on the vehicle, or a running state, a narrowing, meandering or a wobbling state,
The information processing apparatus according to claim 1. The object includes a person or an animal,
The specific state includes a state in which the person or the animal is present on a roadway,
The information processing apparatus according to claim 1 or 2. The object includes a traffic light,
The specific state includes a state in which the traffic light instructs to stop or turn left or right.
The information processing apparatus according to any one of claims 1 to 3. The second moving body travels on the same or adjacent or intersecting road as the road on which the object exists.
The information processing apparatus according to any one of claims 1 to 4. The behavior estimation unit further estimates the behavior based on the state of the second moving body.
The information processing apparatus according to any one of claims 1 to 5. The behavior estimation unit further estimates the behavior based on a relationship between the object and the second moving body.
The information processing apparatus according to claim 1. The control information is further generated based on a relationship between the first moving body and the second moving body.
The information processing apparatus according to claim 1. The relationship includes a positional relationship,
The information processing apparatus according to claim 7 or 8. The relationship includes a relationship for at least one of speed and orientation,
The information processing apparatus according to any one of claims 7 to 9. The behavior estimation unit further estimates the behavior based on a road situation around the object.
The information processing apparatus according to claim 1. The behavior estimating unit further estimates the behavior based on a road situation around the second moving body.
The information processing apparatus according to claim 1. The behavior estimation unit estimates the behaviors of the plurality of second moving bodies to be consistent with each other when there are a plurality of the second moving bodies;
The generating unit generates the at least one output information based on each of the behaviors of the plurality of second moving objects;
The information processing apparatus according to claim 1. Information used for movement control of the first moving body includes control information for controlling at least one of acceleration, deceleration, and steering of the first moving body.
The information processing apparatus according to claim 1. The information used for the movement control of the first moving body includes input information of a process for determining a route plan of the first moving body based on an object existing within a predetermined range from the first moving body. Including,
The information processing apparatus according to claim 1. A program for controlling the operation of an information processing apparatus mounted on a first moving body,
An acquisition step of acquiring sensing information obtained by sensing around the first moving body;
Using the sensing information, an object detection step of detecting an object existing around the first moving body and in a specific state;
Using the sensing information, a moving body detecting step of detecting a second moving body that exists around the first moving body and is influenced by a path of the detected object;
A behavior estimation step of estimating the detected behavior of the second moving body based on the specific state;
Based on the estimated behavior, at least one output information of information used for movement control of the first moving body and information provided to a moving body existing around the first moving body is generated. Generating step to
Outputting the at least one output information;
Including programs.

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