JP7702655B2 - Information processing system, information processing method, and program - Google Patents

Description

The present disclosure relates to an information processing system, an information processing method, and a program for changing the detection capabilities of a sensor mounted on a moving object.

Sensors such as LiDAR (Light Detection and Ranging) are used as a means of detecting obstacles in autonomous vehicles. Since it is not known when or where an obstacle will appear during autonomous driving, such sensors are constantly operating under certain conditions. This creates a problem of large power consumption by the sensors.

In response to this, Patent Document 1 discloses a device that can change the output interval of the LiDAR laser depending on the distance to a person when it detects the person based on point cloud information from the LiDAR. This allows the laser output interval to be lengthened when the distance to the person is large, reducing the power consumption of the LiDAR.

JP 2019-109187 A

However, in Patent Document 1, changing the detection capability of a sensor such as LiDAR may cause safety problems. For example, there may be problems such as being unable to detect fast-moving objects or being unable to detect objects that are at a certain distance or more.

Therefore, this disclosure provides an information processing system etc. that can change the detection capabilities of a sensor while maintaining safety.

The information processing system according to the present disclosure includes a sensor mounted on a moving body, a determination unit that determines whether or not to change the detection capability of the sensor for detecting an object, a decision unit that, when it is determined that the detection capability is to be changed, determines the content of the change and the manner in which a warning is to be issued to a person monitoring the moving body, a notification unit that issues a warning to a person monitoring the moving body in the determined manner, and a change unit that changes the detection capability to the determined content.

These comprehensive or specific aspects may be realized as a system, method, integrated circuit, computer program, or computer-readable recording medium such as a CD-ROM, or may be realized as any combination of a system, method, integrated circuit, computer program, and recording medium.

According to an information processing system according to one aspect of the present disclosure, the detection capability of a sensor can be changed while maintaining safety.

1 is a block diagram illustrating an example of an information processing system according to an embodiment. 4 is a flowchart illustrating an example of an operation of the information processing system according to the embodiment. 10 is a flowchart illustrating an example of an operation of a determination unit according to the embodiment. 4 is a flowchart illustrating an example of an operation of the information processing system according to the first embodiment. FIG. 2 is a diagram for explaining the operation of the information processing system according to the first embodiment. 11 is a flowchart illustrating an example of an operation of the information processing system according to a modified example of the first embodiment. 11 is a flowchart illustrating an example of an operation of an information processing system according to a second embodiment. FIG. 11 is a diagram for explaining the operation of an information processing system according to a second embodiment. 13 is a flowchart illustrating an example of an operation of an information processing system according to a modified example of the second embodiment. FIG. 11 is a diagram for explaining the operation of an information processing system according to a modified example of the second embodiment. 13 is a flowchart illustrating an example of an operation of an information processing system according to a third embodiment. FIG. 11 is a diagram for explaining the operation of the information processing system according to the third embodiment. 13 is a flowchart illustrating an example of an operation of an information processing system according to a fourth embodiment. FIG. 13 is a diagram for explaining the operation of the information processing system according to the fourth embodiment. 13 is a flowchart illustrating an example of an operation of an information processing system according to a modified example of the fourth embodiment. FIG. 13 is a diagram for explaining the operation of an information processing system according to a modified example of the fourth embodiment. 13 is a flowchart illustrating an example of an operation of an information processing system according to a fifth embodiment. FIG. 13 is a diagram showing an example of a warning given to a supervisor; FIG. 11 is a diagram showing another example of a warning given to a supervisor.

An information processing system according to one aspect of the present disclosure includes a sensor mounted on a moving body, a determination unit that determines whether or not to change the detection capability of the sensor for detecting an object, a decision unit that, when it is determined that the detection capability is to be changed, determines the content of the change and the manner in which a warning is issued to those around the moving body, a notification unit that issues a warning to those around the moving body in the determined manner, and a change unit that changes the detection capability to the determined content.

When the detection capability of the sensor is changed, a warning is issued to those around the moving body, so that objects around the moving body can recognize from the warning that they need to take caution in response to the change in the detection capability of the sensor mounted on the moving body. Therefore, the detection capability of the sensor can be changed while maintaining safety.

The change in the detection capability may include limiting the detection capability, and the determination unit may determine the content of the limitation on the detection capability and determine the manner of notification according to the content of the limitation on the detection capability.

With this, by limiting the detection capability of the sensor, it is possible to reduce the power consumption of the sensor and extend the lifespan of the sensor. Furthermore, if only the detection capability of the sensor is limited, safety issues may arise, but since the detection capability is limited and a warning is issued in a manner appropriate to the content of the detection capability limitation, safety can be maintained.

The notification aspect may include notification content, and the determination unit may determine a detection target or a detection range that is estimated to be difficult to detect due to the limitations of the detection capability, and the notification unit may notify the determined detection target or the detection range.

For example, limiting the detection capability of a sensor may result in detection objects or detection ranges that are difficult to detect. In response to this, detection objects or detection ranges that are estimated to be difficult to detect are notified, so that objects around the moving body can recognize that they need to be careful about such detection objects or detection ranges. This makes it possible to limit the detection capability of the sensor while maintaining safety.

The notification aspect may include a notification means, and the determination unit may determine a means capable of transmitting a warning to a detection target or detection range that is estimated to be difficult to detect due to the limitations of the detection capability, and the notification unit may issue the warning using the determined means.

For example, limiting the detection capability of a sensor may result in detection objects or detection ranges that are difficult to detect. In response to this, a warning is issued by a warning means capable of transmitting a warning to detection objects or detection ranges that are estimated to be difficult to detect, so that such detection objects or objects in such detection ranges around the moving body can recognize that caution is required. This makes it possible to limit the detection capability of the sensor while maintaining safety.

The notification mode may also include a notification location, and (a) the determination unit may determine a location where a detection target that is estimated to be difficult to detect due to the limited detection capability can be recognized, and the notification unit may issue a warning to the determined location, or (b) the determination unit may determine a location corresponding to a detection range that is estimated to be difficult to detect due to the limited detection capability, and the notification unit may issue a warning so that the determined location can be identified.

For example, limiting the detection capability of a sensor may result in detection objects or detection ranges that become difficult to detect. In response to this, a warning is issued toward a location where the detection objects that are estimated to become difficult to detect can be recognized, so that such detection objects around the moving body can recognize the need to be careful by recognizing the warning issued toward that location. Alternatively, a warning is issued such that a location corresponding to the detection range where detection is estimated to become difficult is identified as the notification location, so that objects around the moving body can recognize the need to be careful regarding such detection range. This makes it possible to limit the detection capability of the sensor while maintaining safety.

The determination unit may further acquire the surrounding conditions of the moving body or the state of the moving body, and determine whether or not to change the detection capability based on the surrounding conditions of the moving body or the state of the moving body.

This allows the sensor's detection capabilities to be changed or not changed depending on the surrounding conditions of the moving object or the state of the moving object that are related to safety.

For example, the surrounding conditions of the moving body may include traffic conditions around the moving body, and the determination unit may determine whether to change the detection capability depending on the traffic conditions around the moving body.

This allows the sensor's detection capabilities to be changed or not changed depending on the surrounding conditions of the moving body, i.e., the traffic conditions around the moving body.

The determination unit may determine that the detection capability is to be changed when the traffic conditions around the moving body are such that (i) an object is present around the moving body, (ii) the density of objects is equal to or greater than a threshold, or (iii) the number of objects is equal to or greater than a threshold, and the change in the detection capability includes relaxing the restriction on the detection capability or lifting the restriction on the detection capability, and the decision unit may determine the details of the relaxation or lifting of the restriction on the detection capability and determine the mode of notification according to the details of the relaxation or lifting of the detection capability.

When (i) an object is present around a moving object, (ii) the density of objects is equal to or greater than a threshold, or (iii) the number of objects is equal to or greater than a threshold, there is a high possibility that the area around the moving object is in a dangerous state, and therefore safety can be maintained by relaxing or removing the limitations on the sensor's detection capabilities.

The determination unit may determine that the detection capability is to be changed when the traffic conditions around the moving body are such that (i) there are no objects, (ii) the density of objects is less than a threshold value, or (iii) the number of objects is less than a threshold value around the moving body, and the change in the detection capability may include limiting the detection capability, and the decision unit may determine the content of the limit on the detection capability and determine the mode of notification according to the content of the limit on the detection capability.

When (i) there are no objects around the moving body, (ii) the density of objects is below a threshold, or (iii) the number of objects is below a threshold, the area around the moving body is likely to be safe, so safety can be maintained even if the detection capabilities of the sensor are limited.

The state of the moving body may include the speed, position, operating status, or driving task of the moving body, and the determination unit may determine whether to change the detection capability depending on the speed, position, operating status, or driving task of the moving body.

This allows the sensor's detection capabilities to be changed or not changed depending on the state of the moving object, such as the moving object's speed, position, operating conditions, or driving task.

The determination unit may further determine the manner in which to notify the monitor of the moving object according to the determined content of the change, and notify the monitor of the warning in the determined manner.

This allows the person monitoring the moving object to recognize the need to take caution in response to changes in the detection capabilities of the sensor installed on the moving object.

The detection capability may also include a detection time interval or a detection distance.

This allows the sensor's detection capability, such as the detection time interval or detection distance, to be changed while maintaining safety.

The information processing system may also be an information processing device.

In this way, the information processing system may be an information processing device, and the present disclosure may be realized, for example, as an information processing device mounted on a moving object.

An information processing method according to one aspect of the present disclosure is an information processing method executed by a computer, which includes a process of determining whether or not to change the detection capability of a sensor mounted on a moving body for detecting an object, determining the content of the change and the manner in which a warning is issued to those around the moving body when it is determined that the detection capability is to be changed, issuing a warning to those around the moving body in the determined manner, and changing the detection capability to the determined content.

This provides an information processing method that can change the sensor's detection capabilities while maintaining safety.

The following describes the embodiment in detail with reference to the drawings.

The embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component placement and connection forms, steps, and order of steps shown in the following embodiments are merely examples and are not intended to limit the present disclosure.

(Embodiment)
An information processing system according to an embodiment will be described below.

Figure 1 is a block diagram showing an example of an information processing system 1 according to an embodiment.

The information processing system 1 is a system for changing the detection capabilities of a sensor mounted on a moving object, and includes a judgment unit 10, a decision unit 20, a notification unit 30, a change unit 40, and a sensor 50. The information processing system 1 is a computer including a processor and a memory, etc. The memory is a ROM (Read Only Memory) and a RAM (Random Access Memory), etc., and can store a program executed by the processor. The judgment unit 10, the decision unit 20, the notification unit 30, and the change unit 40 are realized by a processor, etc. that executes a program stored in the memory.

For example, the information processing system 1 may be an information processing device (e.g., a device mounted on a moving object). Also, for example, the information processing system 1 may be a server. When the information processing system 1 is a server, the information processing system 1 does not include a sensor 50. Also, the components that make up the information processing system 1 may be distributed and arranged across multiple servers.

The sensor 50 is a sensor mounted on a moving body for detecting objects. The sensor 50 is, for example, a radar such as LiDAR. The moving body is, for example, a vehicle such as an automobile. The moving body may also be an unmanned aerial vehicle or the like. The detection capability of the sensor 50 can be changed. The detection capability of the sensor 50 includes, for example, a detection time interval or a detection distance.

The determination unit 10 determines whether or not to change the detection capability of the sensor 50. For example, the determination unit 10 acquires mobile body information related to the mobile body on which the sensor 50 is mounted via a CAN (Controller Area Network) or the like in the mobile body, and determines whether or not to change the detection capability of the sensor 50 based on the mobile body information. Also, for example, the determination unit 10 acquires sensing data obtained by the sensor 50, and determines whether or not to change the detection capability of the sensor 50 based on the sensing data. Details of the determination unit 10 will be described later.

When the determination unit 10 determines that the detection capability should be changed, the determination unit 20 determines the content of the change and the manner of issuing a warning to those around the moving object. Details of the determination unit 20 will be described later.

The notification unit 30 issues a warning to those around the moving object in the notification format determined by the determination unit 20. Details of the notification unit 30 will be described later.

The change unit 40 changes the detection capability of the sensor 50 to the change content determined by the determination unit 20. For example, the detection capability of the sensor 50 may be limited to lengthen the detection time interval or shorten the detection distance, thereby reducing the power consumption of the sensor 50. Furthermore, if the sensor 50 is a rotating LiDAR or the like, the product life of the sensor 50 may be extended by limiting the detection capability of the sensor 50.

Next, the details of the operation of the information processing system 1 will be explained using FIG. 2.

Figure 2 is a flowchart showing an example of the operation of the information processing system 1 according to the embodiment.

First, the determination unit 10 determines whether or not to change the detection capability of the sensor 50 (step S1). For example, the change in the detection capability may include limiting the detection capability. Also, for example, the change in the detection capability may include relaxing the restriction on the detection capability or lifting the restriction on the detection capability. In other words, after the detection capability is restricted, the restriction may be relaxed or lifted. For example, the determination unit 10 may acquire the surrounding conditions of a moving body (a moving body equipped with the sensor 50, also called the host vehicle) or the state of the host vehicle, and determine whether or not to change the detection capability based on the surrounding conditions of the host vehicle or the state of the host vehicle. For example, the surrounding conditions of the host vehicle include the traffic conditions around the host vehicle, and the determination unit 10 may determine whether or not to change the detection capability depending on the traffic conditions around the host vehicle. An example of the operation of the determination unit 10 when determining whether or not to change the detection capability depending on the traffic conditions around the host vehicle will be described with reference to FIG. 3.

Figure 3 is a flowchart showing an example of the operation of the determination unit 10 according to the embodiment.

First, the determination unit 10 determines whether or not there is a moving object (e.g., a car, a bicycle, a person, etc.) within the detection distance of the sensor 50 (step S11). This determination is made because changing the detection capability of the sensor 50 when there is a moving object within the detection distance of the sensor 50 may cause a safety problem.

If a moving object is within the detection distance of the sensor 50 (Yes in step S11), the determination unit 10 determines whether or not there is a possibility of a collision with the moving object (step S12). For example, the determination unit 10 may make the determination in step S12 by determining, as the traffic conditions around the vehicle, whether or not there are objects (e.g., moving objects) around the vehicle, whether or not the density of objects is equal to or greater than a threshold, or whether or not the number of objects is equal to or greater than a threshold. Also, for example, the determination unit 10 may make the determination in step S12 by determining whether or not a moving object is approaching the vehicle at a predetermined speed or greater.

If there is a possibility of a collision with a moving object (Yes in step S12), the determination unit 10 determines not to change the detection capability of the sensor 50 (e.g., not to limit the detection capability) (step S13). In a state where there is a possibility of a collision with a moving object and it is known that there is a risk of a dangerous situation, the detection capability of the sensor 50 can be changed to prevent the situation from becoming even more dangerous. In this case, a warning may be issued to the moving object that there is a possibility of a collision, a warning may be issued to encourage avoidance, or the host vehicle may be controlled to perform an avoidance operation.

If there is no moving object within the detection distance of the sensor 50 (No in step S11) or if there is no possibility of a collision with a moving object (No in step S12), the determination unit 10 determines to change the detection capability of the sensor 50 (e.g., to limit the detection capability) (step S14). In a state where there is no possibility of a collision with a moving object and it is known that there is no risk of a dangerous situation, the detection capability of the sensor 50 can be changed.

If the possibility of a collision with a moving object arises after the detection capability of the sensor 50 has been restricted, the determination unit 10 changes the detection capability of the sensor 50 (for example, relaxes the restriction on the detection capability or removes the restriction on the detection capability).

In this way, for example, the determination unit 10 may determine that the detection capability is changed (specifically, the detection capability is restricted) when the traffic conditions around the vehicle are (i) when no object is present, (ii) when the density of objects is less than a threshold, or (iii) when the number of objects is less than a threshold in the vicinity of the vehicle. Also, for example, the determination unit 10 may determine that the detection capability is changed (specifically, the detection capability is relaxed or the detection capability is lifted) when the traffic conditions around the vehicle are (i) when an object is present, (ii) when the density of objects is equal to or greater than a threshold, or (iii) when the number of objects is equal to or greater than a threshold in the vicinity of the vehicle.

In FIG. 3, an example of the operation of the determination unit 10 when determining whether or not to change the detection capability depending on the traffic conditions around the vehicle is described, but the determination of whether or not to change the detection capability may also be made depending on the state of the vehicle.

For example, the state of the host vehicle includes the speed, position, operating status, or driving task of the host vehicle, and the determination unit 10 may determine whether to change the detection capability depending on the speed, position, operating status, or driving task of the host vehicle. For example, if the speed of the host vehicle is equal to or lower than a predetermined speed, if the position of the host vehicle is at a bus stop or near a bus stop, if the operating status of the host vehicle is a status of waiting at a bus stop, or if the driving task of the host vehicle is a slow (low speed) mode or a stop mode, the state of the host vehicle is a relatively safe state, and therefore the determination unit 10 may determine to change the detection capability (specifically, to limit the detection capability).

Returning to the explanation in FIG. 2, if it is determined that the detection capability of the sensor 50 is not to be changed (No in step S1), the process in step S1 (e.g., the process from step S11 to step S14 in FIG. 3) is repeated until it is determined that the detection capability is to be changed.

If it is determined that the detection capability of the sensor 50 is to be changed (Yes in step S1), the decision unit 20 decides the content of the change in the detection capability and the manner of the notification of a warning to those around the vehicle (step S2), the notification unit 30 issues a warning to those around the vehicle in the decided manner (step S3), and the change unit 40 changes the detection capability of the sensor 50 to the decided content of the change (step S4). In step S2, the decision unit 20, for example, decides the content of the change in the detection capability and then decides the manner of the warning notification, but may decide the content of the change in the detection capability and then decide the manner of the warning notification.

For example, the determination unit 20 may determine the content of the detection capability limitation and determine the notification mode according to the content of the detection capability limitation.

For example, the notification aspect may include notification content, and the determination unit 20 may determine a detection target or detection range that is estimated to be difficult to detect due to the limited detection capability, and the notification unit 30 may notify, as the notification content, the detection target or detection range that is estimated to be difficult to detect due to the limited detection capability. For example, a detection target or detection range that is estimated to be difficult to detect may occur due to the limited detection capability of the sensor 50 being limited, but since the detection target or detection range that is estimated to be difficult to detect is notified, objects around the vehicle (e.g., a person at a bus stop) can recognize that they need to be careful about such a detection target (e.g., themselves) or detection range (e.g., the bus stop where they are).

For example, when the vehicle enters a bus stop, the detection range in which detection is estimated to become difficult is the bus stop, and the detection object in which detection is estimated to become difficult is a person at the bus stop. In this case, by being notified of the detection object or detection range in which detection is estimated to become difficult, the person at the bus stop can recognize that it will become difficult to detect the bus stop or themselves at the bus stop, and can recognize that they need to be careful.

Also, for example, the notification aspect may include a notification means, the determination unit 20 may determine a means capable of transmitting a warning to a detection target or detection range that is estimated to be difficult to detect due to limitations in detection capability, and the notification unit 30 may issue a warning as the notification means using the means capable of transmitting a warning to a detection target or detection range that is estimated to be difficult to detect due to limitations in detection capability.

For example, the notification unit 30 may, as a notification means, notify the driver of a warning by communication such as vehicle-to-vehicle communication. For example, a map showing the speed, direction, and size (i.e., the detectable range) of a moving object that can be detected by the vehicle itself, as well as the positional relationship between the vehicle's position and the moving object, may be displayed on a display of the moving object by vehicle-to-vehicle communication, etc., to notify the driver of a warning.

Also, for example, the notification unit 30 may use a speaker or the like as a notification means to issue a warning by sound. For example, highly directional speakers (i.e., speakers that do not spread sound) may be installed on the front, back, left and right sides of the vehicle, and warnings may be issued by sound to each side. Note that if it is difficult to output sound to the front, back, left and right sides, it is advisable to install a speaker at least on the front side of the vehicle, since the direction ahead of the vehicle (traveling direction) is a dangerous direction in which the relative speed to the moving object is likely to increase.

For example, the notification unit 30 may issue a warning by displaying a lamp, projection mapping, or a display, etc., as a notification means. For example, lamps may be installed on the front, rear, left and right sides of the vehicle, and the lamp in the direction of travel of the vehicle may be turned on, and a notification such as "Proceed in the direction of the lit lamp. Please be careful" may be issued from a speaker.

The warning is issued by a warning means capable of transmitting a warning to a detection target or detection range that is estimated to be difficult to detect, so that the driver can recognize that he or she needs to be careful of such detection target or object that is in such a detection range around the vehicle.

For example, the notification mode may include a notification location, and the determination unit 20 may determine a location where a detection target that is estimated to be difficult to detect due to limitations in detection capability can be recognized, and the notification unit 30 may issue a warning to the location where the detection target that is estimated to be difficult to detect can be recognized as the notification location. For example, the warning may be issued by outputting a sound toward the location or shining light onto the location (e.g., shining light onto fluorescent paint applied to the location). Since a warning is issued toward the location where a detection target that is estimated to be difficult to detect can be recognized, such detection targets in the vicinity of the vehicle can recognize the need to pay attention by recognizing the warning issued toward the location.

Alternatively, for example, the determination unit 20 may determine a location corresponding to a detection range where detection is estimated to be difficult due to limitations in detection capability, and the notification unit 30 may issue a warning so that the location corresponding to the detection range where detection is estimated to be difficult is identified as the notification location. For example, the boundary of the detection range where detection is estimated to be difficult may be displayed as a mapping by laser irradiation. Since a warning is issued so that the location corresponding to the detection range where detection is estimated to be difficult is identified, objects around the vehicle can recognize that caution is required regarding such a detection range.

Note that notifications may be made using local features. For example, notifications may be made that the area within a white line indicating a bus stop section or a parking space is a detection area where detection is estimated to be difficult. For example, notifications may be made that a lane (e.g., an overtaking lane) is a detection area where detection is estimated to be difficult. For example, notifications may be made that a specific closed area, such as the inside of a roundabout, is a detection area where detection is estimated to be difficult.

In addition, for example, when the detection capability restriction is relaxed or released after the detection capability restriction is implemented, the determination unit 20 may determine the content of the relaxation or release of the detection capability and determine the mode of notification according to the content of the relaxation or release of the detection capability. For example, the detection capability restriction may be relaxed or released when the vehicle starts from a stopped state, merges into the main road from a side road, departs from a bus stop, or enters a section of a different ODD (Operational Design Domain). When the detection capability is restricted, a warning such as "The detection capability is in low mode. Only moving objects within 20 m of the vehicle can be detected. Please be careful" is notified from the speaker. After that, when the detection capability restriction is relaxed or released, a notification such as "The detection capability is in normal mode" or "You will merge into the main road. The detection mode has become normal mode" is notified from the speaker.

For example, the change unit 40 can change the detection distance as the detection capability of the sensor by changing the intensity of the laser emitted by the sensor 50 or the range of the sensing data obtained by the sensor 50 that is processed by a PC (Personal Computer) or the like. Also, for example, the change unit 40 can change the detection time interval of the sensor 50 by changing the timing at which the sensor 50 obtains the sensing data or the timing at which the PC or the like processes the sensing data.

As described above, when the detection capability of the sensor 50 is changed, a warning is issued to those around the vehicle, so that objects around the vehicle can recognize that they need to be careful in response to the change in the detection capability of the sensor 50 mounted on the vehicle. Therefore, the detection capability of the sensor 50 can be changed while maintaining safety.

In addition, by limiting the detection capability of the sensor 50, it is possible to reduce the power consumption of the sensor 50 and extend the life of the sensor 50. If only the detection capability of the sensor 50 were limited, safety issues could arise, but since the detection capability is limited and a warning is issued to those around the vehicle in a manner that corresponds to the content of the detection capability limitation, safety can be maintained.

Next, this disclosure will be explained using Examples 1 to 5.

First, a first embodiment will be described. In the first embodiment, the detection capability that is changed is the detection time interval, and a notification is given about targets that cannot be detected. In the first embodiment, the detection distance of the sensor 50 is fixed.

Figure 4 is a flowchart showing an example of the operation of the information processing system according to the first embodiment.

Figure 5 is a diagram for explaining the operation of the information processing system according to the first embodiment.

First, the information processing system determines whether or not a moving object is within the detection distance (range A1 shown in FIG. 5) of the sensor 50 (step S21). FIG. 5 shows a moving object 100 as the vehicle itself, and a sensor 51 such as a MEMS (Micro Electro Mechanical Systems) type LiDAR using an LCD (Liquid Crystal Display) is shown as the sensor 50 mounted on the moving object 100. The sensor 51 is installed, for example, on the ceiling of the moving object 100, and is capable of sensing the surroundings of the moving object 100. FIG. 5 shows range A1, which is the detection range corresponding to the detection distance (for example, 40 m, etc.) of the sensor 51. In addition, in FIG. 5, the upper side of the paper corresponds to the front (traveling direction) of the moving body 100, the lower side of the paper corresponds to the rear of the moving body 100, the right side of the paper corresponds to the right side of the moving body 100, and the left side of the paper corresponds to the left side of the moving body 100 (the same applies to FIG. 8, FIG. 10, FIG. 12, FIG. 14, and FIG. 16 described below).

If there is no moving object within the detection distance of the sensor 50 (No in step S21), the information processing system notifies that detection cannot be stopped for moving objects moving at a third speed or faster (step S22) and limits the detection time interval to a third time interval (step S23). Detection stop means that the sensor 50 detects a moving object and stops the moving object 100 so as not to collide with the moving object. For example, the degree to which the detection time interval is changed can be determined depending on the state of the moving object 100 and the traffic conditions around the moving object 100. Here, as an example, the detection time interval is changed to a first time interval, a second time interval, and a third time interval. Also, for example, the speed of the moving object that cannot be detected and stopped is determined depending on the degree to which the detection time interval is changed. The third time interval is a time interval longer than the first time interval and the second time interval, and the third speed is a speed slower than the first speed and the second speed described later. For example, the speed of the moving body that cannot be detected and stopped can be calculated from the changed detection time interval and the state of the vehicle (e.g., the detection distance of the sensor 50, the speed of the vehicle, the deceleration acceleration of the vehicle, the time it takes from determining that the vehicle is stopped to starting braking, the time it takes for the object detection process to be performed, etc.). Note that a table in which the speed of the moving body that cannot be detected and stopped is associated with each combination of the changed detection time interval and the state of the vehicle may be stored in advance, and the speed of the moving body that cannot be detected and stopped may be determined by referring to the table.

When there is no moving object within the detection distance of the sensor 50, the detection time interval of the sensor 50 is largely limited to the third time interval, since limiting the detection capability of the sensor 50 is unlikely to result in a dangerous situation. However, when the detection time interval of the sensor 50 is limited to the third time interval, it is not possible to stop detection of moving objects traveling at or above the third speed, and therefore a notification is issued that detection cannot be stopped for moving objects traveling at or above the third speed according to the third time interval.

If a moving object is within the detection distance of the sensor 50 (Yes in step S21), the information processing system determines whether the moving object is a car or not (step S24).

If the moving object within the detection range of the sensor 50 is an automobile (Yes in step S24), the information processing system notifies the sensor that detection cannot be stopped for moving objects moving at a first speed or faster (step S25) and limits the detection time interval to a first time interval (step S26). The first time interval is a time interval shorter than the second time interval and the third time interval, and the first speed is a speed faster than the second speed and the third speed. Since the moving object within the detection range of the sensor 50 is an automobile moving at a high speed, the detection time interval of the sensor 50 is not so limited to the first time interval. For example, when the original detection time interval is 0.1 seconds, the first time interval is limited to 0.25 seconds. However, when the detection time interval of the sensor 50 is limited to the first time interval, detection cannot be stopped for moving objects moving at a first speed or faster (for example, 40 km/h), so a notification is issued that detection cannot be stopped for moving objects moving at a first speed or faster according to the first time interval. For example, a speaker installed on the moving body 100 may announce, "Moving bodies traveling at speeds of 40 km/h or more cannot be detected and stopped. Please be careful," and the detection time interval may be changed from 0.1 seconds to 0.25 seconds.

If the moving object within the detection range of the sensor 50 is not an automobile (No in step S24), for example, if it is a bicycle, the information processing system notifies the sensor that detection cannot be stopped for moving objects moving at a second speed or faster (step S27) and limits the detection time interval to a second time interval (step S28). The second time interval is shorter than the third time interval and longer than the first time interval, and the second speed is faster than the third speed and slower than the first speed. Since the moving object within the detection range of the sensor 50 is a bicycle, which moves slower than an automobile, the detection time interval of the sensor 50 is limited to a certain extent to the second time interval. For example, when the original detection time interval is 0.1 seconds, the second time interval is limited to 0.5 seconds. However, when the detection time interval of the sensor 50 is limited to the second time interval, detection cannot be stopped for moving objects moving at a second speed or faster (for example, 17 km per hour), so a notification is issued that detection cannot be stopped for moving objects moving at a second speed or faster according to the second time interval. For example, a speaker installed on the moving body 100 may announce, "We cannot detect and stop moving bodies traveling at speeds of 17 km/h or faster. Please be careful," and the detection time interval may be changed from 0.1 seconds to 0.5 seconds.

The detection time interval may be gradually limited as the traffic conditions around the moving body 100 and the state of the moving body 100 change. For example, after notifying that detection cannot be stopped for moving bodies moving at a first speed or faster and limiting the detection time interval to a first time interval, it may be possible to notify that detection cannot be stopped for moving bodies moving at a second speed or faster and limit the detection time interval to a second time interval, depending on the traffic conditions around the moving body 100 and the state of the moving body 100. Furthermore, it may be possible to subsequently notify that detection cannot be stopped for moving bodies moving at a third speed or faster and limit the detection time interval to a third time interval, depending on the traffic conditions around the moving body 100 and the state of the moving body 100.

Also, as in step S22, an example has been described in which a notification is given about a moving object whose detection cannot be stopped even if there is no moving object within the detection distance, but if there is no moving object within the detection distance, it is not necessary to give a notification about a moving object whose detection cannot be stopped. This will be explained using FIG. 6.

Figure 6 is a flowchart showing an example of the operation of an information processing system according to a modified example of Example 1.

First, the information processing system determines whether or not a moving object is present within the detection distance of the sensor 50 (range A1 shown in FIG. 5) (step S31).

When a moving object is within the detection distance of the sensor 50 (Yes in step S31), the information processing system notifies that detection of a moving object moving at a first speed or faster cannot be stopped (step S32) and limits the detection time interval to the first time interval (step S33). Here, as an example, the detection time interval is changed to the first time interval. Also, for example, the speed of the moving object that cannot be detected and stopped is determined according to the degree of the changed detection time interval. When a moving object is within the detection distance of the sensor 50, detection of a moving object moving at a first speed or faster according to the first time interval cannot be stopped, so that a notification is issued that detection of a moving object moving at a first speed or faster according to the first time interval cannot be stopped. In the first embodiment, a determination is made as to whether the moving object is a car, and the notification content and the degree of the restriction on the detection time interval are determined according to the type of moving object. However, as in a modified example of the first embodiment, the type of moving object may not be determined.

If there is no moving object within the detection distance of the sensor 50 (No in step S31), the information processing system does not issue a warning and limits the detection time interval to the first time interval. If there is no moving object within the detection distance of the sensor 50, there is a low possibility that a dangerous situation will occur even if the detection capability of the sensor 50 is limited, so there is no need to issue a warning as in the modified example of Example 1.

Next, a second embodiment will be described. In the second embodiment, the detection capability that is changed is the detection time interval, and a notification is given about targets that cannot be detected. In the second embodiment, the detection distance of the sensor 50 is fixed.

Figure 7 is a flowchart showing an example of the operation of the information processing system according to the second embodiment.

Figure 8 is a diagram for explaining the operation of the information processing system according to the second embodiment.

First, the information processing system determines whether or not there is a moving object within the detection distance of the sensor 50 (ranges A2, A3, A4, or A5 shown in FIG. 8) (step S41). In FIG. 8, a moving object 100 is shown as the vehicle itself, and sensors 51a, 51b, 51c, and 51d such as LiDAR are shown as the sensor 50 mounted on the moving object 100. The sensor 51a is installed, for example, on the front side of the moving object 100, and is capable of sensing the front of the moving object 100. In FIG. 8, a range A2 is shown, which is the detection range corresponding to the detection distance of the sensor 51a (for example, 40 m, etc.). The sensor 51b is installed, for example, on the right side of the moving object 100, and is capable of sensing the right side of the moving object 100. In FIG. 8, a range A3 is shown, which is the detection range corresponding to the detection distance of the sensor 51b (for example, 40 m, etc.). Sensor 51c is installed, for example, on the left side of moving body 100, and is capable of sensing the left side of moving body 100. FIG. 8 shows range A4, which is the detection range corresponding to the detection distance (e.g., 40 m, etc.) of sensor 51c. Sensor 51d is installed, for example, on the rear side of moving body 100, and is capable of sensing the rear of moving body 100. FIG. 8 shows range A5, which is the detection range corresponding to the detection distance (e.g., 40 m, etc.) of sensor 51d. Although not shown, speakers are installed, for example, on the front, rear, left and right sides of moving body 100.

When a moving object is within the detection distance of the sensor 50 (Yes in step S41), the information processing system notifies that detection cannot be stopped for moving objects moving at a first speed or faster in the first range, that detection cannot be stopped for moving objects moving at a second speed or faster in the second range, and that detection cannot be stopped for moving objects moving at a third speed or faster in the third range (step S42), and limits the detection time interval for the first range to the first time interval, the detection time interval for the second range to the second time interval, and the detection time interval for the third range to the third time interval (step S43). For example, the first range is assumed to be range A2, and the detection time interval for range A2, i.e., the detection time interval of sensor 51a, is changed to the first time interval. Also, for example, the second range is assumed to be ranges A3 and A4, and the detection time interval for ranges A3 and A4, i.e., the detection time interval of sensors 51b and 51c, is changed to the second time interval. Also, for example, the third range is range A5, and the detection time interval of range A5, i.e., the detection time interval of sensor 51d, is changed to the third time interval. Also, for example, the speed of the moving body that cannot be stopped from being detected is determined according to the degree to which the detection time interval is changed. The first time interval is a time interval shorter than the second time interval, the second time interval is a time interval shorter than the third time interval, the first speed is a speed faster than the second speed, and the second speed is a speed faster than the third speed.

The area ahead of the moving body 100 is the moving direction of the moving body 100 and is highly likely to be a dangerous state, so the detection time interval of the sensor 51a installed on the front side of the moving body 100 is not limited to a first time interval (e.g., 0.1 seconds). However, if the detection time interval of the sensor 51a is limited to the first time interval, it will not be possible to stop detection of moving bodies with a first speed (e.g., 40 km/h) or faster in range A2, so it is announced that detection of moving bodies with a first speed or faster according to the first time interval cannot be stopped in range A2. For example, a speaker installed on the front side of the moving body 100 will announce, "It is not possible to detect and stop moving bodies with a speed of 40 km/h or faster. Please be careful," and the detection time interval is limited to 0.1 seconds. Note that if the original detection time interval is 0.1 seconds, the first time interval may be 0.1 seconds, that is, the detection time interval does not need to be limited.

The right and left of the moving body intersect with the moving direction of the moving body 100 and are less likely to be dangerous than the front, so the detection time interval of the sensors 51b and 51c installed on the right and left sides of the moving body 100 is limited to a certain extent to a second time interval (e.g., 0.2 seconds). However, if the detection time interval of the sensors 51b and 51c is limited to the second time interval, it will not be possible to stop detection of moving bodies at a second speed (e.g., 20 km/h) or faster in ranges A3 and A4, and it is announced that detection of moving bodies at a second speed or faster according to the second time interval cannot be stopped in ranges A3 and A4. For example, an announcement such as "It is not possible to detect and stop moving bodies at a speed of 20 km/h or faster. Please be careful" is made through the speakers installed on the right and left sides of the moving body 100, and the detection time interval is limited to 0.2 seconds.

The rear of the moving body is in the opposite direction to the moving body 100's direction of travel and is unlikely to be in a dangerous state, so the detection time interval of the sensor 51d installed on the rear of the moving body 100 is largely limited to a third time interval (e.g., 0.4 seconds). However, when the detection time interval of the sensor 51d is limited to the third time interval, it is not possible to stop detection of moving bodies traveling at a third speed or faster (e.g., 10 km/h) in range A5, and therefore it is announced that detection of moving bodies traveling at a third speed or faster according to the third time interval cannot be stopped in range A5. For example, a speaker installed on the rear of the moving body 100 may announce, "It is not possible to stop detection of moving bodies traveling at a speed of 10 km/h or faster. Please be careful," and the detection time interval is limited to 0.4 seconds.

If there is no moving object within the detection distance of the sensor 50 (No in step S41), the information processing system, for example, does not issue a warning and limits the detection time interval for the first range to a first time interval, limits the detection time interval for the second range to a second time interval, and limits the detection time interval for the third range to a third time interval.

As in the first embodiment, the notification content and the degree of restriction on the detection time interval may be determined according to the type of moving object within the detection distance.

Next, a modified example of the second embodiment will be described. In the modified example of the second embodiment, the detection capability that is changed is the detection time interval, and a notification is given about targets that cannot be detected. In the modified example of the second embodiment, the detection distance of the sensor 50 is fixed.

Figure 9 is a flowchart showing an example of the operation of an information processing system according to a modified example of Example 2.

Figure 10 is a diagram for explaining the operation of an information processing system according to a modified example of Example 2.

First, the information processing system determines whether or not there is a moving body within the detection distance of the sensor 50 (ranges A6, A7, A8, or A9 shown in FIG. 10) (step S51). FIG. 10 shows a moving body 100 as the vehicle itself, and a sensor 50 mounted on the moving body 100, such as a MEMS-type LiDAR sensor 51 using an LCD. The sensor 51 is installed, for example, on the ceiling of the moving body 100, and is capable of sensing the surroundings of the moving body 100. FIG. 10 shows ranges A6, A7, A8, and A9, which are detection ranges corresponding to the detection distance of the sensor 51 (for example, 40 m, etc.). Range A6 is the range in front of the moving body 100, range A7 is the range to the right of the moving body 100, range A8 is the range to the left of the moving body 100, and range A9 is the range behind the moving body 100. Although not shown, for example, speakers are installed on the front, back, left, and right of the moving body 100.

When a moving object is within the detection distance of the sensor 50 (Yes in step S51), the information processing system notifies that detection cannot be stopped for moving objects moving at a first speed or faster in the first direction, that detection cannot be stopped for moving objects moving at a second speed or faster in the second direction, and that detection cannot be stopped for moving objects moving at a third speed or faster in the third direction (step S52), and limits the detection time interval for the first direction to a first time interval, the detection time interval for the second direction to a second time interval, and the detection time interval for the third direction to a third time interval (step S53). For example, here, the first direction is the front of the moving object 100, and the detection time interval of the range A6 corresponding to the front of the moving object 100, i.e., the detection time interval when the sensor 50 senses the range A6, is changed to the first time interval. Also, for example, the second direction is the right and left of the moving body 100, and the detection time interval of the ranges A7 and A8 corresponding to the right and left of the moving body 100, i.e., the detection time interval when the sensor 50 senses the ranges A7 and A8, is changed to the second time interval. Also, for example, the third direction is the rear of the moving body 100, and the detection time interval of the range A9 corresponding to the rear of the moving body 100, i.e., the detection time interval when the sensor 50 senses the range A9, is changed to the third time interval. Also, for example, the speed of the moving body that cannot be stopped from being detected is determined according to the degree to which the detection time interval is changed. The first time interval is a time interval shorter than the second time interval, the second time interval is a time interval shorter than the third time interval, the first speed is a speed faster than the second speed, and the second speed is a speed faster than the third speed.

Because the area ahead of the moving body 100 is the moving direction of the moving body 100 and is highly likely to be dangerous, the detection time interval when the sensor 50 senses the area ahead of the moving body 100 is not limited to a large amount, such as a first time interval (e.g., 0.2 seconds). However, if the detection time interval of the sensor 50 is limited to the first time interval, it will not be possible to stop detection of moving bodies traveling at a first speed or faster (e.g., 20 km/h) in range A6, and an announcement is made that detection of moving bodies traveling at a first speed or faster according to the first time interval cannot be stopped in range A6. For example, a speaker installed in the front of the moving body 100 may announce, "It is not possible to stop detection of moving bodies traveling at a speed of 20 km/h or faster. Please be careful," and the detection time interval is limited to 0.2 seconds.

The right and left of the moving body intersect with the moving direction of the moving body 100 and are less likely to be dangerous than the front, so the detection time interval when the sensor 50 senses the right and left of the moving body is limited to a certain extent to a second time interval (e.g., 0.3 seconds). However, when the detection time interval of the sensor 50 is limited to the second time interval, it is not possible to stop detection of moving bodies at or above a second speed (e.g., 15 km/h) in ranges A7 and A8, and therefore it is announced that detection of moving bodies at or above a second speed corresponding to the second time interval cannot be stopped in ranges A7 and A8. For example, an announcement such as "It is not possible to stop detection of moving bodies at or above a second speed corresponding to the second time interval" is made through speakers installed on the right and left sides of the moving body 100, and the detection time interval is limited to 0.3 seconds.

Because the rear of the moving body is in the opposite direction to the moving body 100's direction of travel and is unlikely to be in a dangerous state, the detection time interval when the sensor 50 senses the rear of the moving body 100 is largely limited to a third time interval (e.g., 0.4 seconds). However, when the detection time interval of the sensor 50 is limited to the third time interval, it is not possible to stop detection of moving bodies traveling at a third speed (e.g., 10 km/h) or faster in range A9, and therefore it is announced that detection of moving bodies traveling at a third speed or faster according to the third time interval cannot be stopped in range A9. For example, a speaker installed on the rear of the moving body 100 may announce, "It is not possible to stop detection of moving bodies traveling at a speed of 10 km/h or faster. Please be careful," and the detection time interval is limited to 0.4 seconds.

If there is no moving object within the detection distance of the sensor 50 (No in step S51), the information processing system, for example, does not issue a warning and limits the detection time interval for the first direction to a first time interval, limits the detection time interval for the second direction to a second time interval, and limits the detection time interval for the third direction to a third time interval.

As in the first embodiment, the notification content and the degree of restriction on the detection time interval may be determined according to the type of moving object within the detection distance.

Next, a third embodiment will be described. In the third embodiment, the detection capability that is changed is the detection distance, and a notification is given about the undetectable range (specifically, an object that is in the undetectable range). In the third embodiment, the detection time interval of the sensor 50 is fixed.

Figure 11 is a flowchart showing an example of the operation of the information processing system according to the third embodiment.

Figure 12 is a diagram for explaining the operation of the information processing system according to the third embodiment.

First, the information processing system determines whether or not a moving object is within the detection distance (e.g., the maximum detection distance) of the sensor 50 (step S61). In FIG. 12, a moving object 100 is shown as the vehicle itself, and a sensor 50 mounted on the moving object 100 is shown as a sensor 51 such as a MEMS-type LiDAR using an LCD. The sensor 51 is installed, for example, on the ceiling of the moving object 100, and is capable of sensing the surroundings of the moving object 100. The detection distance of the sensor 51 is variable, and FIG. 12 shows a range B1 that is a detection range corresponding to the detection distance L1 (e.g., 40 m, etc.) of the sensor 51, a range B2 that is a detection range corresponding to the detection distance L2 (e.g., 30 m, etc.), and a range B3 that is a detection range corresponding to the detection distance L3 (e.g., 20 m, etc.).

If there is no moving object within the detection distance of the sensor 50 (No in step S61), the information processing system notifies that the moving object within the range of the third distance or more cannot be detected (step S62), and limits the detection distance to the third distance (step S63). For example, the degree to which the detection distance is changed can be determined depending on the state of the moving object 100 and the traffic conditions around the moving object 100. Here, as an example, the detection distance is changed to a first distance (e.g., detection distance L1), a second distance (e.g., detection distance L2), and a third distance (e.g., detection distance L3). Also, for example, the undetectable range is determined depending on the degree to which the detection distance is changed. The range B3 corresponding to the third distance is narrower than the range B1 corresponding to the first distance and the range B2 corresponding to the second distance. For example, the undetectable range can be calculated from the detection distance after the change and the state of the vehicle. Note that a table in which the undetectable range is associated with each combination of the detection distance after the change and the state of the vehicle after the change may be stored in advance, and the undetectable range may be determined by referring to the table.

If there is no moving object within the detection distance of the sensor 50, limiting the detection capability of the sensor 50 is unlikely to result in a dangerous situation, so the detection distance of the sensor 50 is largely limited to the third distance. However, when the detection distance of the sensor 50 is limited to the third distance, it is no longer possible to detect moving objects that are within a range of the third distance or more, and an announcement is made that moving objects within a range of the third distance or more cannot be detected. For example, an announcement such as "Moving objects that are more than 20 m away from your vehicle cannot be detected. Please be careful" is made over a speaker installed on the moving object 100, and the detection distance is changed to 20 m.

If a moving object is within the detection distance of the sensor 50 (Yes in step S61), the information processing system determines whether the moving object is a car or not (step S64).

When the moving object within the detection range of the sensor 50 is an automobile (Yes in step S64), the information processing system notifies that the moving object within the range of the first distance or more cannot be detected (step S65) and limits the detection distance to the first distance (step S66). The range B1 corresponding to the first distance is wider than the range B2 corresponding to the second distance and the range B3 corresponding to the third distance. Since the moving object within the detection range of the sensor 50 is an automobile moving at a high speed, the detection distance of the sensor 50 is not so limited to the first distance. However, when the detection distance of the sensor 50 is limited to the first distance, the moving object within the range of the first distance or more cannot be detected, so that the moving object within the range of the first distance or more cannot be detected is notified. For example, an announcement such as "The moving object that is 40 m or more away from the vehicle cannot be detected. Please be careful" is made by a speaker installed in the moving object 100, and the detection distance is changed to 40 m.

If the moving object within the detection range of the sensor 50 is not an automobile (No in step S64), for example, if it is a bicycle, the information processing system notifies the sensor 50 that it cannot detect moving objects that are within a range of the second distance or more (step S67) and limits the detection distance to the second distance (step S68). The range B2 corresponding to the second distance is wider than the range B3 corresponding to the third distance and narrower than the range B1 corresponding to the first distance. Since the moving object within the detection range of the sensor 50 is a bicycle, which moves slower than an automobile, the detection distance of the sensor 50 is limited to the second distance to some extent. However, when the detection distance of the sensor 50 is limited to the second distance, it cannot detect moving objects that are within a range of the second distance or more, so it is notified that moving objects that are within a range of the second distance or more cannot be detected. For example, a speaker installed on the moving object 100 makes an announcement such as "Moving objects that are 30 m or more away from the vehicle cannot be detected. Please be careful," and the detection distance is changed to 30 m.

The detection distance may be limited in stages as the traffic conditions around the mobile body 100 and the state of the mobile body 100 change. For example, after reporting that a mobile body that is within a range of a first distance or more cannot be detected and limiting the detection distance to the first distance, a notification may be sent that a mobile body that is within a range of a second distance or more cannot be detected and the detection distance may be limited to the second distance, depending on the traffic conditions around the mobile body 100 and the state of the mobile body 100. Furthermore, after that, a notification may be sent that a mobile body that is within a range of a third distance or more cannot be detected and the detection distance may be limited to the third distance, depending on the traffic conditions around the mobile body 100 and the state of the mobile body 100.

Also, an example has been described in which a notification is given about a moving object that cannot be stopped from being detected even if there is no moving object within the detection distance, but as with the modified example of Example 1, if there is no moving object within the detection distance, a notification about the range that cannot be detected does not have to be given.

Next, a fourth embodiment will be described. In the fourth embodiment, the detection capability that is changed is the detection distance, and a notification is given about the undetectable range (specifically, an object in the undetectable range). In the fourth embodiment, the detection time interval of the sensor 50 is fixed.

Figure 13 is a flowchart showing an example of the operation of the information processing system according to the fourth embodiment.

Figure 14 is a diagram for explaining the operation of the information processing system according to the fourth embodiment.

First, the information processing system determines whether or not there is a moving body within the detection distance (e.g., the maximum detection distance) of the sensor 50 (step S71). In FIG. 14, a moving body 100 is shown as the vehicle itself, and sensors 51a, 51b, 51c, and 51d such as LiDAR are shown as the sensor 50 mounted on the moving body 100. The sensor 51a is, for example, installed on the front side of the moving body 100, and is capable of sensing the front of the moving body 100. The sensor 51b is, for example, installed on the right side of the moving body 100, and is capable of sensing the right side of the moving body 100. The sensor 51c is, for example, installed on the left side of the moving body 100, and is capable of sensing the left side of the moving body 100. The sensor 51d is, for example, installed on the rear side of the moving body 100, and is capable of sensing the rear of the moving body 100. The detection distances of sensors 51a, 51b, 51c, and 51d are variable, and FIG. 14 shows range B4, which is the detection range for sensor 51a corresponding to detection distance L4 (e.g., 40 m, etc.), range B5, which is the detection range for sensor 51b corresponding to detection distance L5 (e.g., 20 m, etc.), range B6, which is the detection range for sensor 51c corresponding to detection distance L6 (e.g., 20 m, etc.), and range B7, which is the detection range for sensor 51d corresponding to detection distance L7 (e.g., 10 m, etc.). Although not shown, speakers are installed, for example, on the front, back, left, and right of moving body 100.

If there is a moving object within the detection distance of the sensor 50 (Yes in step S71), the information processing system notifies that the first range cannot detect a moving object that is in a range of the first distance or more, the second range cannot detect a moving object that is in a range of the second distance or more, and the third range cannot detect a moving object that is in a range of the third distance or more (step S72), and limits the detection distance for the first range to the first distance, the detection distance for the second range to the second distance, and the detection distance for the third range to the third distance (step S73). For example, here, the first range is range B4, and the detection distance of range B4, i.e., the detection distance of sensor 51a, is changed to the first distance (for example, detection distance L4). Also, for example, the second range is range B5 and B6, and the detection distance of range B5 and B6, i.e., the detection distance of sensors 51b and 51c, is changed to the second distance (for example, detection distance L5 and L6). Also, for example, the third range is range B7, and the detection distance of range B7, i.e., the detection distance of sensor 51d, is changed to the third distance (for example, detection distance L7). Also, for example, the range in which detection is not possible is determined according to the degree to which the detection distance is changed. Range B4 corresponding to the first distance is wider than ranges B5 and B6 corresponding to the second distance, and ranges B5 and B6 corresponding to the second distance are wider than range B7 corresponding to the third distance.

The area in front of the moving body 100 is the moving direction of the moving body 100 and is highly likely to be dangerous, so the detection distance of the sensor 51a installed on the front side of the moving body 100 is not limited to the first distance. However, if the detection distance of the sensor 51a is limited to the first distance, moving bodies that are within the range of the first distance or more outside the range B4 cannot be detected, so a notice is issued that moving bodies that are the first distance or more away from the moving body 100 in front of the moving body 100 cannot be detected. For example, a speaker installed on the front side of the moving body 100 announces that "moving bodies that are 40 m or more away from the moving body 100 cannot be detected. Please be careful," and the detection distance is limited to 40 m. Note that if the original detection distance is 40 m, the first distance may be 40 m, that is, the detection distance does not need to be limited.

The right and left of the moving body intersect with the moving direction of the moving body 100 and are less likely to be dangerous than the front, so the detection distance of the sensors 51b and 51c installed on the right and left sides of the moving body 100 is limited to a certain extent to the second distance. However, when the detection distance of the sensors 51b and 51c is limited to the second distance, they are unable to detect moving bodies that are outside the ranges B5 and B6 and are within the second distance or more, and therefore an announcement is made that moving bodies on the right and left sides of the moving body 100 that are the second distance or more away from the moving body 100 cannot be detected. For example, an announcement such as "Moving bodies that are 20 m or more away from your vehicle cannot be detected. Please be careful" is made through the speakers installed on the right and left sides of the moving body 100, and the detection distance is limited to 20 m.

Since the rear of the moving body is in the opposite direction to the traveling direction of the moving body 100 and is unlikely to be in a dangerous state, the detection distance of the sensor 51d installed on the rear side of the moving body 100 is largely limited to the third distance. However, when the detection distance of the sensor 51d is limited to the third distance, it is not possible to detect moving bodies that are within a range of the third distance or more outside the range B7, and therefore it is announced that moving bodies that are the third distance or more away from the moving body 100 behind the moving body 100 cannot be detected. For example, an announcement such as "Moving bodies that are 10 m or more away from your vehicle cannot be detected. Please be careful" is made through a speaker installed on the rear side of the moving body 100, and the detection distance is limited to 10 m.

If there is no moving object within the detection distance of the sensor 50 (No in step S71), the information processing system, for example, does not issue a warning and limits the detection distance for the first range to the first distance, limits the detection distance for the second range to the second distance, and limits the detection distance for the third range to the third distance.

As in the third embodiment, the content of the notification and the degree of the detection distance limitation may be determined according to the type of moving object within the detection distance.

Next, a modified example of the fourth embodiment will be described. In the modified example of the fourth embodiment, the detection capability that is changed is the detection distance, and a notification is given about the undetectable range (specifically, an object that is in the undetectable range). In the modified example of the fourth embodiment, the detection time interval of the sensor 50 is fixed.

Figure 15 is a flowchart showing an example of the operation of an information processing system according to a modified example of Example 4.

Figure 16 is a diagram for explaining the operation of an information processing system according to a modified example of Example 4.

First, the information processing system determines whether or not there is a moving object within the detection distance of the sensor 50 (for example, the maximum detection distance, range B8 shown in FIG. 16) (step S81). FIG. 16 shows a moving object 100 as the vehicle itself, and a sensor 50 mounted on the moving object 100, such as a MEMS-type LiDAR sensor 51 using an LCD. The sensor 51 is installed, for example, on the ceiling of the moving object 100, and is capable of sensing the surroundings of the moving object 100. FIG. 16 shows range B8, which is the detection range corresponding to the detection distance L8 (for example, 40 m, etc.) of the sensor 51, range B9, which is the detection range corresponding to the detection distance L9 (for example, 20 m, etc.), range B10, which is the detection range corresponding to the detection distance L10 (for example, 10 m, etc.), range B11, which is the detection range corresponding to the detection distance L11 (for example, 10 m, etc.), and range B12, which is the detection range corresponding to the detection distance L12 (for example, 5 m, etc.). Range B9 is the range in front of the moving body 100, range B10 is the range to the right of the moving body 100, range B11 is the range to the left of the moving body 100, and range B12 is the range to the rear of the moving body 100. Although not shown in the figure, for example, speakers are installed on the front, back, left and right of the moving body 100.

When a moving object is within the detection distance of the sensor 50 (Yes in step S81), the information processing system notifies the sensor 50 that a moving object that is within a range of the first distance or more cannot be detected in the first direction, that a moving object that is within a range of the second distance or more cannot be detected in the second direction, and that a moving object that is within a range of the third distance or more cannot be detected in the third direction (step S82), and limits the detection distance in the first direction to the first distance, the detection distance in the second direction to the second distance, and the detection distance in the third direction to the third distance (step S83). For example, here, the first direction is the front of the moving object 100, and the detection distance when the sensor 50 senses the front of the moving object 100 is changed to the first distance (e.g., detection distance L9) (i.e., the sensing range of the sensor 50 is limited to range B9 in the front of the moving object 100). Also, for example, the second direction is the right and left of the moving body 100, and the detection distance when the sensor 50 senses the right and left of the moving body 100 is changed to a second distance (for example, detection distances L10 and L11) (that is, the sensing range of the sensor 50 is limited to ranges B10 and B11 for the right and left of the moving body 100). Also, for example, the third direction is the rear of the moving body 100, and the detection distance when the sensor 50 senses the rear of the moving body 100 is changed to a third distance (for example, detection distance L12) (that is, the sensing range of the sensor 50 is limited to range B12 for the rear of the moving body 100). Also, for example, the range that cannot be detected is determined according to the degree of the changed detection distance. The range B9 corresponding to the first distance is wider than the ranges B10 and B11 corresponding to the second distance, and the ranges B10 and B11 corresponding to the second distance are wider than the range B12 corresponding to the third distance.

Because the area ahead of the moving body 100 is the moving direction of the moving body 100 and is highly likely to be dangerous, the detection distance when the sensor 50 senses the area ahead of the moving body 100 is not limited to the first distance. For example, if the original detection distance is 40 m, the first distance is limited to 20 m. However, when the detection distance of the sensor 50 is limited to the first distance, moving bodies outside the range B9 that are within the first distance or more cannot be detected, and therefore, a notification is issued that moving bodies in front of the moving body 100 that are the first distance or more away from the moving body 100 cannot be detected. For example, a speaker installed in the front of the moving body 100 issues an announcement such as "Moving bodies that are 20 m or more away from the vehicle cannot be detected. Please be careful," and the detection distance is limited from 40 m to 20 m.

The right and left of the moving body intersect with the moving direction of the moving body 100 and are less likely to be dangerous than the front, so the detection distance when the sensor 50 senses the right and left of the moving body is limited to a certain extent to the second distance. For example, if the original detection distance is 40 m, the second distance is limited to 10 m. However, when the detection distance of the sensor 50 is limited to the second distance, moving bodies outside the ranges B10 and B11 that are within the second distance or more cannot be detected, so a notification is issued that moving bodies on the right and left of the moving body 100 that are the second distance or more away from the moving body 100 cannot be detected. For example, an announcement such as "Moving bodies that are 10 m or more away from the moving body 100 cannot be detected. Please be careful" is made through speakers installed on the right and left sides of the moving body 100, and the detection distance is limited from 40 m to 10 m.

The rear of the moving body is in the opposite direction to the moving body 100's direction of travel and is unlikely to be in a dangerous state, so the detection distance when the sensor 50 senses the rear of the moving body 100 is largely limited to the third distance. For example, if the original detection distance is 40 m, the third distance is limited to 5 m. However, when the detection distance of the sensor 50 is limited to the third distance, it cannot detect moving bodies that are outside the range B12 and are within the range of the third distance or more, so it is announced that moving bodies that are the third distance or more behind the moving body 100 cannot be detected. For example, a speaker installed on the rear of the moving body 100 may make an announcement such as "Moving bodies that are 5 m or more away from your vehicle cannot be detected. Please be careful," and the detection distance is limited from 40 m to 5 m.

If there is no moving object within the detection distance of the sensor 50 (No in step S81), the information processing system, for example, does not issue a warning and limits the detection distance in the first direction to a first distance, limits the detection distance in the second direction to a second distance, and limits the detection distance in the third direction to a third distance.

As in the third embodiment, the content of the notification and the degree of the detection distance limitation may be determined according to the type of moving object within the detection distance.

Next, a fifth embodiment will be described. In the fifth embodiment, the detection capability is changed in both the detection time interval and the detection distance, and a notification is given about targets that cannot be detected.

Figure 17 is a flowchart showing an example of the operation of the information processing system according to the fifth embodiment.

First, the information processing system determines whether or not a moving object is present within the detection distance of the sensor 50 (step S91).

If there is no moving object within the detection distance of the sensor 50 (No in step S91), the information processing system notifies that detection cannot be stopped for moving objects moving at a third speed or faster (step S92), limits the detection time interval to a third time interval (step S93), and limits the detection distance to a third distance (step S94). For example, the degree to which the detection time interval and the detection distance are changed can be determined depending on the state of the moving object 100 and the traffic conditions around the moving object 100. Here, as an example, the detection distance is changed to the first distance, the second distance, and the third distance. Also, for example, the degree to which the detection distance is changed is determined depending on the degree to which the detection distance is changed. For example, the detection time interval is changed to the first time interval, the second time interval, and the third time interval. Also, for example, the speed of the moving object that cannot be detected and stopped is determined depending on the degree to which the detection time interval is changed. The third distance is shorter than the first distance and the second distance, the third time interval is longer than the first time interval and the second time interval, and the third speed is slower than the first speed and the second speed described below. For example, the speed of the moving body that cannot be detected and stopped can be calculated from the changed detection time interval, detection distance, and state of the host vehicle. Note that a table in which the speed of the moving body that cannot be detected and stopped is associated with each combination of the changed detection time interval, detection distance, and state of the host vehicle may be stored in advance, and the speed of the moving body that cannot be detected and stopped may be determined by referring to the table.

When there is no moving object within the detection distance of the sensor 50, the detection time interval of the sensor 50 is largely limited to the third time interval and the detection distance of the sensor 50 is largely limited to the third distance, since limiting the detection capability of the sensor 50 is unlikely to result in a dangerous situation. However, when the detection time interval of the sensor 50 is limited to the third time interval and the detection distance of the sensor 50 is limited to the third distance, it becomes impossible to stop detection of moving objects moving at the third speed or faster, and therefore a notification is issued that detection cannot be stopped for moving objects moving at the third speed or faster.

If a moving object is within the detection distance of the sensor 50 (Yes in step S91), the information processing system determines whether the moving object is a car or not (step S95).

If the moving object within the detection range of the sensor 50 is an automobile (Yes in step S95), the information processing system notifies the sensor that detection cannot be stopped for moving objects moving at a first speed or faster (step S96), limits the detection time interval to a first time interval (step S97), and limits the detection distance to a first distance (step S98). The first time interval is shorter than the second time interval and the third time interval, the first distance is longer than the second distance and the third distance, and the first speed is faster than the second speed and the third speed. Since the moving object within the detection range of the sensor 50 is an automobile moving at a high speed, the detection time interval of the sensor 50 is not so limited as to be the first time interval and the detection distance is the first distance. However, when the detection time interval of the sensor 50 is limited to the first time interval and the detection distance is limited to the first distance, the sensor 50 cannot stop detection for moving objects moving at a first speed or faster, and therefore notifies the sensor that detection cannot be stopped for moving objects moving at a first speed or faster.

If the moving object within the detection range of the sensor 50 is not an automobile (No in step S95), for example, if it is a bicycle, the information processing system notifies the sensor that detection cannot be stopped for moving objects moving at a second speed or faster (step S99), limits the detection time interval to a second time interval (step S100), and limits the detection distance to a second distance (step S101). The second time interval is shorter than the third time interval and longer than the first time interval, the second distance is longer than the third distance and shorter than the first distance, and the second speed is faster than the third speed and slower than the first speed. Since the moving object within the detection range of the sensor 50 is a bicycle, which moves slower than an automobile, the detection time interval of the sensor 50 is limited to the second time interval and the detection distance to the second distance to some extent. However, when the detection time interval of the sensor 50 is limited to the second time interval and the detection distance is limited to the second distance, detection cannot be stopped for moving objects moving at a second speed or faster, so a notification is issued that detection cannot be stopped for moving objects moving at a second speed or faster.

The detection time interval and detection distance may be limited in stages as the traffic conditions around the moving body 100 and the state of the moving body 100 change. For example, after notifying that detection cannot be stopped for moving bodies moving at a first speed or faster, limiting the detection time interval to a first time interval, and limiting the detection distance to a first distance, it may be possible to notify that detection cannot be stopped for moving bodies moving at a second speed or faster, limiting the detection time interval to a second time interval, and limiting the detection distance to a second distance, depending on the traffic conditions around the moving body 100 and the state of the moving body 100. Furthermore, it may be possible to subsequently notify that detection cannot be stopped for moving bodies moving at a third speed or faster, limiting the detection time interval to a third time interval, and limiting the detection distance to a third distance, depending on the traffic conditions around the moving body 100 and the state of the moving body 100.

Other Embodiments
Although the information processing system according to one or more aspects of the present disclosure has been described based on the embodiments, the present disclosure is not limited to these embodiments. As long as it does not deviate from the spirit of the present disclosure, various modifications conceived by a person skilled in the art to each embodiment and forms constructed by combining components in different embodiments may also be included within the scope of one or more aspects of the present disclosure.

For example, the determination unit 20 may further determine the manner in which to notify the monitor of the moving object depending on the determined change in detection capability, and the notification unit 30 may notify the monitor of the warning in the determined manner.

Figure 18A shows an example of a warning given to the observer.

Figure 18B shows another example of a warning given to the observer.

For example, a display such as that shown in FIG. 18A or 18B is displayed on a surveillance monitor or the like, allowing the surveillance person to understand the detection capability of the sensor 50 mounted on the mobile object being monitored. Note that a display such as "detection capability decreasing" or a change in the color of the displayed text may be displayed to make the surveillance person aware that the detection capability is limited. Furthermore, the surveillance priority may be controlled according to the determined content of the change in detection capability. For example, the surveillance priority of a mobile object equipped with a sensor 50 whose detection capability is limited may be increased. Furthermore, the content of the notification to the surveillance person and the means of notification may be determined based on the surveillance priority. For example, when the surveillance priority is high, a notification may be given by both visual and audio, the color, brightness, or size of the display may be made more noticeable, or the display may flash.

For example, in the above embodiment, an example was described in which a detection target or detection range was determined that is estimated to be difficult to detect due to limitations in the detection capability of the sensor 50, but a detection target or detection range that is estimated to be detectable even if the detection capability of the sensor 50 is limited may also be determined.

For example, in the above embodiment, an example was described in which a means capable of transmitting a warning to a detection target or detection range that is estimated to be difficult to detect due to limitations in the detection capability of the sensor 50 is determined, but a means capable of transmitting a warning to a detection target or detection range that is estimated to be detectable even if the detection capability of the sensor 50 is limited may also be determined.

For example, in the above embodiment, an example was described in which a location where a detection target that is estimated to be difficult to detect due to limitations in the detection capability of the sensor 50 can be recognized, or a location corresponding to a detection range where detection is estimated to be difficult due to limitations in the detection capability of the sensor 50, is determined. However, a location where a detection target that is estimated to be detectable even if the detection capability of the sensor 50 is limited, or a location corresponding to a detection range where detection is estimated to be possible even if the detection capability of the sensor 50 is limited, may also be determined.

The present disclosure can be realized not only as an information processing system, but also as an information processing method including steps (processing) performed by each component of the information processing system.

For example, the information processing method is an information processing method executed by a computer, and includes a process of determining whether or not to change the detection capability of a sensor mounted on a moving body for detecting an object (step S1) as shown in FIG. 2, and if it is determined that the detection capability is to be changed (Yes in step S1), determining the content of the change and the manner in which a warning is issued to those around the moving body (step S2), issuing a warning to those around the moving body in the determined manner (step S3), and changing the detection capability to the determined content (step S4).

For example, the present disclosure can be realized as a program for causing a processor to execute steps included in an information processing method. Furthermore, the present disclosure can be realized as a non-transitory computer-readable recording medium, such as a CD-ROM, on which the program is recorded.

For example, when the present disclosure is realized by a program (software), each step is performed by executing the program using hardware resources such as a computer's CPU, memory, and input/output circuits. In other words, each step is performed by the CPU acquiring data from memory or input/output circuits, etc., performing calculations, and outputting the results of the calculations to memory or input/output circuits, etc.

In the above embodiment, each component included in the information processing system may be configured with dedicated hardware, or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

Some or all of the functions of the information processing system according to the above embodiment are typically realized as an LSI, which is an integrated circuit. These may be individually integrated into a single chip, or may be integrated into a single chip that includes some or all of the functions. Furthermore, the integrated circuit is not limited to an LSI, and may be realized using a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after LSI manufacture, or a reconfigurable processor that can reconfigure the connections and settings of circuit cells inside the LSI, may also be used.

Furthermore, as long as the modifications do not deviate from the spirit of this disclosure, they also include various modifications that are within the scope of what a person skilled in the art would think of in each embodiment of this disclosure.

This disclosure can be applied to autonomous vehicles equipped with radar such as LiDAR.

REFERENCE SIGNS LIST 1 Information processing system 10 Determination unit 20 Decision unit 30 Notification unit 40 Change unit 50, 51, 51a, 51b, 51c, 51d Sensor 100 Mobile body A1, A2, A3, A4, A5, A6, A7, A8, A9, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, B11, B12 Range L1, L2, L3, L4, L5, L6, L7, L8, L9, L10, L11, L12 Detection distance

Claims (17)

a determination unit that determines whether or not to change a detection capability of the sensor mounted on the moving body for detecting an object;
A decision unit that, when it is determined that the detection capability is to be changed, decides the content of the change and a manner of notifying a monitor of the moving object of a warning;
a notification unit that notifies a monitor of the moving object of a warning in the determined manner;
A change unit that changes the detection capability to the determined content ,
The change in the detection capability includes limiting the detection capability,
The determination unit determines the content of the limitation of the detection capability, and determines a manner of notification according to the content of the limitation of the detection capability,
The notification mode includes notification content,
The determination unit determines a detection target or a detection range that is estimated to be difficult to detect due to the limitation of the detection capability,
The notification unit notifies the determined detection target or the determined detection range.
Information processing system. a determination unit that determines whether or not to change a detection capability of the sensor mounted on the moving body for detecting an object;
A decision unit that, when it is determined that the detection capability is to be changed, decides the content of the change and a manner of notifying a monitor of the moving object of a warning;
a notification unit that notifies a monitor of the moving object of a warning in the determined manner;
A change unit that changes the detection capability to the determined content,
The change in the detection capability includes limiting the detection capability,
The determination unit determines the content of the limitation of the detection capability, and determines a manner of notification according to the content of the limitation of the detection capability,
The notification mode includes a notification means,
The determination unit determines a means for transmitting a warning to a detection target or a detection range that is estimated to be difficult to detect due to the limitation of the detection capability,
The notification unit notifies a warning by the determined means.
Information processing system. a determination unit that determines whether or not to change a detection capability of the sensor mounted on the moving body for detecting an object;
A decision unit that, when it is determined that the detection capability is to be changed, decides the content of the change and a manner of notifying a monitor of the moving object of a warning;
a notification unit that notifies a monitor of the moving object of a warning in the determined manner;
A change unit that changes the detection capability to the determined content,
The change in the detection capability includes limiting the detection capability,
The determination unit determines the content of the limitation of the detection capability, and determines a manner of notification according to the content of the limitation of the detection capability,
The determination unit determines a location corresponding to a detection range in which detection is estimated to be difficult due to a limitation in the detection capability,
The notification unit issues a warning so that the determined location can be identified.
Information processing system. The information processing system according to any one of claims 1 to 3, wherein the determination unit further acquires surrounding conditions of the moving body or a state of the moving body, and determines whether or not to change the detection capability based on the surrounding conditions of the moving body or the state of the moving body. the surrounding conditions of the moving object include a traffic condition around the moving object;
The information processing system according to claim 4 , wherein the determination unit determines whether or not to change the detection capability depending on a traffic condition around the moving object. a determination unit that determines whether or not to change a detection capability of the sensor mounted on the moving body for detecting an object;
A decision unit that, when it is determined that the detection capability is to be changed, decides the content of the change and a manner of notifying a monitor of the moving object of a warning;
a notification unit that notifies a monitor of the moving object of a warning in the determined manner;
A change unit that changes the detection capability to the determined content,
The determination unit further determines whether to change the detection capability depending on a traffic condition around the moving object,
The determination unit determines to change the detection capability when, as a traffic condition around the moving body, (i) an object is present around the moving body, (ii) a density of objects is equal to or greater than a threshold, or (iii) a number of objects is equal to or greater than a threshold,
The change in the detection capability includes relaxing the restriction on the detection capability or removing the restriction on the detection capability,
The determination unit determines details of the relaxation or lifting of the restriction on the detection capability, and determines a manner of notification according to the details of the relaxation or lifting of the restriction on the detection capability.
Information processing system. a determination unit that determines whether or not to change a detection capability of the sensor mounted on the moving body for detecting an object;
A decision unit that, when it is determined that the detection capability is to be changed, decides the content of the change and a manner of notifying a monitor of the moving object of a warning;
a notification unit that notifies a monitor of the moving object of a warning in the determined manner;
A change unit that changes the detection capability to the determined content,
The determination unit further determines whether to change the detection capability depending on a traffic condition around the moving object,
the determination unit determines to change the detection capability when, as a traffic condition around the moving object, (i) no object is present around the moving object, (ii) a density of objects is less than a threshold, or (iii) the number of objects is less than a threshold,
The change in the detection capability includes limiting the detection capability,
The determination unit determines a content of the restriction on the detection capability, and determines a manner of notification according to the content of the restriction on the detection capability.
Information processing system. The state of the moving object includes a speed, a position, a driving status, or a driving task of the moving object;
The information processing system according to claim 4 , wherein the determination unit determines whether or not to change the detection capability depending on a speed, a position, a driving status, or a driving task of the moving object. The information processing system according to claim 1 , wherein the determination unit determines a manner of notification to a monitor of the moving object according to the determined content of the change. The information processing system according to claim 1 , wherein the detection capability includes a detection time interval or a detection distance. The information processing system according to any one of claims 1 to 10 , wherein the information processing system is an information processing device. 1. A computer-implemented information processing method, comprising:
A sensor mounted on the moving body is used to determine whether or not to change a detection capability of the sensor for detecting an object;
When it is determined that the detection capability is to be changed, the content of the change and the manner of notification of a warning to a monitor of the moving body are determined;
notifying a monitor of the moving object of a warning in the determined manner;
Changing said detection capability to the determined content;
The change in the detection capability includes limiting the detection capability,
In the determination, a content of the limitation of the detection capability is determined, and a notification mode is determined according to the content of the limitation of the detection capability;
The notification mode includes notification content,
In the determination, a detection target or a detection range that is estimated to be difficult to detect due to the limitation of the detection capability is determined;
In the notification, the determined detection target or the detection range is notified.
Information processing methods. 1. A computer-implemented information processing method, comprising:
A sensor mounted on the moving body is used to determine whether or not to change a detection capability of the sensor for detecting an object;
When it is determined that the detection capability is to be changed, the content of the change and the manner of notification of a warning to a monitor of the moving body are determined;
notifying a monitor of the moving object of a warning in the determined manner;
Changing said detection capability to the determined content;
The change in the detection capability includes limiting the detection capability,
In the determination, a content of the limitation of the detection capability is determined, and a notification mode is determined according to the content of the limitation of the detection capability;
The notification mode includes a notification means,
In the determination, a means capable of transmitting a warning to a detection target or a detection range that is estimated to be difficult to detect due to the limitation of the detection capability is determined;
In the notification, a warning is issued by the determined means.
Information processing methods. 1. A computer-implemented information processing method, comprising:
A sensor mounted on the moving body is used to determine whether or not to change a detection capability of the sensor for detecting an object;
When it is determined that the detection capability is to be changed, the content of the change and the manner of notification of a warning to a monitor of the moving body are determined;
notifying a monitor of the moving object of a warning in the determined manner;
Changing said detection capability to the determined content;
The change in the detection capability includes limiting the detection capability,
In the determination, a content of the limitation of the detection capability is determined, and a notification mode is determined according to the content of the limitation of the detection capability;
In the determination, a location corresponding to a detection range in which detection is estimated to be difficult due to the limitation of the detection capability is determined;
In the notification, a warning is issued so that the determined location can be identified.
Information processing methods. 1. A computer-implemented information processing method, comprising:
A sensor mounted on the moving body is used to determine whether or not to change a detection capability of the sensor for detecting an object;
When it is determined that the detection capability is to be changed, the content of the change and the manner of notification of a warning to a monitor of the moving body are determined;
notifying a monitor of the moving object of a warning in the determined manner;
Changing said detection capability to the determined content;
The determination further includes determining whether or not to change the detection capability in accordance with a traffic condition around the moving object;
In the determination, when a traffic condition around the moving body is such that (i) an object is present, (ii) a density of objects is equal to or greater than a threshold, or (iii) a number of objects is equal to or greater than a threshold, in the vicinity of the moving body, it is determined that the detection capability is to be changed;
The change in the detection capability includes relaxing the restriction on the detection capability or removing the restriction on the detection capability,
In the determination, the content of the relaxation or lifting of the restriction on the detection capability is determined, and a mode of notification according to the content of the relaxation or lifting of the restriction on the detection capability is determined.
Information processing methods. 1. A computer-implemented information processing method, comprising:
A sensor mounted on the moving body is used to determine whether or not to change a detection capability of the sensor for detecting an object;
When it is determined that the detection capability is to be changed, the content of the change and the manner of notification of a warning to a monitor of the moving body are determined;
notifying a monitor of the moving object of a warning in the determined manner;
Changing said detection capability to the determined content;
The determination further includes determining whether or not to change the detection capability in accordance with a traffic condition around the moving object;
In the determination, when the traffic conditions around the moving body are such that (i) no object is present, (ii) the density of objects is less than a threshold, or (iii) the number of objects is less than a threshold, around the moving body, it is determined that the detection capability is changed;
The change in the detection capability includes limiting the detection capability,
In the determination, the content of the restriction on the detection capability is determined, and a notification mode according to the content of the restriction on the detection capability is determined.
Information processing methods. A program for causing a computer to execute the information processing method according to any one of claims 12 to 16 .

Images