CN-122029583-A - Control device, control method, and control program

Abstract

A control device, a control method, and a control program. The control device (100) is provided with an acquisition unit (101) configured to acquire data representing the positions of a plurality of mobile bodies (600) existing in the real world, and a display control unit (103) configured to cause a display device (200) to display the existence range (30) which is the range in which each mobile body (600) is estimated to exist in a virtual space constructed based on the data acquired by the acquisition unit (101), and to reproduce the positions of the plurality of mobile bodies (600).

Inventors

• Toshiki Shinohara
• Okada Junggui
• SUMIYA MASATOSHI
• Ji Tianxun
• Li Shanzou

Assignees

• 丰田自动车株式会社

Dates

Publication Date

20260512

Application Date

20240927

Priority Date

20231025

Claims (20)

1. 1. A control device is provided with: An acquisition unit configured to acquire data indicating positions of a plurality of moving bodies existing in the real world, and And a display control unit configured to cause a display device to display a presence range, which is a range estimated to be present in each of the mobile bodies, in a virtual space constructed based on the data acquired by the acquisition unit, and to reproduce the positions of the plurality of mobile bodies.
2. 2. The control device according to claim 1, wherein, The acquisition unit is configured to acquire the data collected by the plurality of sensors.
3. 3. The control device according to claim 1, wherein, The acquisition unit is configured to acquire the data so as to be associated with information of a time at which the data is acquired.
4. 4. The control device according to claim 1, further comprising: a calculating unit configured to calculate the existence range of the moving object based on the accuracy of the positions of the plurality of moving objects shown in the data, The display control unit is configured to display the presence range calculated by the calculation unit on the display device.
5. 5. The control device according to claim 4, wherein, The calculation unit is configured to calculate the existence range so that a probability that the mobile object to be displayed exists within the existence range reaches a predetermined value.
6. 6. The control device according to claim 4, wherein, The display control unit is configured to expand the size of the existing range with the lapse of time from the calculation of the existing range by the calculation unit until the completion of the next calculation of the existing range, and to display the expanded size on the display device.
7. 7. The control device according to claim 1, wherein, The acquisition unit is configured to acquire, from the moving body, at least data indicating a position of the moving body itself, the data being collected by a sensor included in the moving body.
8. 8. The control device according to claim 1, wherein, The acquisition unit is configured to acquire, from the moving body, at least data indicating positions of one or more other moving bodies present in the periphery of the moving body, the data being collected by a sensor included in the moving body.
9. 9. A control method, comprising: a step of acquiring data representing positions of a plurality of moving bodies existing in the real world by an acquisition unit, and And a step of causing a display device to display a presence range, which is a range estimated to be present in each of the mobile bodies, in a virtual space constructed based on the data acquired by the acquisition unit, and reproducing the positions of the plurality of mobile bodies.
10. 10. A control program, wherein: the acquisition unit is caused to execute processing of acquiring data indicating positions of a plurality of moving bodies existing in the real world, And causing a display control unit to execute processing of displaying a presence range, which is a range in which each of the mobile bodies is estimated to be present, on a display device, wherein the virtual space is constructed based on the data acquired by the acquisition unit, and the positions of the plurality of mobile bodies are reproduced.
11. 11. A control device is provided with: An acquisition unit configured to acquire data indicating positions of a plurality of mobile bodies existing in the real world; a calculation unit configured to calculate a presence range, which is a range estimated to be present in each of the mobile bodies, in a virtual space constructed based on the data acquired by the acquisition unit, the virtual space reproducing positions of the plurality of mobile bodies, and And a control unit configured to control a vehicle existing in the real world based on the existing range calculated by the calculation unit.
12. 12. The control device according to claim 11, wherein, The calculation unit is configured to calculate the existence range of the moving object so that a probability of existence of the moving object in the existence range reaches a predetermined value, The control unit is configured to control the vehicle to be controlled when the presence range of the vehicle to be controlled and the presence range of the other moving body at least partially overlap.
13. 13. The control device according to claim 12, wherein, The control unit is configured to change the content of the control of the vehicle to be controlled according to the size of the existing range of the vehicle to be controlled.
14. 14. The control device according to claim 11, wherein, The control unit is configured to change the content of control of the vehicle to be controlled based on the probability that the vehicle to be controlled is present in the presence range of the vehicle to be controlled in the virtual space when the presence range of the vehicle to be controlled and the presence range of the other movable body at least partially overlap.
15. 15. The control device according to claim 11, wherein, The control unit is configured to change the content of control of the vehicle to be controlled based on a distance between the presence range of the other moving body at least partially overlapping the presence range of the vehicle to be controlled and a center of the presence range of the vehicle to be controlled.
16. 16. The control device according to claim 11, wherein, The control unit is configured to control the vehicle to be controlled to have a greater extent of intervening vehicle travel as the existing range of the vehicle to be controlled is smaller.
17. 17. The control device according to claim 11, wherein, The control unit is configured to control the vehicle to be controlled to have a greater degree of intervening vehicle travel as the probability of the vehicle being present in the control target vehicle is higher within the presence range of the vehicle being controlled.
18. 18. The control device according to claim 11, wherein, The control unit is configured to control the vehicle to be controlled to have a greater degree of intervening vehicle travel as the distance between the existing range of the other moving body and the center of the existing range of the vehicle to be controlled is closer.
19. 19. The control device according to any one of claims 16 to 18, wherein, The control unit is configured to warn the driver in the vehicle to be controlled, and to control the vehicle to a small extent as an intervening vehicle.
20. 20. The control device according to any one of claims 16 to 18, wherein, The control unit is configured to decelerate the vehicle to be controlled, and to control the extent of travel of the intervening vehicle to be intermediate.

Description

Control device, control method, and control program Technical Field The disclosure relates to a control device, a control method, and a control program for a system for reproducing a real-world traffic environment in a virtual space. Background Digital twinning is a technique that reproduces the same environment as the real world in virtual space. Patent document 1 discloses a system using digital twin of traffic in which a real-world traffic environment is reproduced in a virtual space. Patent document 1 Japanese patent laid-open No. 2020-013557 In the case where the position of each moving body in the real world is intended to be reproduced in the virtual space, the position of each moving body may not be uniquely determined as a point on the virtual space. Disclosure of Invention In view of such problems, an object of the present disclosure is to enable a user to easily recognize the position of each moving body or to appropriately control a vehicle even when the position of each moving body reproduced in a virtual space cannot be uniquely determined as one point. The control device according to one embodiment of the present disclosure includes an acquisition unit configured to acquire data indicating positions of a plurality of moving bodies existing in the real world. The control device includes a display control unit configured to cause a display device to display a presence range, which is a range estimated to be present in each of the moving bodies, in a virtual space constructed based on the data acquired by the acquisition unit, and to reproduce positions of the plurality of moving bodies. The control method according to one aspect of the present disclosure includes a step of acquiring data indicating positions of a plurality of moving bodies existing in the real world by an acquisition unit. The control method includes a step of causing a display device to display a presence range, which is a range estimated to be present in each of the mobile bodies, in a virtual space constructed based on the data acquired by the acquisition unit, and reproducing positions of the plurality of mobile bodies. A control program according to an aspect of the present disclosure causes an acquisition unit to acquire data indicating positions of a plurality of moving bodies existing in the real world. The control program causes a display control unit to cause a display device to display a range estimated to be a range in which each of the mobile bodies exists, in a virtual space constructed based on the data acquired by the acquisition unit, and to reproduce the positions of the plurality of mobile bodies. The control device according to one embodiment of the present disclosure includes an acquisition unit configured to acquire data indicating positions of a plurality of moving bodies existing in the real world. The control device includes a calculation unit configured to calculate a presence range, which is a range estimated to be present in each of the mobile bodies, in a virtual space constructed based on the data acquired by the acquisition unit, and to reproduce positions of the plurality of mobile bodies. The control device is provided with a control unit configured to control a vehicle existing in the real world based on the existing range calculated by the calculation unit. Drawings FIG. 1 is a schematic diagram illustrating a digital twin system of traffic. Fig. 2 is a schematic diagram showing the control device of fig. 1. Fig. 3 is a schematic diagram showing an in-vehicle apparatus of the vehicle of fig. 1. Fig. 4 is a flowchart showing a flow of a series of processes related to the construction of the traffic digital twin executed by the processing device in the control device according to the first embodiment. Fig. 5 is a diagram showing a display mode in which the control device according to the first embodiment causes the traffic numerals displayed on the display device to be twinned. Fig. 6 is a diagram illustrating a first existing range of a mobile body calculated by the processing device according to the first embodiment. Fig. 7 is a diagram illustrating a second existing range of the mobile body calculated by the processing device according to the first embodiment. Fig. 8 is a schematic diagram showing a third existing range of a mobile body that can be calculated by the processing device according to the first embodiment. Fig. 9 is a schematic diagram showing a fourth existing range of a mobile body that can be calculated by the processing device according to the first embodiment. Fig. 10 is a schematic diagram showing a first existing range that is displayed to be enlarged due to the passage of time. Fig. 11 is a schematic diagram showing a second existence range that is displayed to be enlarged due to the passage of time. Fig. 12 is a flowchart showing a flow of a series of processes executed by the processing device in order to control the vehicle in the second embodiment. Fig. 13 is a schemat