JP-7855103-B2 - Output device, output method, and computer program

JP7855103B2JP 7855103 B2JP7855103 B2JP 7855103B2JP-7855103-B2

Inventors

後藤田明
倉橋誠
永田宏

Assignees

パイオニア株式会社

Dates

Publication Date: 20260507
Application Date: 20250313

Claims (20)

A first acquisition unit that acquires first behavior information indicating the first behavior of a passenger of a first mobile body, A second acquisition unit acquires second behavior information indicating the second behavior of the second moving body around the first moving body within a predetermined period from the occurrence of the first behavior, A first output unit outputs control information for controlling the movement of the first mobile body based on the first behavior information and the second behavior information, Equipped with, The second moving object is a pedestrian, which is the output device.
A first acquisition unit that acquires first behavior information indicating the first behavior of a passenger of a first mobile body, A second acquisition unit acquires second behavior information indicating the second behavior of the second moving body itself or the occupant of the second moving body, in the vicinity of the first moving body, within a predetermined period from the occurrence of the first behavior, A first output unit outputs control information for controlling the movement of the first mobile body based on the first behavior information and the second behavior information, Equipped with, The second behavior of the second mobile body itself is an output device in which the second mobile body flashes its headlights or hazard lights one or more times, or sounds its horn one or more times.
In the output device according to claim 1 or 2, The first acquisition unit further acquires third behavior information indicating the third behavior of the occupant of the first moving body within a predetermined period from the occurrence of the second behavior, The first output unit is an output device that outputs the control information based on the third behavior information.
In the output device according to any one of claims 1 to 3, The first output unit further comprises a determination unit that determines whether or not the control information should be output based on the first behavior information and the second behavior information, The first output unit is an output device that outputs the control information when the determination unit determines that it should output the information.
In the output device according to claim 4, The determination unit is an output device that determines, based on the first behavior information and the second behavior information, that the first output unit should output the control information when the first moving body is located within a predetermined range from a pedestrian crossing or intersection.
In the output device according to claim 4 or 5, The determination unit is an output device that determines, when the speed of the first moving body falls below a predetermined speed, that the first output unit should output the control information based on the first behavior information and the second behavior information.
In the output device according to any one of claims 4 to 6, The first output unit further comprises a third acquisition unit that acquires information indicating a region requiring attention, on which the control information should be output based on the first behavior information and the second behavior information. The determination unit is an output device that determines, when the first moving body is located within the area requiring attention, that the first output unit should output the control information based on the first behavior information and the second behavior information.
In the output device according to any one of claims 4 to 7, The determination unit is an output device that determines that the first output unit should output the control information based on the first behavior information and the second behavior information when the width of the path on which the first moving body travels satisfies predetermined conditions.
In the output device according to any one of claims 1 to 8, The first behavior is an output device in which the occupant of the first mobile body makes a gesture or vocalization toward the second mobile body.
An output device according to any one of claims 1 to 9, wherein the first behavior is any of the following: moving a hand so as to be directly recognized by the second mobile body; moving a head; communicating an intention by voice; operating the headlights or hazard lights of the first mobile body to flash once or more times; and operating the horn of the first mobile body to sound once or more times.
In the output device according to any one of claims 1 to 10, The first acquisition unit is capable of receiving input from the first input unit regarding the passenger of the first mobile body. The first behavior is an output device which is an input to the first input unit.
In the output device according to any one of claims 1 to 11, The system further includes a detection unit for detecting the behavior of the second moving object, The second acquisition unit acquires the second behavior information from the detection unit, The detection unit, An image is obtained that includes at least a portion of the second moving object. An output device that detects the second behavior using the aforementioned image and generates the second behavior information.
In the output device according to any one of claims 1 to 12, An output device further comprising a second output unit that outputs notification information for informing the occupant of the first mobile body of the contents of the control information.
In the output device according to any one of claims 1 to 13, An output device further comprising a second input unit capable of receiving input to change the content of the control information.
In the output device according to any one of claims 1 to 14, An output device further comprising a third output unit that outputs request information to prompt the occupant of the first mobile body to take action.
In the output device according to claim 15, The first acquisition unit is an output device that acquires information indicating the behavior of the occupant of the first mobile body that occurred within a predetermined period from the output of the request information, as the first behavior information.
An output method realized by the execution of a program, in which a computer functions as a first acquisition means, a second acquisition means, and a first output means, The first acquisition means includes a first acquisition step of acquiring first behavior information indicating the first behavior of a passenger of a first mobile body, The second acquisition step involves the second acquisition means acquiring second behavior information indicating the second behavior of the second moving body around the first moving body within a predetermined period from the occurrence of the first behavior, The first output means outputs control information for controlling the movement of the first mobile body based on the first behavior information and the second behavior information in a first output step, Includes, The output method is that the second moving body is a pedestrian.
An output method realized by the execution of a program, in which a computer functions as a first acquisition means, a second acquisition means, and a first output means, The first acquisition means includes a first acquisition step of acquiring first behavior information indicating the first behavior of a passenger of a first mobile body, The second acquisition step involves the second acquisition means acquiring second behavior information indicating the second behavior of the second moving body itself or the occupant of the second moving body, in the vicinity of the first moving body, within a predetermined period from the occurrence of the first behavior. The first output means outputs control information for controlling the movement of the first mobile body based on the first behavior information and the second behavior information in a first output step, Includes, The second behavior of the second mobile body itself is an output method in which the second mobile body flashes its headlights, hazard lights, or brake lights one or more times, or sounds its horn one or more times.
A computer program for realizing an output device, Computers, A first acquisition means for acquiring first behavior information indicating the first behavior of a passenger of a first mobile body, A second acquisition means for acquiring second behavior information indicating the second behavior of the second moving body around the first moving body within a predetermined period from the occurrence of the first behavior, and a first output means for outputting control information for controlling the movement of the first moving body based on the first behavior information and the second behavior information. To make it function as, The second moving entity is a computer program that represents a pedestrian.
A computer program for realizing an output device, Computers, A first acquisition means for acquiring first behavior information indicating the first behavior of a passenger of a first mobile body, A second acquisition means for acquiring second behavior information indicating the second behavior of the second mobile body itself or the occupant of the second mobile body in the vicinity of the first mobile body within a predetermined period from the occurrence of the first behavior, and a first output means for outputting control information for controlling the movement of the first mobile body based on the first behavior information and the second behavior information. To make it function as, The behavior of the second mobile body itself is a computer program in which the second mobile body flashes its headlights, hazard lights, or brake lights one or more times, or sounds its horn one or more times.

Description

This invention relates to an output device, an output method, and a computer program. In autonomous driving, the vehicle's next action is determined by predicting the next movements of surrounding vehicles and pedestrians based on various sensing results. Patent Document 1 describes a system in which automatic steering control is performed by referencing the driver's driving actions after detecting pedestrians or other objects, thereby increasing the degree of driver involvement in vehicle operation. Furthermore, Patent Document 2 describes a method of receiving a specific message from another mobile object and sending a response message containing intention information indicating the intention to perform a specific action to that mobile object. Japanese Patent Publication No. 2017-206040Japanese Patent Publication No. 2016-186721 This is a block diagram illustrating the functional configuration of the output device according to the embodiment.This flowchart illustrates the output method according to the embodiment.This is a block diagram illustrating the functional configuration of the output device according to Example 1.This diagram illustrates the hardware configuration of an output device.This is a flowchart illustrating the processing performed by the output device according to Example 1.This is a flowchart illustrating the processing performed by the output device according to Example 2.This is a block diagram illustrating the functional configuration of the output device according to Example 5.This is a block diagram illustrating the functional configuration of the output device 10 according to Example 6.This is a flowchart illustrating the processing performed by the output device 10 according to Example 6. The embodiments of the present invention will be described below with reference to the drawings. In all drawings, similar components are denoted by the same reference numerals, and their descriptions are omitted where appropriate. In the following description, the first acquisition unit 110, second acquisition unit 120, first detection unit 112, second detection unit 122, third acquisition unit 130, determination unit 140, first output unit 150, second output unit 152, first input unit 160, second input unit 162, and storage unit 170 of the output device 10 represent functional blocks, not hardware units. The first acquisition unit 110, second acquisition unit 120, first detection unit 112, second detection unit 122, third acquisition unit 130, determination unit 140, second output unit 152, first output unit 150, second input unit 162, first input unit 160, and storage unit 170 of the output device 10 are realized by any combination of hardware and software, centered on the CPU, memory, programs loaded into memory, storage media such as a hard disk that stores those programs, and a network connection interface of any computer. Furthermore, there are various variations in the methods and devices used to achieve this. Figure 1 is a block diagram illustrating the functional configuration of the output device 10 according to this embodiment. The output device 10 according to this embodiment comprises a first acquisition unit 110, a second acquisition unit 120, and a first output unit 150. The first acquisition unit 110 acquires first behavior information indicating the first behavior of a occupant of the first mobile body. The second acquisition unit 120 acquires second behavior information indicating the second behavior of a second mobile body around the first mobile body within a predetermined period T1 from the occurrence of the first behavior. The first output unit 150 outputs control information for controlling the movement of the first mobile body based on the first and second behavior information. A detailed explanation follows below. In vehicles operating using partially or fully autonomous driving, the autonomous driving control system assesses the surrounding environment and controls the vehicle's movements based on the assessment. However, if it is difficult to predict the next behavior of other vehicles in the vicinity, the vehicle may not be able to drive smoothly using autonomous driving. On the other hand, a person riding in an autonomously driven vehicle can communicate with, for example, occupants of surrounding vehicles or pedestrians. According to this embodiment, the behavior of the vehicle's occupants and the behavior of occupants of surrounding vehicles and pedestrians are used to estimate the surrounding situation and the next behavior of other vehicles, thus maintaining smooth autonomous driving. In this embodiment, the first mobile body is a vehicle such as an automobile, moped, or light vehicle. The output device 10 is mounted on the first mobile body. The first mobile body is driven at least partially automatically by control information output from the first output unit 150. The first mobile body has at least one occupant. The first behavior is the behavior of the occupa