Information processing device, information processing method, and vehicle

• US 10,451,735 B2
• Filed: 02/21/2017
• Issued: 10/22/2019
• Est. Priority Date: 05/27/2016
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Tasaki, Tsuyoshi, Sano, Yuma, Katsuki, Rie
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Huynh, Luat T
• Application Number:
  US15/438,059
• Publication Number:
  US 20170343669A1
• Time in Patent Office: 973 Days
• Field of Search: 701 28
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: G06T 7/66 of image moments or centre of gravity
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/653 by matching three-dimensional models, e.g. conformal mapping of Riemann surfaces
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

An information processing device includes processing circuitry. The processing circuitry obtain target information that indicates at least one of a distance to a target object or a position of the target object. The processing circuitry generate, based on the target information, map information of a space including a plurality of areas, the map information indicating presence or absence of the target object in a first area included in the plurality of areas, and a detailed position of the target object in the first area.

Claims

1. An information processing device installed in a mobile object, comprising:

a memory; and

processing circuitry configured to

obtain target information that indicates at least one of a distance to a target object in a space surrounding the mobile object or a position of the target object; and

generate map information for each area of a plurality of areas formed by dividing the space, the map information indicating presence or absence of the target object in the area, the map information being information for controlling movement of the mobile object, wherein

the processing circuitry generates the map information for a first area in which the target object exists, based on the target information,

the map information indicating a detailed position of the target object in the first area, the first area being included in the plurality of areas.

2. The information processing device according to claim 1, wherein

the processing circuitry further configured to set, according to positional relationship between a representative position of the first area and the detailed position, in the map information, surrounding information indicating that areas surrounding the first area represent surroundings of the target object.

3. The information processing device according to claim 2, wherein, when a distance between a particular position and the detailed position is equal to or smaller than a distance between the particular position and the representative position, the processing circuitry set the surrounding information in the map information.

4. The information processing device according to claim 2, wherein the representative position is a position of center of gravity of the first area.

5. The information processing device according to claim 2, wherein, when velocity of the mobile object moving in the space is equal to or greater than a threshold value, the processing circuitry set the surrounding information in the map information according to positional relationship formed between the representative position and the detailed position after at least either the representative position is moved in a direction away from the mobile object or the detailed position is moved in a direction toward the mobile object.

6. The information processing device according to claim 2, wherein the processing circuitry further configured to control movement of the mobile object in such a way that the mobile object does not pass through an area indicated in the surrounding information to be surrounding of the target object.

7. The information processing device according to claim 2, wherein the processing circuitry further configured to control movement of the mobile object in such a way that the mobile object decelerates while passing through an area indicated in the surrounding information to be surrounding of the target object.

8. The information processing device according to claim 2, wherein the processing circuitry further configured to, when the surrounding information is set, change a detection method to be used for detecting the target object.

9. The information processing device according to claim 2, wherein the processing circuitry

obtain a plurality of sets of target information indicating positions of a plurality of points included in the target object, and

when a number of the plurality of points is equal to or smaller than a threshold value, set the surrounding information in the map information.

10. The information processing device according to claim 1, wherein the processing circuitry

obtain a plurality of sets of target information indicating positions of a plurality of points included in the target object, and

the detailed position represents an average of positions of points included in the first area from among the plurality of points.

11. The information processing device according to claim 1, wherein the processing circuitry

obtain a plurality of sets of target information indicating positions of a plurality of points included in the target object, and

the detailed position represents a position of center of gravity of a small area, from among small areas formed by dividing the first area, having the highest number of the plurality of points.

12. The information processing device according to claim 1, wherein the processing circuitry

obtain a plurality of sets of target information indicating positions of a plurality of points included in the target object, and

the detailed position represents a position of a point at the shortest distance from the mobile object from among the plurality of points.

13. The information processing device according to claim 1, wherein the processing circuitry

obtain a plurality of sets of target information indicating positions of a plurality of points included in the target object,

when a number of points included in the first area is equal to or greater than a threshold value, the detailed position represents an average of positions of points included in the first area from among the plurality of points, and

when the number of points included in the first area is smaller than the threshold value, the detailed position represents a position of point at shorter distance from the mobile object than other points in the plurality of points.

14. A vehicle comprising:

a memory; and

processing circuitry configured to

obtain target information that indicates at least one of a distance to a target object in a space surrounding the vehicle or a position of the target object; and

generate map information for each area of a plurality of areas formed by dividing the space, the map information indicating presence or absence of the target object in the area, the map information being information for controlling movement of the vehicle, and

control movement of the vehicle based on the map information, wherein

the processing circuitry generates the map information for a first area in which the target object exists, based on the target information,

the map information indicating a detailed position of the target object in the first area, the first area being included in the plurality of areas.

15. An information processing method comprising:

obtaining target information that indicates at least one of a distance to a target object in a space surrounding a mobile object or a position of the target object;

generating map information for each area of a plurality of areas formed by dividing the space, the map information indicating presence or absence of the target object in the area, the map information being information for controlling movement of the mobile object,

generating the map information for a first area in which the target object exists, based on the target information,

the map information indicating a detailed position of the target object in the first area, the first area being included in the plurality of areas.

16. The information processing method according to claim 15, further comprising:

setting, according to positional relationship between a representative position of the first area and the detailed position, in the map information, surrounding information indicating that areas surrounding the first area represent surroundings of the target object.

17. The information processing method according to claim 15, wherein

the obtaining includes

obtaining a plurality of sets of target information indicating positions of a plurality of points included in the target object, and

the detailed position represents an average of positions of points included in the first area from among the plurality of points.

18. The information processing method according to claim 15, wherein

the obtaining includes

obtaining a plurality of sets of target information indicating positions of a plurality of points included in the target object, and

the detailed position represents a position of center of gravity of a small area, from among small areas formed by dividing the first area, having the highest number of the plurality of points.

19. The information processing method according to claim 15, wherein

the obtaining includes

obtaining a plurality of sets of target information indicating positions of a plurality of points included in the target object, and

the detailed position represents a position of a point at the shortest distance from the mobile object from among the plurality of points.

20. The information processing method according to claim 15, wherein

the obtaining includes

obtaining a plurality of sets of target information indicating positions of a plurality of points included in the target object,

when a number of points included in the first area is equal to or greater than a threshold value, the detailed position represents an average of positions of points included in the first area from among the plurality of points, and

when the number of points included in the first area is smaller than the threshold value, the detailed position represents a position of point at shorter distance from the mobile object than other points in the plurality of points.