Patent Publication Number: US-2020302193-A1

Title: Information processing system and information processing method

Description:
CROSS REFERENCE TO RELATED APPLICATION 
     This is a continuation application of PCT International Application No. PCT/JP2019/037394 filed on Sep. 24, 2019, designating the United States of America, which is based on and claims priority of Japanese Patent Application No. 2018-184123 filed on Sep. 28, 2018. 
    
    
     BACKGROUND 
     1. Technical Field 
     The present disclosure relates to an information processing system and an information processing method. 
     2. Description of the Related Art 
     Japanese Unexamined Patent Application Publication No. 2006-298041 (Patent Literature (PTL) 1) discloses a vehicle driving assistance system that includes: an imager that captures a dangerous area on a road vehicles drive and that is provided in such a place that image data of the dangerous area can be generated; and a notifier that issues an alarm based on an alarm signal. 
     SUMMARY 
     However, the driving assistance system according to the aforementioned PTL 1 can be improved upon. 
     In view of this, the present disclosure provides an information processing system and an information processing method capable of improving upon the above related art. 
     An information processing system according to one aspect of the present disclosure includes: a detector that detects a plurality of obstacles in a vicinity of a moving body; a first determiner that determines whether an unidentified obstacle is present based on first information regarding the plurality of obstacles detected by the detector and moving body information indicating the moving body, the unidentified obstacle being included in the plurality of obstacles and not visible from the moving body; and an output unit that outputs information indicating the unidentified obstacle to the moving body when the first determiner determines that the unidentified obstacle is present. 
     An information processing method according to one aspect of the present disclosure includes: detecting a plurality of obstacles in a vicinity of a moving body; determining whether an unidentified obstacle is present based on first information regarding the plurality of obstacles detected by the detector and moving body information indicating the moving body, the unidentified obstacle being included in the plurality of obstacles and not visible from the moving body; and outputting information indicating the unidentified obstacle to the moving body when it is determined that the unidentified obstacle is present. 
     General and specific aspects disclosed above may be implemented using a system, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, or any combination thereof. 
     The information processing system and the information processing method according to the present disclosure are capable of further improving upon the related art. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
       These and other objects, advantages and features of the disclosure will become apparent from the following description thereof taken in conjunction with the accompanying drawings that illustrate a specific embodiment of the present disclosure. 
         FIG. 1  is a schematic diagram illustrating an information processing system according to Embodiment 1; 
         FIG. 2  is a block diagram illustrating the information processing system according to Embodiment 1; 
         FIG. 3  is a schematic illustration illustrating a relationship between a specific vehicle and an unidentified obstacle in the information processing system according to Embodiment 1; 
         FIG. 4  is a sequence diagram illustrating an operation of the information processing system according to Embodiment 1; 
         FIG. 5  is a block diagram illustrating an information processing system according to Embodiment 2; 
         FIG. 6  is a sequence diagram illustrating an operation of the information processing system according to Embodiment 2; 
         FIG. 7  is a block diagram illustrating an information processing system according to Embodiment 3; 
         FIG. 8  is a sequence diagram illustrating an operation of the information processing system according to Embodiment 3; 
         FIG. 9  is a flowchart illustrating an operation of determining a danger level of an unidentified obstacle according to Embodiment 3; 
         FIG. 10  is a block diagram illustrating an information processing system according to Embodiment 4; 
         FIG. 11  is a sequence diagram illustrating an operation of the information processing system according to Embodiment 4; 
         FIG. 12  is a block diagram illustrating an information processing system according to Embodiment 5; 
         FIG. 13  is a sequence diagram illustrating an operation of the information processing system according to Embodiment 5; and 
         FIG. 14  is a schematic diagram illustrating an information processing system according to a variation. 
     
    
    
     DETAILED DESCRIPTION OF THE EMBODIMENTS 
     With the conventional driving assistance system for capturing a dangerous area on a route a moving body drives, it is difficult to recognize, from the moving body, an obstacle such as a person and a vehicle hidden behind other obstacle. Therefore, when a moving body has a blind spot created by an obstacle, the moving body has to stop or reduce its speed for safety reasons when passing near the obstacle, and this causes an impedance to the normal driving of the moving body. 
     In view of this, an information processing system according to one aspect of the present disclosure includes: a detector that detects a plurality of obstacles in a vicinity of a moving body; a first determiner that determines whether an unidentified obstacle is present based on first information regarding the plurality of obstacles detected by the detector and moving body information indicating the moving body, the unidentified obstacle being included in the plurality of obstacles and not visible from the moving body; and an output unit that outputs information indicating the unidentified obstacle to the moving body when the first determiner determines that the unidentified obstacle is present. 
     The moving body is thus capable of obtaining information indicating at least one unidentified obstacle that is included in obstacles each being hidden behind other obstacle when viewed from the moving body and that is not visible from the moving body. The moving body is therefore capable of performing an operation based on the information indicating such unidentified obstacle. 
     Accordingly, the moving body is capable of moving appropriately even though there is a blind spot created by an obstacle in the traveling direction of the moving body. As a result, the information processing system can enhance safety while the moving body is moving. 
     When all of information on obstacles detected by the detector is transmitted to the moving body, for example, the amount of data for communications between the detector and the moving body increases. With the information processing system, however, the first determiner makes a determination on an unidentified obstacle and transmits information indicating the unidentified obstacle to the moving body, and this can reduce the amount of data for communications more than the case of transmitting all of information on obstacles detected by the detector. 
     An information processing method according to one aspect of the present disclosure includes: detecting a plurality of obstacles in a vicinity of a moving body; determining whether an unidentified obstacle is present based on first information regarding the plurality of obstacles detected by the detector and moving body information indicating the moving body, the unidentified obstacle being included in the plurality of obstacles and not visible from the moving body; and outputting information indicating the unidentified obstacle to the moving body when it is determined that the unidentified obstacle is present. 
     The information processing method also produces the same advantageous effects as those described above. 
     In the information processing system according to one aspect of the present disclosure, when (i) an obstacle other than the one or more first obstacles or (ii) an obstacle indicated by map information indicating a map of the vicinity of the moving body is present between the moving body and one of the one or more first obstacles, the first determiner determines that the first obstacle is the unidentified obstacle based on the moving body information, the first information, and the map information. 
     Thus, the first determiner is capable of easily making a determination on the presence of an unidentified obstacle based on the first information and the map information. 
     The information processing system according to one aspect of the present disclosure further includes a classifier that classifies each of one or more first obstacles among the plurality of obstacles according to a type of the first obstacle. When (i) an obstacle other than the one or more first obstacles among the plurality of obstacles indicated in the first information or (ii) an obstacle indicated by map information indicating a map of the vicinity of the moving body is present between the moving body and one of the one or more first obstacles, the first determiner determines that the first obstacle is the unidentified obstacle based on a type of the first obstacle, the type being one of types according to which the classifier has classified the one or more first obstacles. 
     Thus, the first determiner determines whether an unidentified obstacle is present according to the type of one of one or more first obstacles, which is one of types according to which the classifier has classified one or more first obstacles. This enables easy determination on the presence of an unidentified obstacle. 
     In the information processing system according to one aspect of the present disclosure, the moving body detects one or more second obstacles that are visible from the moving body, and transmits second information regarding the one or more second obstacles detected to the information processing system. When further determining that one of the one or more second obstacles indicated in the second information transmitted is identical to a corresponding one of one or more first obstacles among the plurality of obstacles indicated in the first information, the first determiner determines that the corresponding one of one or more first obstacles to which the one of the one or more second obstacles is determined to be identical is not the unidentified obstacle. 
     Since one or more second obstacles visible from the moving body are not defined as unidentified obstacles, information indicating at least one first obstacle remaining after one or more second obstacles have been excluded from one or more first obstacles is information indicating at least one unidentified obstacle. This enables the moving body to obtain information indicating at least one unidentified obstacle that has been more accurately determined as such. The moving body is therefore capable of moving smoothly based on the information indicating at least one unidentified obstacle. 
     Moreover, since the information indicating at least one unidentified obstacle excludes the second obstacles as not being unidentified obstacles, it is possible to reduce more the amount of data for communications between the detector and the moving body. 
     The information processing system according to one aspect of the present disclosure further includes a moving body controller that controls a movement of the moving body based on the information indicating the unidentified obstacle. 
     Since the moving body is controlled by the moving body controller based on the information indicating at least one unidentified obstacle, the moving body is capable of reducing its speed or stopping, or avoiding at least one unidentified obstacle. 
     In the information processing system according to one aspect of the present disclosure, the first information includes at least one of a moving speed, a moving direction, or a location of at least one of the plurality of obstacles detected by the detector. 
     Thus, the first determiner easily and more accurately determines whether an unidentified obstacle is present based on the first information. 
     The information processing system according to one aspect of the present disclosure further includes a route predictor that predicts a route of the unidentified obstacle based on the first information. The moving body controller controls the movement of the moving body based on the route predicted. 
     Thus, with the information processing system, it is possible to accurately predict a route of an unidentified obstacle. As a result, it is possible to enhance safety while the moving body is moving. 
     The information processing system according to one aspect of the present disclosure further includes a second determiner that determines a danger level of the unidentified obstacle based on the route of the unidentified obstacle or the first information, the route being predicted by the route predictor. The moving body controller controls the movement of the moving body based on information indicating the danger level determined by the second determiner. 
     Thus, with the information processing system, it is possible to accurately predict the danger level of an unidentified obstacle. 
     In the information processing system according to one aspect of the present disclosure, the moving body information includes at least one of a moving speed, a location, or a scheduled route of the moving body, and the second determiner determines the danger level of the unidentified obstacle based on a result obtained by determining whether the moving body comes in contact with the unidentified obstacle based on the first information and the moving body information. 
     The moving body thus obtains a danger level which is the result of a determination on whether the moving body comes in contact with an unidentified obstacle, and this enables the moving body to drive safely based on the danger level of the unidentified obstacle. 
     In the information processing system according to one aspect of the present disclosure, the second determiner: determines that the danger level is danger level one when a distance between the moving body and the unidentified obstacle is greater than or equal to a first specified distance and the moving body does not come in contact with the unidentified obstacle; determines that the danger level is danger level two higher than the danger level one when the distance between the moving body and the unidentified obstacle is less than the first specified distance and the moving body does not come in contact with the unidentified obstacle; determines that the danger level is danger level three higher than the danger level two when the distance between the moving body and the unidentified obstacle is greater than or equal to the first specified distance and there is a risk that the moving body comes in contact with the unidentified obstacle; and determines that the danger level is danger level four higher than the danger level three when the distance between the moving body and the unidentified obstacle is less than the first specified distance and there is a risk that the moving body comes in contact with the unidentified obstacle. 
     Thus, with the information processing system, it is possible to determine in stages the danger level of an unidentified obstacle depending on the conditions of the moving body and the unidentified obstacle. Therefore, accurately predicting the danger level of an unidentified obstacle enables the moving body to drive in accordance with the danger level of the unidentified obstacle. This enables the moving body to ensure safety. 
     The information processing system according to one aspect of the present disclosure further includes a classifier that classifies each of the one or more first obstacles among the plurality of obstacles as a moving obstacle that moves or a stationary obstacle that stays in a predetermined location. Based on the first information, the route predictor defines the moving obstacle as a classified unidentified obstacle and predicts a route of the classified unidentified obstacle. 
     Thus, with the information processing system, it is possible to classify each of one or more first obstacles indicated in the first information as a moving obstacle or a stationary obstacle. This enables accurate prediction of the route of an unidentified obstacle that has been classified. Moreover, it is possible to more correctly determine the danger level of the classified unidentified obstacle. Therefore, the moving body is capable of ensuring safety and moving smoothly by driving in accordance with the danger level. 
     The information processing system according to one aspect of the present disclosure further includes a danger notifier that at least notifies the unidentified obstacle that the moving body is approaching the unidentified obstacle or notifies the moving body that the unidentified obstacle is approaching the moving body. 
     This enables an unidentified obstacle and a moving vehicle to avoid a collision therebetween, and this in turn makes it possible to enhance safety for the unidentified obstacle and the moving vehicle. 
     The following describes exemplary embodiments with reference to the drawings. Note that the embodiments described below each show a specific embodiment of the present disclosure. The numerical values, shapes, materials, elements, the arrangement and connection of the elements, steps, order of the steps, etc. indicated in the following embodiments are mere examples, and therefore are not intended to limit the scope of the present disclosure. Moreover, among the elements in the following embodiments, those not recited in any one of the independent claims are described as optional elements. 
     The drawings are presented schematically and are not necessarily precise illustrations. In addition, substantially identical elements are assigned with like reference signs in the drawings and duplicate description is omitted or simplified. 
     The following describes the information processing system and the information processing method according to the exemplary embodiments of the present disclosure. 
     Embodiment 1 
     [Configuration] 
     [Information Processing System] 
     Information processing system  1  is a system for transmitting, to a moving body, information indicating conditions, such as moving speed, moving direction, location, size, etc. of an obstacle in a blind spot created by another obstacle on a route along which the moving body moves, and causing the moving body to recognize the conditions of the obstacle in the blind spot. The moving body is, for example, a vehicle, a robot vacuum cleaner, or an unmanned aerial vehicle. In this embodiment, a vehicle is used as an example of the moving body. 
       FIG. 1  is a schematic diagram illustrating information processing system  1  according to Embodiment 1.  FIG. 2  is a block diagram illustrating information processing system  1  according to Embodiment 1. 
     Information processing system  1  includes surveillance cameras  30 , specific vehicle  20 , and information processing device  40 , as illustrated in  FIG. 1  and  FIG. 2 . 
     [Surveillance Camera] 
     In this embodiment, each of surveillance cameras  30  is installed in various places so that, for example, the whole area of a parking facility or public roads can be captured. Each surveillance camera  30  records a video (wide-angle shooting) of all of moving bodies including vehicles and obstacles other than the moving bodies in the parking facility, and performs tracing and monitoring. The obstacles here include an obstacle that is moving, such as a person or a vehicle (hereinafter referred to as a moving obstacle), and an obstacle that settles on the ground, such as a building structure, a tree, or an obstacle that stays in a predetermined location (hereinafter referred to as a stationary obstacle). 
     In this embodiment, surveillance camera  30  (infrastructure camera) is used for an example of a detector, but the detector may be a satellite camera, an aerial photography camera or in-vehicle camera  21  mounted on another vehicle. Surveillance camera  30  may be a time of flight (TOF) camera or a human-presence sensor. 
     Surveillance camera  30  captures an image of (detects) a vehicle and first obstacles in the vicinity of the vehicle. Surveillance camera  30  then generates, based on the captured image, first information indicating the first obstacles included in the captured image as well as the moving speed, moving direction, location, size, etc. of each of the first obstacles. The first obstacles are each an obstacle captured by surveillance camera  30 , and is, for example, a person, a vehicle, a flying object, or a building structure, as already described above. The first information may include at least one of moving speed, moving direction, and location of an obstacle, and indicates one or more first obstacles. 
     Surveillance camera  30  also captures a vehicle to be monitored (referred to as specific vehicle  20 ) other than the first obstacles included in the captured image. Although the present embodiment illustrates one specific vehicle  20  as an example, one surveillance camera  30  may generate vehicle information (to be described later) indicating each of specific vehicles  20 . 
     Surveillance camera  30  is communicably connected to information processing device  40 . Surveillance camera  30  transmits the first information to information processing device  40 . 
     [Specific Vehicle] 
     Specific vehicle  20  is a vehicle to be monitored by surveillance camera  30 , is a vehicle operated either by manual or autonomous driving, and is communicably connected to information processing device  40 . 
     Specific vehicle  20  includes in-vehicle camera  21 , second communicator  22 , moving body controller  23 , and presenter  24 , as illustrated in  FIG. 2 . 
     In-vehicle camera  21  detects (captures an image of) second obstacles in the vicinity of specific vehicle  20 . The second obstacles are each an obstacle captured by in-vehicle camera  21  and is, for example, a person, a vehicle, or a building structure, as already described above. In this embodiment, in-vehicle camera  21  captures an area in the traveling direction of specific vehicle  20 . In-vehicle camera  21  generates, based on the captured image, second information indicating the second obstacles included in the captured image as well as the moving speed, moving direction, location, size, etc. of each of the second obstacles. In-vehicle camera  21  then transmits the second information to information processing device  40  via second communicator  22 . The second information is information indicating one or more second obstacles. In-vehicle camera  21  is one example of a detector. 
     Second communicator  22  is a wireless module such as an antenna and is capable of communicating with information processing device  40 . Second communicator  22  transmits information indicating at least one image captured by in-vehicle camera  21  and vehicle information or receives information indicating at least one unidentified obstacle, which is to be described later, from information processing device  40 . 
     The vehicle information is information for specifying a vehicle to be monitored among one or more vehicles captured by surveillance camera  30 , and includes the moving speed and location of specific vehicle  20 , a route scheduled for specific vehicle  20  to drive (hereinafter referred to as a scheduled route). Specific vehicle  20  to be monitored is, for example, a vehicle that is driving or is going to drive. The vehicle information is one example of moving body information. 
     Upon obtaining information indicating at least one unidentified obstacle via second communicator  22 , moving body controller  23  controls the driving of specific vehicle  20  based on information indicating at least one image captured by in-vehicle camera  21  and the information indicating at least one unidentified obstacle. Moving body controller  23  causes specific vehicle  20  to drive along a scheduled route of specific vehicle  20  which has been generated by a route setting unit not shown in the diagram. Moving body controller  23  transmits a command to control the driving of specific vehicle  20  to, for example, an engine control unit (ECU) and/or a steering actuator. When it is determined that specific vehicle  20  is in danger based on the information indicating at least one unidentified obstacle, moving body controller  23  transmits a command for controlling the headlights and horn of specific vehicle  20 , and notifies at least one unidentified obstacle of the presence of specific vehicle  20  by light and sound. 
     A scheduled route is a route from a present location to a destination, which is scheduled for specific vehicle  20  to drive and is determined, for example, by a destination that has been input by a user of information processing device  40 . Information indicating a scheduled route may be obtained from an external device. The route setting unit may be provided in specific vehicle  20  or information processing device  40 , or may be a device independent from specific vehicle  20  or information processing device  40 . 
     Presenter  24  is, for example, a car navigation system or a loudspeaker and outputs information indicating at least one unidentified obstacle. Presenter  24  may present, for example, the moving speed, moving direction, location, size, etc. of an unidentified obstacle. In other words, presenter  24  may inform one or more persons boarding specific vehicle  20  of such information. 
     [Information Processing Device] 
     Information processing device  40  is a device that transmits, to specific vehicle  20 , information indicating at least one unidentified obstacle that is not visible from specific vehicle  20 , as illustrated in  FIG. 2  or  FIG. 3 . Information processing device  40  is, for example, a server device such as a personal computer. At least one unidentified obstacle here is an obstacle that is not visible from specific vehicle  20  and is at least one obstacle remaining after obstacles, which are captured by in-vehicle camera  21  and are each identical to a corresponding one of obstacles captured by surveillance camera  30 , have been excluded from the obstacles captured by surveillance camera  30 . An unidentified obstacle is, for example, a moving obstacle such as a person or a vehicle. 
     Information processing device  40  includes first determiner  41  and first communicator  42 . 
     First determiner  41  determines whether an unidentified obstacle, which is an obstacle included in a plurality of obstacles that are not visible from specific vehicle  20  among obstacles each being hidden behind other obstacle, is present based on the obtained first information and vehicle information, and map information indicating a map of the vicinity of specific vehicle  20 .  FIG. 3  is a schematic illustration illustrating a relationship between specific vehicle  20  and an unidentified obstacle in information processing system  1  according to Embodiment 1. An unidentified obstacle includes not only an obstacle that is not visible from specific vehicle  20 , but also an obstacle that is difficult to see, that is, an obstacle that is not at all visible from specific vehicle  20 . 
     For example, first determiner  41  extracts one or more first obstacles from among obstacles in the vicinity of specific vehicle  20  based on the first information and the vehicle information. First determiner  41  determines, for each of one or more first obstacles, whether an obstacle other than one or more first obstacles indicated in the first information or an obstacle indicated in the map information (hereinafter referred to as other obstacle indicated by first information or map information) is present between specific vehicle  20  and the first obstacle. When other obstacle indicated in the first information or the map information is present between specific vehicle  20  and the first obstacle, that first obstacle can be a candidate for an unidentified obstacle. One or more first obstacles are roughly categorized into moving obstacles and stationary obstacles. 
     The map information here indicates a map of the vicinity of specific vehicle  20  and includes, for example, an internal structure (floor map) of a parking facility, for example. 
     Subsequently, when determining that one of the second obstacles indicated by second information received from specific vehicle  20  is identical to a corresponding one of the first obstacles, first determiner  41  determines that the corresponding first obstacle is not an unidentified obstacle. Since the first obstacles may be visible from specific vehicle  20 , obstacles (second obstacles) visible from specific vehicle  20  should be excluded from the first obstacles and at least one first obstacle remaining after the exclusion should be determined as an unidentified obstacle. First determiner  41  therefore does not determine, as an unidentified obstacle, one of one or more first obstacles among the plurality of obstacles indicated in the first information, which is an obstacle identical to (e.g., an obstacle that is co-located or can be regarded as co-located with) a corresponding one of the second obstacles indicated in the second information. First determiner  41  thus determines an obstacle hidden behind other obstacle as an unidentified obstacle. An unidentified obstacle is either a moving obstacle or a stationary obstacle, but may be limited to a moving obstacle. 
     The determination that a second obstacle is identical to a corresponding first obstacle may be made not only in the case where the second obstacle is completely identical to the corresponding first obstacle, but also in the case where the second obstacle is substantially identical to the corresponding first obstacle. 
     First determiner  41  may determine whether an unidentified obstacle that is not visible from specific vehicle  20  is present by also taking the following into consideration: the sizes and heights of the obstacles indicated in the first information; and the conditions of the ground, e.g., whether the ground is uneven, indicated in the map information. 
     The map information may be pre-stored in a recording medium included in information processing device  40  or may be obtained from, for instance, other server device via a network. 
     When determining that at least one unidentified obstacle is present, first determiner  41  transmits information indicating at least one unidentified obstacle via first communicator  42 , as illustrated in  FIG. 1  or  FIG. 2 . The information indicating at least one unidentified obstacle includes the moving speed, moving direction, location, size, etc. of at least one unidentified obstacle. 
     First communicator  42  is a communication module such as an antenna and is capable of communicating with specific vehicle  20  and surveillance camera  30 . First communicator  42  receives the first information from surveillance camera  30  and outputs the first information to first determiner  41 . First communicator  42  also transmits information indicating at least one unidentified obstacle to specific vehicle  20 . First communicator  42  is one example of an output unit. The output unit may be a communication interface or a communication module such as an antenna. 
     [Operation] 
     The following describes an operation of information processing system  1  for implementing an information processing method according to this embodiment. 
       FIG. 4  is a sequence diagram illustrating the operation of information processing system  1  according to Embodiment 1. 
     First, surveillance camera  30  captures an image of specific vehicle  20  and a plurality of obstacles in the vicinity of specific vehicle  20 , as illustrated in  FIG. 4 . Based on the captured image, surveillance camera  30  also extracts first obstacles included in the captured image and generates first information indicating the moving speed, moving direction, location, size, etc. of each of the first obstacles (S 11 ). Surveillance camera  30  transmits the first information to information processing device  40 . 
     In-vehicle camera  21  in specific vehicle  20  captures an image of an area in the vicinity of specific vehicle  20 , and mainly an area in the traveling direction of specific vehicle  20  (S 12 ). Based on the captured image, in-vehicle camera  21  extracts second obstacles included in the captured image and generates second information indicating the moving speed, moving direction, location, size, etc. of each of the second obstacles. Specific vehicle  20  generates vehicle information including moving speed, location, scheduled route, etc. of specific vehicle  20 . Specific vehicle  20  transmits the second information and vehicle information to information processing device  40  via second communicator  22 . 
     Information processing device  40  determines whether an unidentified obstacle, which is included in obstacles each being hidden behind other obstacle when viewed from specific vehicle  20  and is not visible from specific vehicle  20 , is present based on the first information, the vehicle information, and map information. Specifically, first determiner  41  in information processing device  40  specifies one or more moving obstacles (one example of the first obstacles) among obstacles in the vicinity of specific vehicle  20 , based on the first information and the vehicle information. First determiner  41  determines, for each of one or more moving obstacles, whether other obstacle indicated in the first information or the map information is present between specific vehicle  20  and the moving obstacle. When such other obstacle is present between specific vehicle  20  and the moving obstacle, first determiner  41  further determines, for each of the second obstacles indicated in the second information received from specific vehicle  20 , whether the second obstacle is identical to a corresponding one of one or more moving obstacles. When determining that the second obstacle is identical to the corresponding one of one or more moving obstacles, first determiner  41  determines that the second obstacle is not an unidentified obstacle. Stated differently, first determiner  41  does not determine, as an unidentified obstacle, a moving obstacle that is indicated in the first information and is identical to a corresponding one of the second obstacles indicated in the second information. First determiner  41  thus determines, as an unidentified obstacle, at least one first obstacle (moving obstacle) remaining after the second obstacles have been excluded from the first obstacles, and determines that at least one unidentified obstacle is present (S 13 ). When Yes at step S 13 , first determiner  41  transmits information indicating at least one unidentified obstacle to specific vehicle  20 . 
     In contrast, when other obstacle indicated in the first information or the map information is not present between the moving obstacle and specific vehicle  20  (No in S 13 ), it is a state in which that moving obstacle is visible from specific vehicle  20 , that is, a state in which no unidentified obstacle is present. Therefore, when No at step S 13 , first determiner  41  returns to step S 13  and waits until another first information and vehicle information are received. 
     Upon obtaining the information indicating at least one unidentified obstacle, moving body controller  23  in specific vehicle  20  controls the driving of specific vehicle  20  based on the information indicating at least one unidentified obstacle (S 14 ). More specifically, moving body controller  23  controls the steering actuator, brakes, accelerator, headlights, horn, etc. of specific vehicle  20  based on the moving speed, moving direction, location, and size of at least one unidentified obstacle. 
     For example, when it is determined that there is a risk that specific vehicle  20  comes in contact with the unidentified obstacle (determined that specific vehicle  20  is in danger), that is, when it is determined that specific vehicle  20  comes in contact with the unidentified obstacle based on the moving direction and speed of the unidentified obstacle and the vehicle information of specific vehicle  20 , moving body controller  23  controls the brakes and accelerator of specific vehicle  20  and causes specific vehicle  20  to stop or reduce its speed. Whether specific vehicle  20  comes in contact with the unidentified obstacle is derived from the moving direction and speed of the unidentified obstacle and the vehicle information of specific vehicle  20 . 
     When it is determined that there is a risk of close contact or contact between specific vehicle  20  and the unidentified obstacle (determined that specific vehicle  20  is in danger) based on the information indicating the unidentified obstacle, moving body controller  23  controls the headlights, horn, etc. of specific vehicle  20  and notifies the unidentified obstacle of the presence of specific vehicle  20  by light and sound. Moving body controller  23  may change a scheduled route of specific vehicle  20  to control the steering actuator, brakes, and accelerator of specific vehicle  20  along the changed scheduled route. 
     Advantageous Effects, Etc. 
     The following describes the advantageous effects of information processing system  1  and the information processing method according to the present embodiment. 
     As described above, in information processing system  1  and the information processing method, first determiner  41  determines whether an unidentified obstacle, which is included in a plurality of obstacles detected by surveillance camera  30  and is not visible from specific vehicle  20  among obstacles each being hidden behind other obstacle when viewed from specific vehicle  20 , is present based on the first information regarding the plurality of obstacles detected by surveillance camera  30  and the map information indicating a map of the vicinity of specific vehicle  20 . When first determiner  41  determines that at least one unidentified obstacle is present, first communicator  42  outputs information indicating at least one unidentified obstacle to specific vehicle  20 . This enables specific vehicle  20  to obtain the information indicating at least one unidentified obstacle that is not visible from specific vehicle  20  among obstacles each being hidden behind other obstacle when viewed from specific vehicle  20 . Specific vehicle  20  is thus capable of performing an operation based on the information indicating at least one unidentified obstacle. 
     Accordingly, specific vehicle  20  is capable of moving appropriately when there is a blind spot created by an obstacle in the traveling direction of specific vehicle  20 . As a result, information processing system  1  can enhance safety while specific vehicle  20  is moving. 
     When all of information on a plurality of obstacles detected by surveillance camera  30  is transmitted to specific vehicle  20 , for example, the amount of data communications between surveillance camera  30  and specific vehicle  20  increases. With information processing system  1 , however, first determiner  41  makes a determination on at least one unidentified obstacle and transmits information indicating at least one unidentified obstacle to specific vehicle  20 , and this can reduce the amount of data for communications more than the case of transmitting information on all of obstacles detected by the detector. 
     Embodiment 2 
     [Configuration] 
     Some of the elements according to this embodiment are identical to those illustrated in Embodiment 1 unless stated otherwise, and the identical elements are assigned with like reference signs and the detailed description related to the elements is omitted. 
       FIG. 5  is a block diagram illustrating information processing system  200  according to Embodiment 2. 
     Information processing device  240  further includes route predictor  43 , as illustrated in  FIG. 5 . 
     Route predictor  43  predicts a route of an unidentified obstacle based on first information. Specifically, route predictor  43  obtains first information from surveillance camera  30  via first communicator  42 . Route predictor  43  predicts a route of an unidentified obstacle from the moving speed, moving direction, location, size, etc. of each of the first obstacles indicated in the first information. 
     When an unidentified obstacle that drives a road is present and the unidentified obstacle is driving on a right turn lane, for example, route predictor  43  may predict that the unidentified obstacle turns right. In another example, when a guardrail is present between specific vehicle  20  and an unidentified obstacle, route predictor  43  may predict the route of the unidentified obstacle under the prediction that it is unlikely that the unidentified obstacle drives over the guardrail to come in close contact with specific vehicle  20 . 
     Route predictor  43  transmits information indicating the predicted route of the unidentified obstacle to specific vehicle  20  via first communicator  42 . Presenter  24  outputs the information indicating the predicted route of the unidentified obstacle and information indicating the unidentified obstacle. 
     Upon obtaining the information indicating the predicted route of the unidentified obstacle, moving body controller  23  in specific vehicle  20  controls the driving of specific vehicle  20 . Specifically, when it is determined that there is a risk that specific vehicle  20  comes in contact with the unidentified obstacle, based on the information indicating the predicted route of the unidentified obstacle and the vehicle information of specific vehicle  20 , that is, when it is determined that there is a risk of close contact or contact between specific vehicle  20  and the unidentified obstacle (determined that specific vehicle  20  is in danger), moving body controller  23  controls the brakes and accelerator of specific vehicle  20  and causes specific vehicle  20  to stop or reduce its speed. 
     [Operation] The following describes an operation of information processing system  200  for implementing an information processing method according to this embodiment. 
       FIG. 6  is a sequence diagram illustrating the operation of information processing system  200  according to Embodiment 2. 
     Regarding the operation of information processing system  200  for implementing the information processing method according to this embodiment, the description of an operation that is identical to that illustrated in  FIG. 4  is omitted accordingly. 
     First, surveillance camera  30  captures an image of specific vehicle  20  and a plurality of obstacles in the vicinity of specific vehicle  20 , and generates first information (S 11 ), as illustrated in  FIG. 6 . Surveillance camera  30  transmits the first information to information processing device  240 . 
     In-vehicle camera  21  in specific vehicle  20  captures an image of an area in the vicinity of specific vehicle  20  (S 12 ). Specific vehicle  20  transmits the second information and the vehicle information to information processing device  240 . 
     First determiner  41  in information processing device  240  determines whether an unidentified obstacle, which is not visible from specific vehicle  20  among obstacles each being hidden behind other obstacle when viewed from specific vehicle  20 , based on the first information, the vehicle information, and map information (S 13 ). When Yes at step S 13 , first determiner  41  transmits information indicating the unidentified obstacle to specific vehicle  20  and proceeds to step S 213 . When No at step S 13 , first determiner  41  returns to step S 13  and waits until another first information and vehicle information are received. 
     Route predictor  43  in information processing device  240  predicts a route of the unidentified obstacle based on the first information. Specifically, route predictor  43  predicts a route of the unidentified obstacle from the moving speed, moving direction, location, size, etc. of each of the obstacles that are detected by surveillance camera  30  and are indicated in the first information (S 213 ). The predicted route of the unidentified obstacle may simply be a route that continues in the traveling direction of the unidentified obstacle. Route predictor  43  transmits information indicating the predicted route of the unidentified obstacle to specific vehicle  20  via first communicator  42 . 
     Moving body controller  23  in specific vehicle  20  obtains information indicating the unidentified obstacle and the information indicating the predicted route of the unidentified obstacle, and controls the driving of specific vehicle  20  based on such information (S 214 ). Specifically, moving body controller  23  controls the steering actuator, brakes, accelerator, headlights, horn, etc. of specific vehicle  20  based on the moving speed, moving direction, location, and size of the unidentified obstacle. 
     Advantageous Effects Etc. 
     The following describes the advantageous effects of information processing system  200  and the information processing method according to the present embodiment. 
     As described above, route predictor  43  predicts a route of an unidentified obstacle based on first information including the moving speed, moving direction, location, and size of each of first obstacles included in an image captured by surveillance camera  30 . Therefore, it is possible, with information processing system  200 , to accurately predict the route of an unidentified obstacle. As a result, it is possible to enhance safety while specific vehicle  20  is moving. 
     Other advantageous effects produced by the information processing system and the information processing method according to the present embodiment are identical to those achieved by the information processing system and the information processing method according to Embodiment 1. 
     Embodiment 3 
     [Configuration] 
     Some of the elements according to this embodiment are identical to those illustrated in Embodiment 1 or 2 unless stated otherwise, and the identical elements are assigned with like reference signs and the detailed description related to the elements is omitted. 
       FIG. 7  is a block diagram illustrating information processing system  300  according to Embodiment 3. 
     Information processing device  340  further includes second determiner  44 , as illustrated in  FIG. 7 . 
     Second determiner  44  determines the danger level of an unidentified obstacle based on the first information or the route, which has been predicted by route predictor  43 , of the unidentified obstacle. Specifically, second determiner  44  determines the danger level of the unidentified obstacle based on a result obtained by determining whether specific vehicle  20  comes in contact with the unidentified obstacle based on the first information and the vehicle information. Route predictor  43  predicts a route of an unidentified obstacle from the moving speed, moving direction, location, size, etc. of each of the first obstacles indicated in the first information. Second determiner  44  determines whether specific vehicle  20  comes in contact with the unidentified obstacle based on the route of the unidentified obstacle, which has been predicted by route predictor  43 , the moving speed, location, and the scheduled route of specific vehicle  20  which are indicated in the vehicle information. Second determiner  44  determines in stages the danger level of the unidentified obstacle based on whether specific vehicle  20  comes in contact with the unidentified obstacle. 
     More specifically, when a distance between specific vehicle  20  and the unidentified obstacle is greater than or equal to a first specified distance and specific vehicle  20  does not come in contact with the unidentified obstacle, second determiner  44  determines that the danger level is danger level one. The danger level one indicates a case where the danger level is low. Even when other obstacle is present in the vicinity of specific vehicle  20 , for example, the risk of contact is low if this obstacle is visible from specific vehicle  20 . The danger level is low also in the case where the unidentified obstacle is present but is located at a long distance from specific vehicle  20 . 
     When the distance between specific vehicle  20  and the unidentified obstacle is less than the first specified distance and specific vehicle  20  does not come in contact with the unidentified obstacle, second determiner  44  determines that the danger level is danger level two higher than the danger level one. The danger level two indicates a case where the danger level is low. Even when the unidentified obstacle is located within a short distance from specific vehicle  20 , for example, the danger level is low if there is no risk that specific vehicle  20  comes in contact with the unidentified obstacle. 
     When the distance between specific vehicle  20  and the unidentified obstacle is greater than or equal to the first specified distance and there is a risk that specific vehicle  20  comes in contact with the unidentified obstacle, second determiner  44  determines that the danger level is danger level three higher than the danger level two. The danger level three indicates a case where the danger level is middle. Even when the unidentified obstacle is located at a long distance from specific vehicle  20 , for example, the danger level is middle if there is a risk that specific vehicle  20  comes in contact with the unidentified obstacle. 
     When the distance between specific vehicle  20  and the unidentified obstacle is less than the first specified distance and there is a risk that specific vehicle  20  comes in contact with the unidentified obstacle, second determiner  44  determines that the danger level is danger level four higher than the danger level three. The danger level four indicates a case where the danger level is high. When the unidentified obstacle is located within a short distance from specific vehicle  20  and there is a risk that specific vehicle  20  comes in contact with the unidentified obstacle, for example, the danger level is high. 
     First communicator  42  outputs information indicating any one of the danger levels determined by second determiner  44  to moving body controller  23 . 
     Presenter  24  outputs information indicating the unidentified obstacle, information indicating the predicted route of the unidentified obstacle, and the information indicating the danger level of the unidentified obstacle. 
     [Operation] 
     The following describes an operation of information processing system  300  for implementing an information processing method according to this embodiment. 
       FIG. 8  is a sequence diagram illustrating the operation of information processing system  300  according to Embodiment 3. 
     Regarding the operation of information processing system  300  for implementing the information processing method according to this embodiment, the description of an operation that is identical to that illustrated in  FIG. 4  is omitted accordingly. 
     First, surveillance camera  30  captures an image of specific vehicle  20  and a plurality of obstacles in the vicinity of specific vehicle  20 , and generates first information (S 11 ), as illustrated in  FIG. 8 . Surveillance camera  30  transmits the first information to information processing device  340 . 
     In-vehicle camera  21  in specific vehicle  20  captures an image of an area in the vicinity of specific vehicle  20  (S 12 ). Specific vehicle  20  transmits the second information and the vehicle information to information processing device  340 . 
     Information processing device  340  determines whether an unidentified obstacle, which is not visible from specific vehicle  20  among obstacles each being hidden behind other obstacle when viewed from specific vehicle  20 , is present based on the first information, the vehicle information, and map information (S 13 ). When Yes at step S 13 , first determiner  41  transmits information indicating the unidentified obstacle to specific vehicle  20  and proceeds to step S 213 . When No at step S 13 , first determiner  41  returns to step S 13  and waits until another first information and vehicle information are received. 
     Route predictor  43  in information processing device  340  predicts a route of the unidentified obstacle based on the first information (S 213 ). Route predictor  43  transmits information indicating the predicted route of the unidentified obstacle to specific vehicle  20 . 
     Second determiner  44  in information processing device  340  determines the danger level of the unidentified obstacle based on the route of the unidentified obstacle, which has been predicted by route predictor  43  (S 313 ). In this embodiment, second determiner  44  determines the danger level of the unidentified obstacle to be any of the danger levels one through four. Second determiner  44  outputs information indicating the determined danger level of the unidentified obstacle to moving body controller  23 . The determination on the danger level of the unidentified obstacle will be described later. 
     Moving body controller  23  in specific vehicle  20  obtains the information indicating the unidentified obstacle, the information indicating the predicted route of the unidentified obstacle, and the information indicating the danger level of the unidentified obstacle, and controls the driving of specific vehicle  20  based on such information (S 314 ). Specifically, moving body controller  23  controls the steering actuator, brakes, accelerator, headlights, horn, etc. of specific vehicle  20  based on the moving speed, moving direction, location, and size of the unidentified obstacle, and the information indicating the danger level of the unidentified obstacle. 
     More specifically, when the danger level of the unidentified obstacle is the danger level one or two, moving body controller  23  controls headlights, horn, etc. of specific vehicle  20  to notify the unidentified obstacle of the presence of specific vehicle  20 . When the danger level of the unidentified obstacle is the danger level three, moving body controller  23  controls the brakes, accelerator, etc. of specific vehicle  20  to cause specific vehicle  20  to reduce its speed or controls the headlights, horn, etc. of specific vehicle  20  to notify the unidentified obstacle of the presence of specific vehicle  20 . When the danger level of the unidentified obstacle is the danger level four, moving body controller  23  controls the brakes, accelerator, etc. of specific vehicle  20  to cause specific vehicle  20  to reduce its speed or stop, or controls, in combination with the control on the brakes and accelerator, the headlights, horn, etc. of specific vehicle  20  to notify the unidentified obstacle of the presence of specific vehicle  20 . 
     Since moving body controller  23  causes specific vehicle  20  to divert so as to avoid the unidentified obstacle, at any danger level, it is possible to cause specific vehicle  20  to drive along a scheduled route that has been changed. 
     The following describes a determination on the danger level of an unidentified obstacle in the operation of information processing system  300  for implementing the information processing method. 
       FIG. 9  is a flowchart illustrating an operation of determining the danger level of an unidentified obstacle according to Embodiment 3. 
     First, second determiner  44  determines whether a distance between specific vehicle  20  and the unidentified obstacle is greater than or equal to a first specified distance (S 351 ), as illustrated in  FIG. 9 . 
     When the distance between specific vehicle  20  and the unidentified obstacle is not greater than or equal to the first specified distance (No in S 351 ), that is, when specific vehicle  20  is located within a short distance from the unidentified obstacle, second determiner  44  determines whether there is a risk that specific vehicle  20  comes in contact with the unidentified obstacle (S 352 ). 
     When specific vehicle  20  does not come in contact with the unidentified obstacle (No in S 352 ), that is, when specific vehicle  20  is located within a short distance from the unidentified obstacle but it is predicted that specific vehicle  20  is unlikely to come in contact with the unidentified obstacle even if specific vehicle  20  drives along a scheduled route, second determiner  44  determines that the danger level of the unidentified obstacle is the danger level two (S 353 ). Second determiner  44  then ends the process. 
     When the danger level of the unidentified obstacle is the danger level two, moving body controller  23  controls the headlights, horn, etc. of specific vehicle  20  to notify the unidentified obstacle of the presence of specific vehicle  20 . Alternatively, a danger notifier to be described later may notify specific vehicle  20  and the unidentified obstacle that specific vehicle  20  and the unidentified obstacle are approaching each other. 
     When the distance between specific vehicle  20  and the unidentified obstacle is greater than or equal to the first specified distance (Yes in S 351 ), that is, when specific vehicle  20  is located at a long distance from the unidentified obstacle, second determiner  44  determines whether there is a risk that specific vehicle  20  comes in contact with the unidentified obstacle (S 354 ). 
     When specific vehicle  20  does not come in contact with the unidentified obstacle (No in S 354 ), that is, when specific vehicle  20  is located at a long distance from the unidentified obstacle and specific vehicle  20  is unlikely to come in contact with the unidentified obstacle even if specific vehicle  20  drives along a scheduled route, second determiner  44  determines that the danger level of the unidentified obstacle is the danger level one (S 357 ). Second determiner  44  then ends the process. 
     When the danger level of the unidentified obstacle is the danger level one, moving body controller  23  controls the headlights, horn, etc. of specific vehicle  20  to notify the unidentified obstacle of the presence of specific vehicle  20 . 
     When there is a risk that specific vehicle  20  comes in contact with the unidentified obstacle (Yes in S 354 ), that is, when specific vehicle  20  is located within a short distance from the unidentified obstacle and it is predicted that there is a risk that specific vehicle  20  comes in contact with the unidentified obstacle if specific vehicle  20  drives along a scheduled route, second determiner  44  determines that the danger level of the unidentified obstacle is the danger level three (S 355 ). Second determiner  44  then ends the process. 
     When the danger level of the unidentified obstacle is the danger level three, moving body controller  23  controls the brakes, accelerator, etc. of specific vehicle  20  to cause specific vehicle  20  to reduce its speed or controls the headlights, horn, etc. of specific vehicle  20  to notify the unidentified obstacle of the presence of specific vehicle  20 . 
     When there is a risk that specific vehicle  20  comes in contact with the unidentified obstacle (Yes in S 352 ), that is, when specific vehicle  20  is located within a short distance from the unidentified obstacle and it is predicted that there is a risk that specific vehicle  20  comes in contact with the unidentified obstacle if specific vehicle  20  drives along a scheduled route, second determiner  44  determines that the danger level of the unidentified obstacle is the danger level four (S 356 ). Second determiner  44  then ends the process. 
     When the danger level of the unidentified obstacle is the danger level four, moving body controller  23  controls the brakes, accelerator, etc. of specific vehicle  20  to cause specific vehicle  20  to reduce its speed or stop, or controls, in combination with the control on the brakes and accelerator, the headlights, horn, etc. of specific vehicle  20  to notify the unidentified obstacle of the presence of specific vehicle  20 . 
     Advantageous Effects Etc. 
     The following describes the advantageous effects of information processing system  300  and the information processing method according to the present embodiment. 
     As described above, second determiner  44  determines the danger level of an unidentified obstacle based on the route of the unidentified obstacle, which has been predicted by route predictor  43 . First communicator  42  outputs information indicating the danger level determined by second determiner  44  to moving body controller  23 . 
     Thus, with information processing system  300 , it is possible to accurately predict the danger level of an unidentified obstacle. Moreover, with information processing system  300 , it is possible to determine in stages the danger level of an unidentified obstacle depending on the conditions of specific vehicle  20  and the unidentified obstacle. By thus accurately predicting the danger level of an unidentified obstacle, specific vehicle  20  is capable of driving in accordance with the danger level of the unidentified obstacle. This enables specific vehicle  20  to ensure safety. 
     Other advantageous effects produced by the information processing system and the information processing method according to the present embodiment are identical to those achieved by the information processing system and the information processing method according to Embodiment 1, for instance. 
     Embodiment 4 
     [Configuration] 
     Some of the elements according to this embodiment are identical to those illustrated in Embodiment 1, 2, or 3 unless stated otherwise, and the identical elements are assigned with like reference signs and the detailed description related to the elements is omitted. 
       FIG. 10  is a block diagram illustrating information processing system  400  according to Embodiment 4. 
     Information processing device  440  further includes classifier  45 , as illustrated in  FIG. 10 . 
     Classifier  45  classifies first obstacles indicated in the first information into either moving obstacles or stationary obstacles. Specifically, classifier  45  classifies each of the first obstacles as either a moving obstacle such as a person, a vehicle, or a flying object, or a stationary obstacle such as a vehicle that is stopped. Classifier  45  classifies the first obstacles based on, for example, map information and information indicating at least one image captured by surveillance camera  30  or in-vehicle camera  21 , for instance. Classifier  45  may further classify each of the moving obstacles into smaller groups depending on a type of the moving obstacle, such as a person or a vehicle. 
     Route predictor  43  defines, as a classified unidentified obstacle, a moving obstacle that has been classified (hereinafter, a classified unidentified obstacle means a moving obstacle that has been classified) and predicts a route of the classified unidentified obstacle based on the first information. Since a moving obstacle, as compared to a stationary obstacle, has a higher risk of coming in contact with specific vehicle  20 , that is, there is a risk of contact between specific vehicle  20  and a classified unidentified obstacle, route predictor  43  predicts a route of the classified unidentified obstacle. 
     [Operation] 
     The following describes an operation of information processing system  400  for implementing an information processing method according to this embodiment. 
       FIG. 11  is a sequence diagram illustrating the operation of information processing system  400  according to Embodiment 4. 
     Regarding the operation of information processing system  400  for implementing the information processing method according to this embodiment, the description of an operation that is identical to that illustrated in  FIG. 4  is omitted accordingly. 
     First, surveillance camera  30  captures an image of specific vehicle  20  and a plurality of obstacles in the vicinity of specific vehicle  20 , and generates first information (S 11 ), as illustrated in  FIG. 11 . Surveillance camera  30  transmits the first information to information processing device  440 . 
     In-vehicle camera  21  in specific vehicle  20  captures an image of an area in the vicinity of specific vehicle  20  (S 12 ). Specific vehicle  20  transmits the second information and the vehicle information to information processing device  440 . 
     Information processing device  440  determines whether a classified unidentified obstacle, which is not visible from specific vehicle  20  among obstacles each being hidden behind other obstacle when viewed from specific vehicle  20 , is present based on the first information, the vehicle information, and map information (S 13 ). When Yes at step S 13 , classifier  45  determines whether the classified unidentified obstacle is a moving obstacle such as a person, a vehicle, or a flying object, or is a stationary obstacle such as a vehicle that is stopped (S 413   a ). When No at step S 13 , first determiner  41  returns to step S 13  and waits until another first information and vehicle information are received. 
     First determiner  41  transmits information indicating the classified unidentified obstacle that has been classified by classifier  45  to specific vehicle  20 , and proceeds to step S 413   b.    
     Route predictor  43  defines a moving obstacle that has been classified as a classified unidentified obstacle and predicts a route of the classified unidentified obstacle, based on the first information ( 413   b ). Route predictor  43  transmits information indicating the predicted route of the classified unidentified obstacle to specific vehicle  20 . 
     Second determiner  44  in information processing device  440  determines the danger level of the classified unidentified obstacle based on the route of the classified unidentified obstacle, which has been predicted by route predictor  43  (S 313 ). In this embodiment, second determiner  44  determines the danger level of the classified unidentified obstacle to be any of the danger levels one through four. Second determiner  44  outputs information indicating the determined danger level of the classified unidentified obstacle to moving body controller  23 . 
     Moving body controller  23  in specific vehicle  20  obtains the information indicating the classified unidentified obstacle and the information indicating the predicted route of the classified unidentified obstacle, and controls the driving of specific vehicle  20  based on such information (S 314 ). Presenter  24  outputs the information indicating the classified unidentified obstacle, the information indicating the predicted route of the classified unidentified obstacle, and the information indicating the danger level of the classified unidentified obstacle. 
     Advantageous Effects Etc. 
     The following describes the advantageous effects of information processing system  400  and the information processing method according to the present embodiment. 
     In information processing system  400  and the information processing method, classifier  45  classifies each of one or more first obstacles indicated in the first information as either a moving obstacle that moves or a stationary obstacle that stays in a predetermined location. Route predictor  43  defines a moving obstacle that has been classified as a classified unidentified obstacle and predicts a route of the classified unidentified obstacle, based on the first information. 
     Thus, with information processing system  400 , it is possible to classify each of the first obstacles indicated in the first information as a moving obstacle or a stationary obstacle. This enables accurate prediction of the route of a classified unidentified obstacle. Moreover, it is possible to more correctly predict the danger level of the classified unidentified obstacle. Therefore, specific vehicle  20  is capable of ensuring safety and moving smoothly by driving in accordance with the danger level. 
     Other advantageous effects produced by the information processing system and the information processing method according to the present embodiment are identical to those achieved by the information processing system for implementing and the information processing method according to Embodiment 1, for instance. 
     Embodiment 5 
     [Configuration] 
     Some of the elements according to this embodiment are identical to those illustrated in Embodiment 1 unless stated otherwise, and the identical elements are assigned with like reference signs and the detailed description related to the elements is omitted. 
       FIG. 12  is a block diagram illustrating information processing system  500  according to Embodiment 5. 
     Information processing device  540  further includes classifier  545 , as illustrated in  FIG. 12 . 
     Classifier  545  specifies a type of each of the first obstacles indicated in the first information and classifies each of the first obstacles according to the type of the first obstacle. Specifically, classifier  545  classifies each of the first obstacles as a person, a vehicle, a bicycle, or a flying object which is one of the types to which one or more moving obstacles among the first obstacles belong. Classifier  545  also classifies each of the stationary obstacles among the first obstacles as an obstacle that stays rooted in the ground, such as a building structure, a tree, or an obstacle that temporarily stays in a predetermined location such as a vehicle that is stopped. 
     When an obstacle other than one or more first obstacles indicated in the first information or an obstacle indicated by map information is present between specific vehicle  20  and one of one or more first obstacles, first determiner  41  determines that that first obstacle is an unidentified obstacle based on the type of the first obstacle, which is one of the types according to which one or more first obstacles have been classified by classifier  545 . 
     In other words, first determiner  41  determines, for each of one or more first obstacles, whether the first obstacle is an unidentified obstacle based on the type of the first obstacle, which is one of the types according to which one or more first obstacles have been classified. 
     Classifier  545  according to this present embodiment may be included in the information processing system according to the aforementioned Embodiment 2, 3, or 4. 
     [Operation] 
     The following describes an operation of information processing system  500  for implementing an information processing method according to this embodiment. 
       FIG. 13  is a sequence diagram illustrating the operation of information processing system  500  according to Embodiment 5. 
     First, surveillance camera  30  captures an image of specific vehicle  20  and a plurality of obstacles in the vicinity of specific vehicle  20 , and generates first information (S 11 ), as illustrated in  FIG. 13 . Surveillance camera  30  transmits the first information to information processing device  540 . 
     In-vehicle camera  21  in specific vehicle  20  captures an image of an area in the vicinity of specific vehicle  20  (S 12 ). Specific vehicle  20  transmits the second information and the vehicle information to information processing device  540 . 
     Classifier  545  specifies the type of each of one or more first obstacles indicated in the first information based on the first information and map information, and classifies an unidentified obstacle as one of the types classified by classifier  545  (S 513   a ). 
     When the type of a moving obstacle is a bicycle or a pedestrian, for example, and if the bicycle is present between specific vehicle  20  and the pedestrian, the pedestrian hidden behind the bicycle is not visible from specific vehicle  20 . Accordingly, first determiner  41  determines that an unidentified obstacle is present (Yes in S 13 ). 
     In contrast, when the type of a moving obstacle is a vehicle or a pedestrian and if the pedestrian is present between specific vehicle  20  and the vehicle, the vehicle behind the pedestrian is visible from specific vehicle  20 . Accordingly, first determiner  41  determines that an unidentified obstacle is not present (No in S 13 ). 
     In other words, when a first obstacle is small such as a pedestrian, the pedestrian (first obstacle) is not visible due to a vehicle which is an obstacle between specific vehicle  20  and the first obstacle, but when the first obstacle is large such as a vehicle, the vehicle (first obstacle) is visible even though a pedestrian is present as an obstacle between specific vehicle  20  and the first obstacle. Since classifier  545  thus classifies each of the first obstacles according to the type of the first obstacle, first determiner  41  is capable of determining whether an obstacle between specific vehicle  20  and the first obstacle is an unidentified obstacle. 
     First determiner  41  then returns the process to step S 513   a.    
     When Yes at step S 13 , first determiner  41  transmits information indicating the unidentified obstacle to specific vehicle  20 . 
     Upon obtaining the information indicating the unidentified obstacle, moving body controller  23  in specific vehicle  20  controls the driving of specific vehicle  20  based on the information obtained (S 514 ). 
     Advantageous Effects Etc. 
     The following describes the advantageous effects of information processing system  500  and the information processing method according to the present embodiment. 
     Information processing system  500  further includes classifier  545  that classifies each of one or more first obstacles among a plurality of obstacles, according to the type of the first obstacle. When an obstacle other than one or more first obstacles indicated in the first information or an obstacle indicated by map information is present between specific vehicle  20  and one of one or more first obstacles, first determiner  41  determines that that first obstacle is an unidentified obstacle based on the type of the first obstacle, which is one of the types according to which one or more first obstacles have been classified by classifier  545 . 
     First determiner  41  thus determines whether an unidentified obstacle is present based on the type of a first obstacle, which is one of the types according to which classifier  545  has classified one or more first obstacles. This enables easy determination on the presence of an unidentified obstacle. Other advantageous effects produced by the information processing system and implementing the information processing method according to the present embodiment are identical to those achieved by the information processing system and the information processing method according to Embodiment 1, for instance. 
     OTHER EMBODIMENTS 
     Although the present disclosure has been described based on Embodiments 1 through 5, the present disclosure should not be limited to each of the above-described information processing systems and the information processing methods. 
     In the information processing system and the information processing method according to each of the aforementioned Embodiments 1 through 5, a first determiner and a second determiner are both included in an information processing device, but at least one of these determiners may be included in a specific vehicle. 
     When the first determiner is included in the information processing device and the second determiner is included in the specific vehicle, for example, there is no need for the information processing device to manage the scheduled route of the specific vehicle, and this can reduce an increase in the processing load of the information processing device. With this, it is possible to reduce an increase in the amount of data for communications between the specific vehicle and the information processing device. 
     When both of the first determiner and the second determiner are included in the specific vehicle, there is no need for the information processing device to determine whether an unidentified obstacle is present, and this can further reduce an increase in the processing load of the information processing device. With this, there is no need for the specific vehicle to transmit the second information to the information processing device, and this can further reduce an increase in the amount of data for communications between the specific vehicle and the information processing device. 
     A moving body controller is included in the specific vehicle, but may be included in the information processing device. This enables the information processing device to control the specific vehicle and is useful in the case where plural specific vehicles are present. 
     An image of a specific vehicle and first obstacles in the vicinity of the specific vehicle may be captured using, instead of surveillance camera  30 , an in-vehicle camera mounted on a vehicle other than the specific vehicle. In this case, all of the first determiner, the second determiner, and the vehicle controller may be included in the specific vehicle. In this case, the information processing device is mounted on the specific vehicle, and the specific vehicle and the information processing device do not need to perform wireless communications. 
     In this way, the first determiner, the second determiner, and the vehicle controller may be selectively included either in the specific vehicle or the information processing device. 
     In the information processing system or information processing method according to each of the aforementioned Embodiments 1 through 5, an actual route taken by an unidentified obstacle may be stored as a history of actual routes in a storage device, for instance. The information processing device or the information processing system may include, for instance, such a storage device. In this case, a route predictor may predict the route of an unidentified obstacle based on the history of actual routes taken by the unidentified obstacle as well as the moving speed, moving direction, location, size, etc. of the unidentified obstacle. Since pedestrians frequently walked across a road at a predetermined site in the past, the route predictor may predict, based on map information, the route of a pedestrian (i.e., an obstacle that can be an unidentified obstacle) under the assumption that the pedestrian may be present at the predetermined site. The route predictor thus predicting the route of an unidentified obstacle enables the specific vehicle to drive smoothly. 
     Information processing system  600  according to each of the aforementioned Embodiments 1 through 5 further includes danger notifier  660 , as illustrated in  FIG. 14 .  FIG. 14  is a schematic diagram illustrating information processing system  600  according to a variation of each of the aforementioned Embodiments 1 through 5. Danger notifier  660  at least notifies an unidentified obstacle that specific vehicle  20  is approaching the unidentified obstacle or notifies specific vehicle  20  that an unidentified obstacle is approaching specific vehicle  20 . Danger notifier  660  is, for example, a loudspeaker, a lighting device, etc. provided in an unidentified obstacle or specific vehicle  20 . Information processing device  40  may transmit a command to danger notifier  660  to cause danger notifier  660  to notify an unidentified obstacle of specific vehicle  20  closing in on the unidentified obstacle. Alternatively, information processing device  40  may transmit a command to danger notifier  660  to cause danger notifier  660  to notify specific vehicle  20  of an unidentified obstacle closing in on specific vehicle  20 . 
     The present disclosure may be realized as a program for causing a computer to execute the information processing method according to each of the aforementioned Embodiments 1 through 5. 
     A program for realizing the information processing system and the information processing method according to each of the aforementioned Embodiments 1 through 5 can be typically realized as an LSI which is an integrated circuit. These circuits may be individually realized as one chip or may be realized as one chip including part or all of the circuits. 
     Each of the processing units to be realized as an integrated circuit is not limited to an LSI and may be realized as a dedicated circuit or a general-purpose processor. A field programmable gate array (FPGA) which can be programmed after an LSI is manufactured or a reconfigurable processor which can reconfigure connection or setting of circuit cells inside an LSI may be used. 
     It should be noted that each of the elements included in the identification system and the identification device according to the aforementioned one or more aspects may be configured by dedicated hardware or may be realized by executing a software program suitable for each element. Each element may be implemented by a program executor such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disc or a semiconductor memory. 
     All the numbers used above are exemplary numbers to specifically describe the present disclosure, and the present disclosure is not limited to the illustrated numbers. 
     Division of a functional block in each block diagram is an example, and plural functional blocks may be realized as one functional block, one functional block may be divided into plural functional blocks, or part of functions may be transferred to another functional block. Besides, single hardware or software may process, in parallel or by way of time division, functions of plural functional blocks having similar functions. 
     An order to execute each step in the flowchart is an exemplary order for specifically describing the present disclosure, and may be other than the above-described order. Furthermore, part of the above-described steps may be executed at the same time as (in parallel to) the execution of other steps. 
     Forms obtained by various modifications to the foregoing embodiments that can be conceived by a person skilled in the art as well as forms realized by arbitrarily combining structural components and functions in the embodiments within the scope of the essence of the present disclosure are included in the present disclosure. 
     While various embodiments have been described herein above, it is to be appreciated that various changes in form and detail may be made without departing from the spirit and scope of the present disclosure as presently or hereafter claimed. 
     Further Information about Technical Background to this Application 
     The disclosures of the following Japanese Patent Applications including specification, drawings and claims are incorporated herein by reference in their entirety: PCT International Application No. PCT/JP2019/037394 filed on Sep. 24, 2019; and Japanese Patent Application No. 2018-184123 filed on Sep. 28, 2018. 
     INDUSTRIAL APPLICABILITY 
     The present disclosure can be utilized for systems for enhancing safety in a system for assisting the driving of a moving body.