VIRTUAL MAP PROVIDING DEVICE

A virtual map providing device (100) dynamically changes, with respect to a driveway (201) on which one or more inbound vehicles (210) moving in an inbound direction and one or more outbound vehicles (210) moving in an outbound direction are to move, an inbound zone on which the one or more inbound vehicles are to move, and an outbound zone on which the one or more outbound vehicles are to move. Then, the virtual map providing device delivers change information data including information of a post-change inbound zone and information of a post-change outbound zone.

TECHNICAL FIELD

The present disclosure relates to a system for providing virtual map data including information of a virtual lane, and so on to a mobile body such as a vehicle.

BACKGROUND ART

Researches on techniques for setting virtual lanes with respect to a driveway and controlling a vehicle on a basis of information of the virtual lanes have been made, and development of such techniques is underway.

Patent Literature 1 discloses changing a number of virtual lanes depending on a timeframe.

Specifically, Patent Literature 1 discloses setting four virtual lanes with respect to a one-way road for daytime hours where a traffic volume is large, and setting three virtual lanes for nighttime hours where the traffic volume is small.

CITATION LIST

Patent Literature

SUMMARY OF INVENTION

Technical Problem

With the technique of Patent Literature 1, only the number of virtual lanes on a one-way road is changed. Therefore, if a number of vehicles moving in an inbound direction and a number of vehicles moving in an outbound direction are completely different, the entire road cannot be fully utilized effectively. For example, if the number of vehicles moving in the inbound direction is larger than the number of vehicles moving in the outbound direction, a situation arises where a less crowded virtual lane exists on the road in the outbound direction, despite that all virtual lanes are jammed on the road in the inbound direction.

An objective of the present disclosure is to enable fully effective use of the entire road.

Solution to Problem

A virtual map providing device according to the present disclosure includes:a zone setting unit to dynamically change, with respect to a driveway on which one or more inbound vehicles moving in an inbound direction and one or more outbound vehicles moving in an outbound direction are to move, an inbound zone on which the one or more inbound vehicles are to move, and an outbound zone on which the one or more outbound vehicles are to move; anda change information delivery unit to deliver change information data including information of a post-change inbound zone and information of a post-change outbound zone.

Advantageous Effects of Invention

According to the present disclosure, it is possible to make fully effective use of an entire road.

DESCRIPTION OF EMBODIMENTS

In embodiments and drawings, the same element or the equivalent elements are denoted by the same reference sign. Description of an element denoted by the same reference sign as that of a described element will appropriately be omitted or simplified. Arrows in the drawings mainly illustrate data flows or process flows.

A virtual map providing system200will be described with referring toFIGS.1to10.

A configuration of the virtual map providing system200will be described with referring toFIG.1.

The virtual map providing system200is a system to deliver virtual map data to one or more vehicles210.

The virtual map providing system200is equipped with a virtual map providing device100. For example, the virtual map providing device100is installed in a traffic control center.

The virtual map providing device100delivers the virtual map data to the one or more vehicles210. For example, the virtual map providing device100delivers the virtual map data via a roadside machine202.

The vehicle210travels on a driveway201with utilizing the virtual map data.

The driveway201is a road on which one or more inbound vehicles and one or more outbound vehicles are to move. An inbound vehicle is a vehicle210moving in an inbound direction. An outbound vehicle is a vehicle210moving in an outbound direction.

The vehicle210communicates with the virtual map providing device100.

For example, the vehicle210receives the virtual map data from the virtual map providing device100via the roadside machine202.

For example, the vehicle210transmits peripheral information data to the virtual map providing device100via the roadside machine202. The peripheral information data expresses information of another vehicle traveling on a periphery of the vehicle210, and so on.

A configuration of the virtual map providing device100will be described with referring toFIG.2.

The virtual map providing device100is a computer provided with hardware devices such as a processor101, a memory102, an auxiliary storage device103, a communication device104, and an input/output interface105. These hardware devices are connected to each other via a signal line.

The processor101is an IC to perform computation processing and controls the other hardware devices. For example, the processor101is a CPU, a DSP, or a GPU.

Note that IC stands for Integrated Circuit.

Note that CPU stands for Central Processing Unit.

Note that DSP stands for Central Signal Processor.

Note that GPU stands for Graphics Processing Unit.

The memory102is a volatile or non-volatile storage device. The memory102is also called a main storage device or a main memory. For example, the memory102is a RAM. Data stored in the memory102is saved in the auxiliary storage device103as necessary.

Note that RAM stands for Random-Access Memory.

The auxiliary storage device103is a non-volatile storage device. For example, the auxiliary storage device103is a ROM, an HDD, or a flash memory. Data stored in the auxiliary storage device103is loaded to the memory102as necessary.

Note that ROM stands for Read-Only Memory.

Note that HDD stands for Hard Disk Drive.

The communication device104is a receiver/transmitter. For example, the communication device104is a communication chip or an NIC.

Note that NIC stands for Network Interface Card.

The input/output interface105is a port to which an input device and an output device are to be connected.

The virtual map providing device100is provided with elements such as a virtual map generation unit110, a virtual map delivery unit120, a peripheral information collection unit130, a traffic information generation unit140, a virtual information generation unit150, and a virtual information delivery unit160. These elements are implemented by software.

A virtual map providing program to cause the computer to function as the virtual map generation unit110, the virtual map delivery unit120, the peripheral information collection unit130, the traffic information generation unit140, the virtual information generation unit150, and the virtual information delivery unit160is stored in the auxiliary storage device103. The virtual map providing program is loaded to the memory102and run by the processor101.

An OS is also stored in the auxiliary storage device103. At least part of the OS is loaded to the memory102and run by the processor101.

The processor101runs the virtual map providing program while running the OS.

Note that OS stands for Operating System.

Input/output data of the virtual map providing program is stored in a storage unit190.

The memory102functions as the storage unit190. Alternatively, a storage device such as the auxiliary storage device103, a register in the processor101, and a cache memory in the processor101may function as the storage unit190in place of the memory102or together with the memory102.

The virtual map providing device100may be provided with a plurality of processors that replace the processor101.

The virtual map providing program can be computer-readably recorded (stored) in a non-volatile recording medium such as an optical disk and a flash memory.

A configuration of the virtual information generation unit150will be described with referring toFIG.3.

The virtual information generation unit150is provided with elements such as a zone setting unit151, a speed limit setting unit152, a traffic light setting unit153, and a sign setting unit154. Functions of the individual elements will be described later.

A configuration of the vehicle210will be described with referring toFIG.4.

A sensor group and a vehicle control device220are mounted in the vehicle210.

The sensor group consists of one or more sensors to observe the periphery of the vehicle210. Specifically, the vehicle210is provided with sensors such as a radio sensor211, a Lidar212, a camera213, and a GNSS receiver214.

The radio sensor211detects an object existing on the periphery of the vehicle210by utilizing radio waves.

The Lidar212detects the object existing on the periphery of the vehicle210by utilizing laser light.

The camera213photographs the periphery of the vehicle210.

The GNSS receiver214is a receiver for positioning and performs positioning by utilizing GNSS. Note that GNSS stands for Global Navigation Satellite System.

A configuration of the vehicle control device220will be described with referring toFIG.5.

The vehicle control device220is a computer provided with hardware devices such as a processor221, a memory222, an auxiliary storage device223, a communication device224, and an input/output interface225. These hardware devices are connected to each other via a signal line.

The processor221is an IC to perform computation processing and controls the other hardware devices. For example, the processor221is a CPU, a DSP, or a GPU.

The memory222is a volatile or non-volatile storage device. The memory222is also called a main storage device or a main memory. For example, the memory222is a RAM. Data stored in the memory222is saved in the auxiliary storage device223as necessary.

The auxiliary storage device223is a non-volatile storage device. For example, the auxiliary storage device223is a ROM, an HDD, or a flash memory. Data stored in the auxiliary storage device223is loaded to the memory222as necessary.

The communication device224is a receiver/transmitter. For example, the communication device224is a communication chip or an NIC.

The input/output interface225is a port to which an input device and an output device are to be connected.

The vehicle control device220is provided with elements such as a virtual map reception unit231, a peripheral information generation unit232, a peripheral information transmission unit233, a virtual information reception unit234, and a vehicle control unit235. These elements are implemented by software.

A vehicle control program to cause the computer to function as the virtual map reception unit231, the peripheral information generation unit232, the peripheral information transmission unit233, the virtual information reception unit234, and the vehicle control unit235is stored in the auxiliary storage device223. The vehicle control program is loaded to the memory222and run by the processor221.

An OS is also stored in the auxiliary storage device223. At least part of the OS is loaded to the memory222and run by the processor221.

The processor221runs the vehicle control program while running the OS.

Input/output data of the vehicle control program is stored in a storage unit239.

The memory222functions as the storage unit239. Alternatively, a storage device such as the auxiliary storage device223, a register in the processor221, and a cache memory in the processor221may function as the storage unit239in place of the memory222or together with the memory222.

The vehicle control device220may be provided with a plurality of processors that replace the processor221.

The vehicle control program can be computer-readably recorded (stored) in a non-volatile recording medium such as an optical disk and a flash memory.

A procedure of operations of the virtual map providing device100corresponds to a virtual map providing method. Also, the procedure of the operations of the virtual map providing device100also corresponds to a procedure of processing performed by the virtual map providing program.

The virtual map providing method will be described with referring toFIG.6.

In step S110, the virtual map generation unit110generates the virtual map data.

The virtual map data includes map information data and virtual information data.

The map information data is data expressing map information and is stored in the storage unit190in advance. The map information includes information expressing the driveway201, and so on.

The virtual information data is data expressing virtual information and is generated by the virtual information generation unit150. The virtual information includes information expressing a virtual lane, information expressing a virtual traffic light, information expressing a virtual sign, and so on. The virtual lane is a lane that does not exist physically. The virtual traffic light is a traffic light that does not exist physically. The virtual sign is a sign that does not exist physically.

In step S120, the virtual map delivery unit120delivers the virtual map data to the one or more vehicles210by using the communication device104.

For example, the virtual map delivery unit120transmits the virtual map data to the roadside machine202, thereby delivering the virtual map data from the roadside machine202to the one or more vehicles210.

In each vehicle210, the virtual map reception unit231receives the virtual map data by using the communication device224. Then, the vehicle control unit235controls the vehicle210by utilizing the virtual map data.

For example, the vehicle control unit235performs autonomous driving by controlling a steering wheel, an accelerator, and a brake.

For example, the vehicle control unit235informs a driver of the virtual information through an image or audio by controlling a display or a loudspeaker.

In step S130, the peripheral information collection unit130collects the peripheral information data from the one or more vehicles210traveling on the driveway201.

First, in each vehicle210, the sensor group including, for example, the radio sensor211, the Lidar212, the camera213, and the GNSS receiver214performs peripheral observation. The radio sensor211and the Lidar212detect an object existing on the periphery. A specific example of the object to be detected is another vehicle. The camera213photographs the periphery. An image obtained by photographing shows the object existing on the periphery. The GNSS receiver214finds a position of the vehicle210.

Next, in each vehicle210, the peripheral information generation unit232generates the peripheral information data on a basis of an observation result obtained by the sensor group.

The peripheral information data expresses peripheral information of the vehicle210. The peripheral information includes information expressing the position of the vehicle210and information of the object existing on the periphery of the vehicle210.

Next, in each vehicle210, the peripheral information transmission unit233transmits the peripheral information data to the virtual map providing device100with using the communication device224. For example, the peripheral information data is transmitted to the virtual map providing device100via the roadside machine202.

Then, in the virtual map providing device100, the peripheral information collection unit130receives the peripheral information data of each vehicle210with using the communication device104.

In step S140, the traffic information generation unit140generates traffic information data on a basis of the collected peripheral information data.

The traffic information data expresses traffic information of the driveway201. The traffic information includes inbound traffic jam information, outbound traffic jam information, and so on. The inbound traffic jam information expresses a traffic jam situation in the inbound direction. The outbound state information expresses a traffic jam situation in the outbound direction.

In step S150, the virtual information generation unit150generates change information data on a basis of the traffic information data and so on.

The change information data expresses change information. The change information includes vehicle zone information, virtual pedestrian crossing information, virtual traffic light information, virtual sign information, and so on.

The vehicle zone information is information of a zone on which each vehicle210moves, and includes inbound zone information, outbound zone information, speed limit information, and so on.

The inbound zone information expresses an inbound zone of the driveway201. The inbound zone is a zone on which one or more inbound vehicles are to move, and includes one or more virtual inbound lanes. The virtual inbound lane is an inbound lane that does not exist physically.

The outbound zone information expresses an outbound zone of the driveway201. The outbound zone is a zone on which one or more outbound vehicles are to move, and includes one or more virtual outbound lanes. The virtual outbound lane is an outbound lane that does not exist physically.

The speed limit information expresses a speed limit of the inbound zone and a speed limit of the outbound zone.

FIG.7illustrates an overview of the vehicle zone information.

In the vehicle zone information, the inbound zone, the outbound zone, and the individual virtual lanes are set in respect of, for example, distances from a left edge (or right edge) of the driveway201.

InFIG.7, a zone up to N4 meters from the left edge is an inbound zone, and a zone up to (N5−N4) meters from an N4-meter portion from the left edge is an outbound zone.

A zone up to N1 meters from the left edge is a first virtual inbound lane. A speed limit of the first virtual inbound lane is 30 kilometers per hour.

A second virtual inbound lane, a third virtual inbound lane, a fourth virtual inbound lane, and a virtual outbound lane are set in the same manner.

Back toFIG.6, explanation on step S150will continue.

The zone setting unit151dynamically changes the inbound zone and the outbound zone by at least either one of (A1) and (A2).

(A1) The zone setting unit151changes the inbound zone and the outbound zone on a basis of the traffic jam situation in the inbound direction of the driveway201and the traffic jam situation in the outbound direction of the driveway201.

For example, when a traffic jam occurs in the inbound direction of the driveway201, the zone setting unit151narrows the outbound zone to decrease the virtual outbound lanes, and widens the inbound zone to increase the virtual inbound lanes.

For example, when a traffic jam occurs in the outbound direction of the driveway201, the zone setting unit151narrows the inbound zone to decrease the virtual inbound lanes, and widens the outbound zone to increase the virtual outbound lanes.

(A2) The zone setting unit151changes the inbound zone and the outbound zone depending on a timeframe.

For example, in the morning, the zone setting unit151narrows the outbound zone to decrease the virtual outbound lanes, and widens the inbound zone to increase the virtual inbound lanes.

For example, in the nighttime, the zone setting unit151narrows the inbound zone to decrease the virtual inbound lanes, and widens the outbound zone to increase the virtual outbound lanes.

In other words, the zone setting unit151changes an inbound lane into an outbound lane. Alternatively, the zone setting unit151changes an outbound lane into an inbound lane. That is, the zone setting unit151changes a traveling direction on the lane.

FIG.8illustrates change examples of an inbound zone and an outbound zone.

(1) A width of the inbound zone and a width of the outbound zone are equal. A number of virtual inbound lanes is 2, and a number of virtual outbound lanes is 2.

(2) The inbound zone is narrower than the outbound zone. The number of virtual inbound lanes is 1, and the number of virtual outbound zones is 3.

(3) The driveway201is entirely an outbound lane. The number of virtual inbound lanes is 0, and the number of virtual outbound zones is 4.

Back toFIG.6, explanation on step S150will continue.

The zone setting unit151changes the inbound zone and the outbound zone by a following procedure.

Before changing part of the outbound zone into the inbound zone, or before changing part of the inbound zone into the outbound zone, the zone setting unit151changes a zone of that part into a displacement zone. In the displacement zone, each vehicle210is requested to be displaced to another zone.

After changing the zone of that part into the displacement zone, when a displacement end condition is satisfied, the zone setting unit151changes the zone of that part into a prohibited zone. In the prohibited zone, each vehicle210is prohibited from traveling.

For example, the zone setting unit151measures a time elapsed since changing the zone of that part into the displacement zone. When the time elapsed reaches a regulation time, the zone setting unit151changes the zone of that part into the prohibited zone.

After changing the zone of that part into the prohibited zone, when a prohibition end condition is satisfied, the zone setting unit151changes the zone of that part into the inbound zone or the outbound zone.

For example, the zone setting unit151measures a time elapsed since changing the zone of that part into the prohibited zone. When the time elapsed reaches a regulation time, the zone setting unit151changes the zone of that part into the inbound zone or the outbound zone.

For example, the zone setting unit151refers to traffic information of the zone of that part indicated in the traffic information data, and decides whether a vehicle210exists in the zone of that part. When no vehicle210exists in the zone of that part any longer, the zone setting unit151changes the zone of that part into the inbound zone or the outbound zone.

FIG.9illustrates a procedure of changing the second virtual inbound lane into a third virtual outbound lane.

(1) The vehicle210is traveling on the second virtual inbound lane.

(2) The zone setting unit151changes the second virtual inbound lane into the displacement zone. The vehicle210is displaced to the first virtual inbound lane.

(3) The zone setting unit151changes the displacement zone into a prohibited zone.

(4) The zone setting unit151changes the prohibited zone into the third virtual outbound lane.

Back toFIG.6, explanation on step S150will continue.

The speed limit setting unit152dynamically changes a speed limit of the inbound zone and a speed limit of the outbound zone by at least either one of (B1) and (B2).

(B1) The speed limit setting unit152changes the speed limit of the inbound zone and the speed limit of the outbound zone on the basis of the traffic jam situation in the inbound direction of the driveway201and the traffic jam situation in the outbound direction of the driveway201.

For example, the speed limit setting unit152increases the speed limit of the inbound zone when the driveway201starts to be less crowded in the inbound direction, and lowers the speed limit of the inbound zone when the driveway201starts to be crowded in the inbound direction. The speed limit setting unit152changes the speed limit of the outbound zone likewise.

(B2) The speed limit setting unit152changes the speed limit of the inbound zone and the speed limit of the outbound zone depending on the timeframe.

The virtual pedestrian crossing information is information of a virtual pedestrian crossing, and expresses a location of the virtual pedestrian crossing, and so on. The virtual pedestrian crossing is a zone through which a pedestrian and the like are to cross the driveway201.

The virtual traffic light information is information of a virtual traffic light, and expresses a position of the virtual traffic light, a light color of the virtual traffic light, and so on. The virtual traffic light is employed to cause the vehicles210to stop before the virtual pedestrian crossing.

FIG.10illustrates how a virtual pedestrian crossing and virtual traffic lights are set.

The traffic light setting unit153dynamically changes the virtual pedestrian crossing and the virtual traffic lights.

For example, the traffic light setting unit153sets the virtual pedestrian crossing at a particular place on the driveway201, sets the virtual traffic lights before the virtual pedestrian crossing, and changes light colors of the virtual traffic lights at regulation timings.

Back toFIG.6, explanation of step S150will continue.

The virtual sign information is information of a virtual sign and expresses a position of the virtual sign, a meaning of the virtual sign, and so on.

The sign setting unit154dynamically changes the virtual sign. For example, the sign setting unit154sets a virtual sign at a particular position of the driveway201, and changes the meaning of the virtual sign depending on the timeframe.

In step S160, the virtual information delivery unit160delivers the change information data to the one or more vehicles210with using the communication device104. For example, the virtual information delivery unit160transmits the change information data to the roadside machine202, thereby delivering the change information data from the roadside machine202to the one or more vehicles210.

In each vehicle210, the virtual information reception unit234receives the change information data by using the communication device224. Then, the vehicle control unit235controls the vehicle210by utilizing the virtual map data and the change information data.

For example, the vehicle control unit235performs autonomous driving by controlling the steering wheel, the accelerator, and the brake.

For example, the vehicle control unit235informs the driver of the virtual information through an image or audio by controlling the display or the loudspeaker.

Embodiment 1 enables fully effective use of the driveway201entirely.

For example, when the number of inbound vehicles is larger than the number of outbound vehicles, the virtual outbound lanes can be decreased by narrowing the outbound zone, and the virtual inbound lanes can be increased by widening the inbound zone. This leads to fully effective use of the driveway201entirely.

A virtual map providing system300will be described mainly regarding a difference from Embodiment 1, with referring toFIGS.11to15.

A configuration of the virtual map providing system300will be described with referring toFIG.11.

The virtual map providing system300is a system to deliver virtual map data to one or more PMVs310and one or more mobile terminals304.

Note that PMV stands for personal mobile vehicle.

The virtual map providing system300is equipped with a virtual map providing device100.

The virtual map providing device100delivers the virtual map data to the one or more PMVs310and the one mobile terminal304. For example, the virtual map providing system300delivers the virtual map data via a base station302. The base station302corresponds to the roadside machine202in Embodiment 1.

A configuration of the virtual map providing device100is the same as the counterpart configuration in Embodiment 1.

The PMV310is a mobile body that carries a person and moves on a sidewalk301. For example, the PMV310is an electric wheelchair.

The PMV310moves on the sidewalk301by utilizing the virtual map data.

The PMV310corresponds to the vehicle210in Embodiment 1.

The mobile terminal304is a device a pedestrian303carries. For example, the mobile terminal304is a smartphone or a head-mounted display.

The mobile terminal304notifies the pedestrian303of information of the virtual map data through an image, audio, or the like.

The pedestrian303moves on the sidewalk301while checking notification from the mobile terminal304.

The sidewalk301is a road on which one or more pedestrians303and the one or more PMVs310are to move.

A configuration of the PMV310will be described with referring toFIG.12.

A sensor group and a mobile body control device320are mounted in the PMV310.

The sensor group consists of one or more sensors to observe a periphery of the PMV310. Specifically, the PMV310is provided with sensors such as a radio sensor311, a Lidar312, a camera313, and a GNSS receiver314.

The radio sensor311detects an object existing on a periphery of the PMV310by utilizing radio waves.

The Lidar312detects the object existing on the periphery of the PMV310by utilizing laser light.

The camera313photographs the periphery of the PMV310.

The GNSS receiver314is a receiver for positioning and performs positioning by utilizing GNSS.

A configuration of the mobile body control device320will be described with referring toFIG.13.

The mobile body control device320is a computer provided with hardware devices such as a processor321, a memory322, an auxiliary storage device323, a communication device324, and an input/output interface325. These hardware devices are connected to each other via a signal line.

The processor321is an IC to perform computation processing and controls the other hardware devices. For example, the processor221is a CPU, a DSP, or a GPU.

The memory322is a volatile or non-volatile storage device. The memory322is also called a main storage device or a main memory. For example, the memory322is a RAM. Data stored in the memory322is saved in the auxiliary storage device323as necessary.

The auxiliary storage device323is a non-volatile storage device. For example, the auxiliary storage device323is a ROM, an HDD, or a flash memory. Data stored in the auxiliary storage device323is loaded to the memory322as necessary.

The communication device324is a receiver/transmitter. For example, the communication device324is a communication chip or an NIC.

The input/output interface325is a port to which an input device and an output device are to be connected.

The mobile body control device320is provided with elements such as a virtual map reception unit331, a peripheral information generation unit332, a peripheral information transmission unit333, a virtual information reception unit334, and a mobile body control unit335. These elements are implemented by software.

A mobile body control program to cause the computer to function as the virtual map reception unit331, the peripheral information generation unit332, the peripheral information transmission unit333, the virtual information reception unit334, and the mobile body control unit335is stored in the auxiliary storage device323. The mobile body control program is loaded to the memory322and run by the processor321.

An OS is also stored in the auxiliary storage device323. At least part of the OS is loaded to the memory322and run by the processor321.

The processor321runs the mobile body program while running the OS.

Input/output data of the mobile body control program is stored in a storage unit339.

The memory322functions as the storage unit339. Alternatively, a storage device such as the auxiliary storage device323, a register in the processor321, and a cache memory in the processor321may function as the storage unit339in place of the memory322or together with the memory322.

The mobile body control device320may be provided with a plurality of processors that replace the processor321.

The mobile body control program can be computer-readably recorded (stored) in a non-volatile recording medium such as an optical disk and a flash memory.

A virtual map providing method will be described with referring toFIG.14.

In step S210, the virtual map generation unit110generates virtual map data.

Step S210corresponds to step S110in Embodiment 1.

In step S220, a virtual map delivery unit120delivers the virtual map data to the one or more PMVs310and the one or more mobile terminals304by using a communication device104.

For example, the virtual map delivery unit120transmits the virtual map data to the base station302, thereby delivering the virtual map data from the base station302to the one or more PMVs310and the one or more mobile terminals304.

In each PMV310, the virtual map reception unit331receives the virtual map data by using the communication device324. Then, the mobile body control unit335controls the PMV310by utilizing the virtual map data.

For example, the mobile body control unit335performs autonomous driving by controlling an operation lever or the like.

For example, the mobile body control unit335informs a user of virtual information through an image or audio by controlling a display or a loudspeaker.

Each mobile terminal304receives the virtual map data and informs the pedestrian303of information of the virtual map data through an image, audio, or the like.

The pedestrian303moves while checking notification from the mobile terminal304.

In step S230, a peripheral information collection unit130collects peripheral information data from the one or more PMVs310moving on the sidewalk301.

The peripheral information collection unit130also collects position information from the one or more mobile terminals304moving on the sidewalk301.

The collection method in step S230is the same as the collection method in step S130of Embodiment 1.

In step S240, a traffic information generation unit140generates traffic information data on a basis of the collected peripheral information data.

The traffic information data expresses traffic information of the sidewalk301. The traffic information includes congestion information of the sidewalk301, and so on. The congestion information expresses a congestion situation of the sidewalk301.

In step S250, a virtual information generation unit150generates change information data on a basis of the traffic information data and so on.

The change information data expresses change information. The change information includes pedestrian zone information, mobile body zone information, and so on.

The pedestrian zone information is information of a pedestrian zone.

The pedestrian zone is a zone on which the pedestrian303is to move.

The mobile body zone information is information of a mobile body zone.

The mobile body zone is a zone on which the PMVs310are to move.

The mobile body zone information includes inbound zone information, outbound zone information, and so on.

The inbound zone information expresses an inbound zone of the mobile body zone. The inbound zone is a zone on which one or more inbound mobile bodies are to move, and includes one or more virtual inbound passages. An inbound mobile body is an PMV310that moves in the inbound direction.

The outbound zone information expresses an outbound zone of the mobile body zone. The outbound zone is a zone on which one or more outbound mobile bodies are to move, and includes one or more virtual outbound passages. An outbound mobile body is an PMV310that moves in the outbound direction.

FIG.15illustrates how a pedestrian zone and a mobile body zone are set.

(1) The sidewalk301is not congested, and accordingly there is no distinction between a pedestrian zone and a mobile body zone.

(2) The sidewalk301starts to be congested.

(3) A virtual passage for the pedestrians303, a virtual inbound passage for the PMVs310, and a virtual outbound passage for the PMVs310are set.

Back toFIG.14, explanation on step S250will continue.

A zone setting unit151dynamically changes the pedestrian zone and the mobile body zone by at least either one of (C1) and (C2).

(C1) The zone setting unit151changes a width of the pedestrian zone on a basis of the congestion situation of the pedestrians303.

For example, when a number of pedestrians303(that is, a number of mobile terminals304) increases and the pedestrian zone starts to be congested, the zone setting unit151narrows the mobile body zone and widens the pedestrian zone.

(C2) The zone setting unit151changes a width of the mobile body zone on a basis of the congestion situation of the PMVs310.

For example, when a number of PMVs310increases and the mobile body zone starts to be congested, the zone setting unit151narrows the pedestrian zone and widens the mobile body zone.

(C3) The zone setting unit151changes the pedestrian zone and the mobile body zone depending on a timeframe.

For example, at a regulation time point, the zone setting unit151narrows the pedestrian zone and widens the mobile body zone.

For example, at a regulation time point, the zone setting unit151narrows the mobile body zone and widens the pedestrian zone.

The zone setting unit151changes the pedestrian zone and the mobile body zone by a following procedure.

Before changing part of the mobile body zone into the pedestrian zone, or before changing part of the pedestrian zone into the mobile body zone, the zone setting unit151changes a zone of that part into a displacement zone. In the displacement zone, each pedestrian303or each PMV310is requested to be displaced to another zone.

After changing the zone of that part into the displacement zone, when a displacement end condition is satisfied, the zone setting unit151changes the zone of that part into a prohibited zone. In the prohibited zone, each pedestrian303and each PMV310are prohibited from moving.

For example, the zone setting unit151measures a time elapsed since changing the zone of that part into the displacement zone. When the time elapsed reaches a regulation time, the zone setting unit151changes the zone of that part into the prohibited zone.

After changing the zone of that part into the prohibited zone, when a prohibition end condition is satisfied, the zone setting unit151changes the zone of that part into the pedestrian zone or the mobile body zone.

For example, the zone setting unit151measures a time elapsed since changing the zone of that part into the prohibited zone. When the time elapsed reaches a regulation time, the zone setting unit151changes the zone of that part into the pedestrian zone or a mobile body zone.

For example, the zone setting unit151refers to traffic information of the zone of that part indicated in the traffic information data, and decides whether a pedestrian303or a PMV310exists in the zone of that part. When no pedestrian303or no PMV310exists in the zone of that part any longer, the zone setting unit151changes the zone of that part into the pedestrian zone or the mobile body zone.

The zone setting unit151dynamically changes the inbound zone and the outbound zone with respect to the mobile body zone (or the pedestrian zone). A method of changing is the same as the method of dynamically changing the inbound zone and the outbound zone with respect to the driveway201in Embodiment 1.

In step S260, a virtual information delivery unit160delivers the change information data to the one or more PMVs310and the one or more mobile terminals304by using the communication device104. For example, the virtual information delivery unit160transmits the change information data to the base station302, thereby delivering the change information data from the base station302to the one or more PMVs310and the one or more mobile terminals304.

In each PMV310, the virtual information reception unit334receives the change information data by using the communication device324. Then, the mobile body control unit335controls the PMV310by utilizing the virtual map data and the change information data.

For example, the mobile body control unit335performs autonomous driving by controlling an operation lever or the like.

For example, the mobile body control unit335informs the user of virtual information through an image or audio by controlling the display or the loudspeaker.

Each mobile terminal304receives the change information data and informs the pedestrian303of the change information through an image, audio, or the like.

The pedestrian303moves while checking notification from the mobile terminal304.

Embodiment 2 enables fully effective use of the sidewalk301entirely.

For example, when the number of PMVs310is larger than the number of pedestrians303, the movable body zone can be enlarged by narrowing the pedestrian zone. This leads to fully effective use of the sidewalk301entirely.

A “driveway” includes a passage, a passageway, or a road surface on which a wheeled mobile body, a vehicle, or the like (including a PMV) can pass.

Embodiment 1 and Embodiment 2 may be combined.

For example, the virtual map providing device100may dynamically change the pedestrian zone, the mobile body zone, and the vehicle zone with respect to a road401on which a sidewalk301and a driveway201are not physically separated.

Referring toFIG.16, the road401is changed from a state in which two zones each serving as a pedestrian zone and a mobile body zone, and a vehicle zone are set, into a state in which a pedestrian zone, a mobile body zone, and a vehicle zone are set.

The virtual map data (including change information data) is received by the vehicle210and is used to decide the moving direction of the vehicle210.

Specifically, a zone of 3 squares in a vertical direction x 3 squares in a horizontal direction (a total of 9 squares) is set to be centered on a zone where the vehicle210is located. The vehicle control unit235selects, out of the zone of 3 squares in the vertical direction x 3 squares in the horizontal direction, a zone on which the vehicle210is to move on a basis of the virtual map data, and moves the vehicle210to the selected zone.

Likewise, the virtual map data is received by the PMV310and is used to decide the moving direction of the PMV310.

A hardware configuration of the virtual map providing device100will be described with referring toFIG.17.

The virtual map providing device100is provided with processing circuitry109.

The processing circuitry109is hardware to implement the virtual map generation unit110, the virtual map delivery unit120, the peripheral information collection unit130, the traffic information generation unit140, the virtual information generation unit150, and the virtual information delivery unit160.

The processing circuitry109may be dedicated hardware, or may be a processor101that runs the program stored in the memory102.

When the processing circuitry109is dedicated hardware, the processing circuitry109is, for example, one or a combination of a single circuit, a composite circuit, a programmed processor, a parallel-programmed processor, an ASIC, and an FPGA.

Note that ASIC stands for Application Specific Integrated Circuit.

Note that FPGA stands for Field Programmable Gate Array.

The virtual map providing device100may be provided with a plurality of processing circuitries that replace the processing circuitry109.

In the processing circuitry109, some of its functions may be implemented by dedicated hardware, and the remaining functions may be implemented by software or hardware.

In this manner, the functions of the virtual map providing device100can be implemented by one or a combination of hardware, software, and firmware.

Each embodiment is an exemplification of a preferred mode and is not intended to limit a technical scope of the present disclosure. Each embodiment may be practiced partly, or may be practiced by combination with another embodiment. A procedure described with using a flowchart and the like may be changed appropriately.

A term “unit” signifying an element of the virtual map providing system (200,300) may be replaced by “process” or “stage”.

REFERENCE SIGNS LIST