JP6933457B2 - Recognition result presentation device, recognition result presentation method and autonomous mobile - Google Patents

Description

The present disclosure relates to a recognition result presenting device for presenting a result of recognizing a recognition object existing around an autonomous mobile body, a recognition result presentation method, and an autonomous mobile body.

In recent years, the development of autonomous driving vehicles has been promoted. The autonomous driving vehicle recognizes pedestrians existing around the autonomous driving vehicle and controls the running of the autonomous driving vehicle according to the recognition result.

For example, in Patent Document 1, an in-vehicle display device mounted on a vehicle acquires a driving behavior content and a driving behavior factor output by an in-vehicle control device, and uses an image display or a voice output to obtain the driving behavior content and driving. It is disclosed to notify the behavioral factors.

Further, for example, Patent Document 2 discloses that an autonomous driving vehicle notifies a pedestrian of what is happening to the autonomous driving vehicle or what the autonomous driving vehicle is currently doing.

Further, for example, in Patent Document 3, the automatically traveling moving body notification means detects detected information, diagnosed diagnosis result, and detected moving state in each of the directions of the range region in which the detected monitoring target exists. Is disclosed to be notified to the outside by displaying the image on the vehicle body or outputting the sound.

International Publication No. 2015/156146 U.S. Pat. No. 9,196,164 Japanese Unexamined Patent Publication No. 2015-186944

However, in the above-mentioned conventional technique, the recognition target is not surely notified that it is recognized by the autonomous mobile body, and further improvement is required.

This disclosure is made to solve the above-mentioned problems, and is a recognition result presenting device and a recognition result presentation capable of surely notifying the recognition target that the recognition target is recognized by an autonomous mobile body. It is intended to provide methods and autonomous mobiles.

The recognition result presenting device according to one aspect of the present disclosure is a recognition result presenting device that presents the result of recognizing a recognition target existing around the autonomous moving body, and is the recognition target existing around the autonomous moving body. It is shown that the autonomous moving body recognizes the recognition target by detecting the recognition target by the detection unit with respect to the detection unit that detects the detection unit and the recognition target detected by the detection unit. It is provided with a presentation unit that presents the recognition result.

According to the present disclosure, it is possible to reliably notify the recognition target that the recognition target is recognized by the autonomous mobile body.

It is a block diagram which shows the structure of the automatic driving vehicle which concerns on this Embodiment 1. It is a figure which shows the structure of the recognition result presenting apparatus in Embodiment 1. It is a flowchart for demonstrating the operation of the recognition result presenting apparatus in Embodiment 1. FIG. 5 is a schematic diagram for explaining acquisition of a photographed image, detection of a person, and coordinate conversion of the photographed image in the first embodiment. It is a figure for demonstrating the process of presenting a recognition result in Embodiment 1. It is a figure for demonstrating the process of presenting a recognition result in the 1st modification of Embodiment 1. It is a figure for demonstrating the process which presents the recognition result in the 2nd modification of Embodiment 1. It is a figure for demonstrating the process which presents the recognition result when a plurality of self-driving vehicles exist within a predetermined range in the 2nd modification of Embodiment 1. It is a figure for demonstrating the process of presenting a recognition result in the 3rd modification of Embodiment 1. It is a figure for demonstrating the process of presenting a recognition result in the 4th modification of Embodiment 1. It is a figure for demonstrating the process of presenting a recognition result in the 5th modification of Embodiment 1. It is a figure which shows the structure of the recognition result presenting apparatus in Embodiment 2. It is a figure which shows the structure of the recognition result presenting apparatus in Embodiment 3. It is a figure for demonstrating the process which preferentially irradiates a recognition target with a high degree of risk with light in Embodiment 3. In the third embodiment, it is a figure for demonstrating the process of preferentially outputting a sound to a recognition object having a high degree of risk.

(Background to the invention of one aspect of the present disclosure)
In recent years, the development of autonomous driving vehicles has been promoted. The autonomous driving vehicle recognizes pedestrians existing around the autonomous driving vehicle and controls the running of the autonomous driving vehicle according to the recognition result.

For example, in Patent Document 1, an in-vehicle display device mounted on a vehicle acquires a driving behavior content and a driving behavior factor output by an in-vehicle control device, and uses an image display or a voice output to obtain the driving behavior content and driving. It is disclosed to notify the behavioral factors.

Further, for example, Patent Document 2 discloses that an autonomous driving vehicle notifies a pedestrian of what is happening to the autonomous driving vehicle or what the autonomous driving vehicle is currently doing.

Further, for example, in Patent Document 3, the automatically traveling moving body notification means detects detected information, diagnosed diagnosis result, and detected moving state in each of the directions of the range region in which the detected monitoring target exists. Is disclosed to be notified to the outside by displaying the image on the vehicle body or outputting the sound.

In Patent Document 1 described above, the driving behavior of the vehicle is notified to the occupants, and in Patent Document 2, the movement of the autonomous driving vehicle is notified to the pedestrian. Therefore, the pedestrians around the autonomous driving vehicle do not know whether or not they are recognized by the autonomous driving vehicle, and can determine whether or not it is possible to cross in front of the autonomous driving vehicle. Can not.

Further, in Patent Document 3 described above, the recognition of the monitored object is notified by turning on the LED (light emitting diode) in the direction in which the presence of the monitored object is detected, but a plurality of monitored objects are notified in the same direction. When a monitored object exists, it is not notified that the individual monitored object is recognized. Therefore, when a plurality of pedestrians exist in the same direction, the recognized pedestrian and the unrecognized pedestrian among the plurality of pedestrians are not identified, and each pedestrian himself / herself is an autonomous driving vehicle. It is not possible to confirm whether or not it is recognized by.

In order to solve the above problems, the recognition result presenting device according to one aspect of the present disclosure is a recognition result presenting device that presents the result of recognizing a recognition target existing around the autonomous moving body, and the autonomous movement With respect to the detection unit that detects the recognition target existing around the body and the recognition target detected by the detection unit, the recognition target is detected by the detection unit, so that the autonomous moving body recognizes the recognition target. It is provided with a presentation unit that presents a recognition result indicating that the target is recognized.

According to this configuration, the recognition target existing around the autonomous moving body is detected. Then, with respect to the detected recognition target, a recognition result indicating that the autonomous moving body recognizes the recognition target by detecting the recognition target is presented.

Therefore, it is possible to reliably notify the recognition target that the recognition target is recognized by the autonomous moving body.

Further, in the recognition result presenting device, the presenting unit may include a light irradiating unit that irradiates light in a direction in which the recognition target exists.

According to this configuration, it is possible to reliably notify that the recognition target is recognized by the autonomous moving body by the light emitted in the direction in which the recognition target exists.

Further, in the recognition result presenting device, the light irradiation unit may irradiate light having a predetermined shape toward the ground at a position where the recognition target exists.

According to this configuration, it is possible to reliably notify that the recognition target is recognized by the autonomous moving body by the light of a predetermined shape emitted toward the ground at the position where the recognition target exists.

Further, in the recognition result presenting device, the light irradiation unit irradiates light having a predetermined shape toward the ground at the position where the recognition target exists, and autonomously and the ground at the position where the recognition target exists. Light may be emitted on a straight line connecting the ground at the position where the moving body is present.

According to this configuration, the fact that the recognition target is recognized by the autonomous moving body is determined by the light of a predetermined shape emitted toward the ground at the position where the recognition target exists and the ground at the position where the recognition target exists. It is possible to reliably notify by the light emitted on the straight line connecting the ground where the autonomous moving body exists.

Further, in the recognition result presenting device, the presenting unit may include a sound output unit that outputs a predetermined sound in the direction in which the recognition target exists.

According to this configuration, it is possible to reliably notify that the recognition target is recognized by the autonomous moving body by a predetermined sound output in the direction in which the recognition target exists.

Further, the recognition result presenting device further includes a photographing unit that captures an image of the surroundings of the autonomous moving body, the detecting unit detects the recognition target in the image, and the presenting unit autonomously detects the recognition target. It may include a display unit which is arranged on the surface of the moving body and displays the image which represents the recognition target detected by the detection unit in an identifiable manner.

According to this configuration, an image of the surroundings of the autonomous moving body is taken. The recognition target in the image is detected. An image showing the detected recognition target in an identifiable manner is displayed on the display unit arranged on the surface of the autonomous moving body.

Therefore, the image that represents the detected recognition target in an identifiable manner displayed on the display unit arranged on the surface of the autonomous moving body reliably notifies that the recognition target is recognized by the autonomous moving body. can do.

Further, in the above recognition result presenting device, the display unit may display the image by inverting the left and right sides.

According to this configuration, since the left and right sides of the image are inverted and displayed, the detected recognition target is displayed as if it is reflected in a mirror, and the recognition result can be grasped intuitively.

Further, in the recognition result presenting device, the recognition target is a person, and the attribute determination unit for determining the attribute of the person detected by the detection unit and the attribute determination unit determined by the attribute determination unit are used. A presentation method determining unit that determines the presenting method is further provided, and the presenting unit may present the recognition result according to the presenting method determined by the presenting method determining unit.

According to this configuration, the recognition target is a person. The attribute of the detected person is determined. The presentation method is determined according to the determined attribute. The recognition result is presented according to the determined presentation method.

Therefore, the recognition result can be presented according to an appropriate presentation method according to the attribute of the detected person.

Further, in the recognition result presenting device, a risk determination unit for determining the risk level of the recognition target detected by the detection unit and a presentation method according to the risk level determined by the risk determination unit are provided. The presentation unit may further include a presentation method determination unit for determining, and the presentation unit may present the recognition result according to the presentation method determined by the presentation method determination unit.

According to this configuration, the risk level of the detected recognition target is determined. The presentation method is determined according to the determined risk level. The recognition result is presented according to the determined presentation method.

Therefore, the recognition result can be presented according to an appropriate presentation method according to the risk level of the detected recognition target.

Further, in the recognition result presenting device, the risk level includes a first risk level and a second risk level lower than the first risk level, and the presentation method determining unit determines the risk level. The presentation method when the first risk level is determined by the unit may be different from the presentation method when the second risk level is determined by the risk level determination unit.

According to this configuration, the risk includes a first risk and a second risk lower than the first risk. The presentation method when it is determined to be the first risk level and the presentation method when it is determined to be the second risk level are different.

Therefore, since the presentation method when the risk level is high and the presentation method when the risk level is low, the recognition target determines its own risk level by checking the recognition result presented according to the risk level. Can be recognized.

Further, in the recognition result presentation device, the presentation unit includes a light irradiation unit that irradiates light in the direction in which the recognition target exists, and the presentation method determination unit is the first by the risk determination unit. The color of the light when it is determined to be the degree of danger may be different from the color of the light when the degree of danger is determined to be the second degree of danger.

According to this configuration, light is emitted in the direction in which the recognition target exists. The color of the light when it is determined to be the first degree of danger is different from the color of the light when it is determined to be the second degree of danger.

Therefore, the recognition target can recognize its own risk level by checking the color of the irradiated light.

Further, in the recognition result presenting device, the presenting unit includes a sound output unit that outputs a predetermined sound in the direction in which the recognition target exists, and the presenting method determining unit is the first by the risk determination unit. The sound when the risk level is determined to be 1 may be different from the sound when the risk level determination unit determines that the risk level is 1.

According to this configuration, a predetermined sound is output in the direction in which the recognition target exists. The sound when it is determined to be the first degree of danger and the sound when it is determined to be the second degree of danger are made different.

Therefore, the recognition target can recognize its own risk level by confirming the output predetermined sound.

Further, in the recognition result presenting device, the recognition target includes a plurality of recognition targets, the detection unit detects the plurality of recognition targets, and the risk determination unit is detected by the detection unit. The risk level of each of the plurality of recognition targets may be determined, and the presentation unit may present the recognition result in order from the recognition target having the highest risk level among the plurality of recognition targets.

According to this configuration, the recognition target includes a plurality of recognition targets. Multiple recognition targets are detected. The risk level of each of the plurality of detected recognition targets is determined. The recognition results are presented in order from the recognition target having the highest risk among the plurality of recognition targets.

Therefore, since the recognition results are presented in order from the recognition target having the highest risk among the plurality of recognition targets, each of the plurality of recognition targets can recognize its own risk.

The autonomous mobile body according to another aspect of the present disclosure includes the recognition result presenting device according to any one of the above, and a control unit that controls the movement of the autonomous mobile body based on the recognition result by the recognition result presenting device. , Equipped with.

According to this configuration, the recognition result presenting device described in any of the above can be applied to an autonomous mobile body.

The recognition result presentation method according to another aspect of the present disclosure is a recognition result presentation method in a recognition result presenting device that presents the result of recognizing a recognition target existing around the autonomous moving body, and is around the autonomous moving body. The recognition target existing in the above is detected, and the recognition result indicating that the autonomous moving body recognizes the recognition target by detecting the recognition target is presented to the detected recognition target.

According to this configuration, the recognition target existing around the autonomous moving body is detected. Then, with respect to the detected recognition target, a recognition result indicating that the autonomous moving body recognizes the recognition target by detecting the recognition target is presented.

Therefore, it is possible to reliably notify the recognition target that the recognition target is recognized by the autonomous moving body.

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. The following embodiments are examples that embody the present disclosure, and do not limit the technical scope of the present disclosure.

(Embodiment 1)
FIG. 1 is a block diagram showing a configuration of an automatically driven vehicle according to the first embodiment. The automatic driving vehicle 1 shown in FIG. 1 includes an automatic driving system 101, an indicator 102, a vehicle control processor 103, a brake control system 104, an accelerator control system 105, a steering control system 106, a vehicle navigation system 107, and a GPS (Global Positioning System). 108 is provided.

The automatic driving vehicle 1 is a vehicle that autonomously travels, and is an example of an autonomous moving body. In the first embodiment, the automatic driving vehicle 1 is an automobile, but the present disclosure is not particularly limited to this, and the automatic driving vehicle 1 is various vehicles such as motorcycles, trucks, buses, trains, and vehicles. There may be.

The automatic operation system 101 includes a processor 111, a memory 112, a user input unit 113, a presentation unit 114, and a sensor 115.

The memory 112 is a computer-readable recording medium, such as a hard disk drive, a ROM (Read Only Memory), a RAM (Random Access Memory), an optical disk, and a semiconductor memory. The memory 112 stores the automatic operation program 121 executed by the processor 111 and the data 122 used by the processor 111.

The data 122 includes the map data 21 and the coordinate conversion map data 22. The map data 21 includes topographical information, lane information indicating a traveling lane, intersection information regarding an intersection, speed limit information indicating a speed limit, and the like. The map data 21 is not limited to the above information. The coordinate conversion map data 22 is a coordinate conversion map in which the position of each pixel on the captured image captured by the camera 31 is associated with the position in the real space.

The processor 111 is, for example, a CPU (Central Processing Unit) and executes an automatic operation program 121 stored in a memory 112. When the processor 111 executes the automatic driving program 121, the automatic driving vehicle 1 travels autonomously. Further, the processor 111 reads the data 122 from the memory 112, writes the data 122 to the memory 112, and updates the data 122 stored in the memory 112.

The automatic driving program 121 causes the processor 111 to function as the lane detection unit 11, the person detection unit 12, and the coordinate conversion unit 13.

The lane detection unit 11 recognizes the lane drawn on the road from the captured image taken by the camera 31, and detects the lane in which the automatic driving vehicle 1 travels.

The person detection unit 12 detects a person (recognition target) existing around the automatically driving vehicle 1 from the captured image taken by the camera 31. For example, the person detection unit 12 machine-learns a multi-layered neural network by deep learning, and inputs a photographed image into the machine-learned neural network to detect a person included in the photographed image. The person detection unit 12 surrounds the detected person in the captured image with a rectangular frame.

The coordinate conversion unit 13 uses the coordinate conversion map data 22 to convert the coordinates of the captured image into the coordinates in the real space.

The user input unit 113 accepts input of various information by the user. The user input unit 113 is composed of, for example, a button or a touch panel.

The presentation unit 114 presents various information. The presentation unit 114 recognizes the person (recognition target) by the automatic driving vehicle 1 by detecting the person (recognition target) by the person detection unit 12 with respect to the person (recognition target) detected by the person detection unit 12. Present the recognition result indicating that you are doing. The presentation unit 114 includes a laser irradiation unit 32. The laser irradiation unit 32 is arranged in the front portion of the automatic driving vehicle 1 and irradiates the laser beam toward a person existing in front of the automatic driving vehicle 1. The laser irradiation unit 32 exists not only in front of the automatic driving vehicle 1 but also around the automatic driving vehicle 1 such as behind the automatic driving vehicle 1, to the right of the automatic driving vehicle 1, and to the left of the automatic driving vehicle 1. You may irradiate the person who is driving with the laser beam. Further, it is preferable that the laser irradiation unit 32 irradiates a linear laser beam on the ground between the laser irradiation unit 32 and a person.

The laser irradiation unit 32 irradiates the laser beam toward the position of the person converted into the coordinates in the real space by the coordinate conversion unit 13. When the person detection unit 12 specifies the direction in which the person exists and the distance from the automatic driving vehicle 1 to the person, the laser irradiation unit 32 determines the direction toward the ground where the person (recognition target) exists. You may irradiate a laser beam of a shape.

The sensor 115 measures the environment around the self-driving vehicle 1 and the environment inside the self-driving vehicle 1. The sensor 115 includes, for example, a speedometer for measuring the speed of the self-driving vehicle 1, an acceleration clock for measuring the acceleration of the self-driving vehicle 1, a gyroscope for measuring the orientation of the self-driving vehicle 1, an engine temperature sensor, and the like. The sensor 115 is not limited to the above sensor.

The sensor 115 includes a camera 31. The camera 31 is an example of a photographing unit, and is arranged in the vicinity of the rear-view mirror of the automatic driving vehicle 1 to take an image in front of the automatic driving vehicle 1. The camera 31 captures images of the surroundings of the automatic driving vehicle 1, such as the front of the automatic driving vehicle 1, the rear of the automatic driving vehicle 1, the right side of the automatic driving vehicle 1, and the left side of the automatic driving vehicle 1. You may.

The indicator 102 is a device for indicating the direction of the automatic driving vehicle 1 to the surroundings when the vehicle 1 makes a left turn, a right turn, or changes a course. The vehicle control processor 103 controls the automatically driven vehicle 1. The brake control system 104 controls the automatic driving vehicle 1 to decelerate. The accelerator control system 105 controls the speed of the self-driving vehicle 1. The steering control system 106 adjusts the traveling direction of the automatic driving vehicle 1. The vehicle navigation system 107 determines the travel route of the automatically driven vehicle 1 and presents the travel route of the automatically driven vehicle 1. The GPS 108 acquires the current position of the self-driving vehicle 1.

The processor 111 controls the direction and speed of the automatic driving vehicle 1 based on the sensing result by the sensor 115, the detection result by the lane detection unit 11, and the detection result by the person detection unit 12. The processor 111 accelerates the automatic driving vehicle 1 by the accelerator control system 105, decelerates the automatic driving vehicle 1 by the brake control system 104, and changes the direction of the automatic driving vehicle 1 by the steering control system 106.

FIG. 2 is a diagram showing a configuration of a recognition result presenting device according to the first embodiment. The recognition result presentation device shown in FIG. 2 includes a camera 31, a person detection unit 12, a coordinate conversion unit 13, a laser irradiation unit 32, and a coordinate conversion map data storage unit 221.

In the recognition result presenting apparatus shown in FIG. 2, the same components as those in FIG. 1 are designated by the same reference numerals, and the description thereof will be omitted. The coordinate conversion map data storage unit 221 is configured by the memory 112 of FIG. 1 and stores the coordinate conversion map data 22.

Subsequently, the operation of the recognition result presenting device according to the first embodiment will be described.

FIG. 3 is a flowchart for explaining the operation of the recognition result presenting device according to the first embodiment. FIG. 4 is a schematic diagram for explaining acquisition of a photographed image, detection of a person, and coordinate conversion of the photographed image in the first embodiment.

First, in step S1, the camera 31 takes an image of the traveling direction of the self-driving vehicle 1. At this time, the camera 31 is arranged at a position where the front of the automatic driving vehicle 1 can be photographed, and photographs the front of the automatic driving vehicle 1. When the automatic driving vehicle 1 moves forward, a camera arranged in front of the automatic driving vehicle 1 takes a picture, and when the automatic driving vehicle 1 moves backward, a camera arranged behind the automatic driving vehicle 1 takes a picture. It is preferable to take a picture with.

Next, in step S2, the person detection unit 12 acquires the captured image 201 captured by the camera 31. The captured image 201 shown in FIG. 4 includes people 2 and 3.

Next, in step S3, the person detection unit 12 detects a person included in the captured image acquired from the camera 31. In FIG. 4, the person detection unit 12 detects the person 2 among the people 2 and 3 included in the captured image 201, and adds a rectangular frame 202 around the detected person 2. In FIG. 4, the person 3 is not detected as a person. As described above, not all people in the captured image are always detected due to the detection accuracy and the like.

Next, in step S4, the coordinate conversion unit 13 determines whether or not a person has been detected from the captured image by the person detection unit 12. Here, if it is determined that the person has not been detected (NO in step S4), the process returns to the process of step S1.

On the other hand, when it is determined that a person has been detected (YES in step S4), in step S5, the coordinate conversion unit 13 converts the coordinates of the captured image into the coordinates in the real space using the coordinate conversion map data 22. As shown in FIG. 4, by converting the coordinates of the captured image 201, the real space image 203 corresponding to the coordinates of the real space is generated.

Next, in step S6, the laser irradiation unit 32 irradiates the laser beam toward the position of the person detected by the person detection unit 12. At this time, the laser irradiation unit 32 identifies the position where the person 2 actually exists from the coordinate position of the person 2 in the real space image 203 converted by the coordinate conversion unit 13, and the laser beam is directed to the specified position. Irradiate. After that, the process returns to the process of step S1.

The processes of steps S1 to S6 are performed from the power on to the power of the automatic driving vehicle 1 until the power is turned off.

FIG. 5 is a diagram for explaining the process of presenting the recognition result in the first embodiment. As shown in FIG. 5, when the person 2 is detected, the laser irradiation unit 32 irradiates the laser beam 211 toward the position of the detected person 2. Further, since the person 3 is not detected, the laser beam 211 is not irradiated. Therefore, the persons 2 and 3 can know whether or not they are recognized by the automatic driving vehicle 1, and decide the action for the automatic driving vehicle 1 such as whether or not to cross in front of the automatic driving vehicle 1. can do.

In this way, for the detected recognition target, the recognition result indicating that the automatic driving vehicle 1 recognizes the recognition target is presented by detecting the recognition target, so that the recognition target is the automatic driving vehicle. It is possible to reliably notify the recognition target that it is recognized by 1.

In the first embodiment, the person is irradiated with the laser beam, but the present disclosure is not particularly limited to this, and the person may be irradiated with light from another light source such as a light emitting diode.

Further, the presentation unit 114 may be provided with a projector, or may irradiate a person with light (image) from the projector. In this case, the projector preferably irradiates a linear light on the ground between the projector and a person.

FIG. 6 is a diagram for explaining a process of presenting a recognition result in the first modification of the first embodiment.

In the first modification of the first embodiment, light having a predetermined shape is irradiated toward the ground at a position where the recognition target exists. If the direction in which the person exists and the distance to the person are known by the sensor 115, the laser beam can be applied to the feet of the detected person. As shown in FIG. 6, when the person 2 is detected, the laser irradiation unit 32 irradiates the laser beam 212 having a predetermined shape toward the ground at the position where the person 2 exists. In FIG. 6, a circular laser beam 212 is irradiated. Further, since the person 3 is not detected, the circular laser beam 212 is not irradiated. Therefore, the persons 2 and 3 can know whether or not they are recognized by the automatic driving vehicle 1, and decide the action for the automatic driving vehicle 1 such as whether or not to cross in front of the automatic driving vehicle 1. can do.

FIG. 7 is a diagram for explaining a process of presenting a recognition result in the second modification of the first embodiment.

In the second modification of the first embodiment, the recognition result presenting device is arranged on the surface of the automatic driving vehicle 1 in place of the coordinate conversion unit 13, the coordinate conversion map data storage unit 221 and the laser irradiation unit 32. A display unit 33 for displaying an image representing a person (recognition target) detected by the person detection unit 12 in an identifiable manner is provided.

As shown in FIG. 7, the display unit 33 is, for example, a liquid crystal display device, and is arranged on the surface of the automatic driving vehicle 1. The display unit 33 is arranged at at least one position on the front surface, the rear surface, the right side surface, and the left side surface of the automatic driving vehicle 1. The person detection unit 12 detects the person 2 among the people 2 and 3 included in the captured image 201, and adds a rectangular frame 202 around the detected person 2. The display unit 33 displays an image in which a rectangular frame 202 is added around the detected person 2 in real time. Further, since the person 3 is not detected, the rectangular frame 202 is not displayed around the person 3. Therefore, the persons 2 and 3 can know whether or not they are recognized by the automatic driving vehicle 1, and decide the action for the automatic driving vehicle 1 such as whether or not to cross in front of the automatic driving vehicle 1. can do.

It is preferable that the display unit 33 displays the image with the left and right sides reversed. As a result, the person is displayed as if it is reflected in a mirror, so that the person can intuitively grasp the recognition result.

FIG. 8 is a diagram for explaining a process of presenting a recognition result when a plurality of automatically driven vehicles exist within a predetermined range in the second modification of the first embodiment.

As shown in FIG. 8, a plurality of automatically driven vehicles 1a and 1b exist in the vicinity of the persons 2 and 3. When the person 2 is detected by the automatic driving vehicle 1a, the display unit 33 of the automatic driving vehicle 1a displays an image in which a rectangular frame 202 is added around the detected person 2 in real time. Further, since the person 3 is not detected by the automatic driving vehicle 1a, the rectangular frame 202 is not displayed around the person 3.

Further, when the person 2 and the person 3 are detected by the automatic driving vehicle 1b, the display unit 33 of the automatic driving vehicle 1b displays an image in which a rectangular frame 202 is added around the detected person 2 and the person 3 in real time. Display on.

Therefore, when there are a plurality of automatically driven vehicles in the vicinity of the person, the person can easily confirm from which automatically driven vehicle the person is recognized and which automatically driven vehicle is not recognized. ..

FIG. 9 is a diagram for explaining a process of presenting a recognition result in the third modification of the first embodiment.

In the third modification of the first embodiment, the recognition result presenting device replaces the coordinate conversion unit 13, the coordinate conversion map data storage unit 221 and the laser irradiation unit 32 with a predetermined sound in the direction in which the recognition target exists. The sound output unit 34 for outputting the above is provided.

As shown in FIG. 9, the sound output unit 34 is, for example, a directional speaker, and outputs a predetermined sound having directivity with respect to the direction in which the detected person exists. Further, since the person 3 is not detected, a predetermined sound is not output to the person 3. Further, since the sound output from the sound output unit 34 has directivity, it can be heard only by the person 2 and not by the person 3. Therefore, the persons 2 and 3 can know whether or not they are recognized by the automatic driving vehicle 1, and decide the action for the automatic driving vehicle 1 such as whether or not to cross in front of the automatic driving vehicle 1. can do.

FIG. 10 is a diagram for explaining a process of presenting a recognition result in the fourth modification of the first embodiment.

In the fourth modification of the first embodiment, the laser irradiation unit 32 irradiates light having a predetermined shape toward the ground at the position where the recognition target exists, and automatically matches the ground at the position where the recognition target exists. Light is emitted on a straight line connecting the ground where the driving vehicle is located.

As shown in FIG. 10, a plurality of automatically driven vehicles 1a and 1b exist in the vicinity of the persons 2 and 3. When the person 2 is detected by the automatic driving vehicle 1a, the laser irradiation unit 32 of the automatic driving vehicle 1a irradiates the ground at the position where the person 2 is present with a laser beam 212 having a predetermined shape, and the person 2 emits the laser beam 212. The laser beam 213 is irradiated on a straight line connecting the ground at the existing position and the ground at the position where the automatic driving vehicle 1a exists. In FIG. 10, a circular laser beam 212 is irradiated. Further, since the person 3 is not detected by the automatic driving vehicle 1a, the laser beam 213 is not irradiated on the straight line connecting the ground at the position where the person 3 exists and the ground at the position where the automatic driving vehicle 1a exists.

When the person 3 is detected by the automatic driving vehicle 1b, the laser irradiation unit 32 of the automatic driving vehicle 1b irradiates the ground at the position where the person 3 exists with a laser beam 212 having a predetermined shape and the person. The laser beam 213 is irradiated on a straight line connecting the ground at the position where 3 is present and the ground at the position where the automatic driving vehicle 1b is present. In FIG. 10, a circular laser beam 212 is irradiated. Further, since the person 2 is not detected by the automatic driving vehicle 1b, the laser beam 213 is not irradiated on the straight line connecting the ground at the position where the person 2 exists and the ground at the position where the automatic driving vehicle 1b exists.

Therefore, the light of a predetermined shape is irradiated toward the ground at the position where the person exists, and the light is irradiated on the straight line connecting the ground at the position where the person exists and the ground at the position where the automatic driving vehicle exists. Therefore, when there are a plurality of automatically driven vehicles in the vicinity of the person, the person can easily confirm from which automatically driven vehicle the person is recognized and which automatically driven vehicle is not recognized. can.

When a person is detected, the laser irradiation unit 32 may always irradiate the laser beam 213 on a straight line connecting the ground at the position where the person exists and the ground at the position where the automatic driving vehicle exists. The laser beam 213 may be irradiated only when another self-driving vehicle is present in the vicinity. In this case, the self-driving vehicle broadcasts information indicating its existence (for example, identification information) within a predetermined range, and information transmitted by another self-driving vehicle existing within the predetermined range (for example). For example, a communication unit that receives (identification information) may be further provided. Then, when the information transmitted by another automatic driving vehicle is received, the laser irradiation unit 32 receives the laser beam 213 on a straight line connecting the ground at the position where the person exists and the ground at the position where the automatic driving vehicle exists. May be irradiated.

In this way, the laser beam 213 is irradiated on the straight line connecting the ground at the position where the person exists and the ground at the position where the automatic driving vehicle exists only when a plurality of automatically driven vehicles exist within a predetermined range. Therefore, power consumption can be reduced.

FIG. 11 is a diagram for explaining a process of presenting a recognition result in the fifth modification of the first embodiment.

In the fifth modification of the first embodiment, the recognition result presenting device replaces the coordinate conversion unit 13, the coordinate conversion map data storage unit 221 and the laser irradiation unit 32 with a predetermined sound in the direction in which the recognition target exists. The sound output unit 34 for outputting the above is provided. The sound output unit 34 is, for example, a directional speaker, and outputs a predetermined sound having directivity with respect to the direction in which the detected person exists.

Further, the recognition result presenting device further includes a communication unit. The communication unit broadcasts identification information for identifying itself and sound information indicating the type of sound output by itself within a predetermined range, and identification information transmitted by another automatically driving vehicle existing within the predetermined range. And receive sound information. The sound output unit 34 can output a plurality of types of sounds. When the communication unit receives the identification information and the sound information from another automatic driving vehicle, the sound output unit 34 outputs the sound of the other automatic driving vehicle whose current sound type is indicated by the received sound information. Judge whether it is the same as the type of. When the sound output unit 34 determines that the type of its own sound is the same as the type of sound of another automatically driven vehicle, the sound output unit 34 changes the current type of sound to another type of sound.

As shown in FIG. 11, a plurality of automatically driven vehicles 1a and 1b exist in the vicinity of the persons 2 and 3. When the person 2 is detected by the automatic driving vehicle 1a, the sound output unit 34 of the automatic driving vehicle 1a outputs the first sound in the direction in which the person 2 exists. The sound output unit 34 is initially set to output the first sound. Further, since the person 3 is not detected by the automatic driving vehicle 1a, the first sound is not output in the direction in which the person 3 exists. The communication unit of the automatic driving vehicle 1a broadcasts identification information for identifying the automatic driving vehicle 1a and sound information indicating the type of sound (first sound) output by the automatic driving vehicle 1a within a predetermined range.

The communication unit of the self-driving vehicle 1b receives the identification information and the sound information transmitted by the self-driving vehicle 1a existing within a predetermined range. The sound output unit 34 has the same current sound type (first sound) output by the automatic driving vehicle 1b as the sound type (first sound) of the automatic driving vehicle 1a indicated by the received sound information. Determine if it exists. When the sound output unit 34 determines that the sound type of the automatic driving vehicle 1b is the same as the sound type of the automatic driving vehicle 1a, the sound type (first sound) is changed to another sound type (first sound). Change to sound 2).

Then, when the person 2 is detected by the automatic driving vehicle 1b, the sound output unit 34 of the automatic driving vehicle 1b outputs a second sound different from the first sound in the direction in which the person 2 exists. .. Further, since the person 3 is not detected by the automatic driving vehicle 1b, the second sound is not output in the direction in which the person 3 exists. After that, the communication unit of the automatic driving vehicle 1b broadcasts the identification information for identifying the automatic driving vehicle 1b and the sound information indicating the type of sound (second sound) output by the automatic driving vehicle 1b within a predetermined range.

In this way, when a plurality of automatically driven vehicles exist within a predetermined range, the plurality of automatically driven vehicles output different sounds, and the person can perform when there are a plurality of automatically driven vehicles in the vicinity of the person. , It is possible to easily confirm which automatic driving vehicle recognizes itself and which automatic driving vehicle does not recognize it.

In the first embodiment, a face device imitating a human face is arranged on the surface of an automatically driving vehicle, and the line of sight of the face device is directed to a person (recognition target) detected by the person detection unit 12. By winking, a recognition result indicating that the automatically driving vehicle recognizes a person (recognition target) may be presented.

Further, the recognition target in the first embodiment is a person, but the present disclosure is not particularly limited to this, and the recognition target is other vehicles such as bicycles and automobiles, animals such as dogs and cats, and strollers. You may. In addition, a moving recognition target may be detected.

Further, in the first embodiment, the sensor 115 includes the camera 31, and the person detection unit 12 detects a person from the image taken by the camera 31, but the present disclosure is not particularly limited to this, and the sensor. The 115 may include an obstacle sensor that detects the presence or absence of an object existing in a specific direction. In this case, the person detection unit 12 may determine that the person has been detected when the object is detected by the obstacle sensor. The laser irradiation unit 32 is preferably arranged in the vicinity of the obstacle sensor. Further, the sensor 115 may include a plurality of distance sensors arranged in a horizontal line. In this case, when the object is detected by at least one distance sensor among the plurality of distance sensors, the person detection unit 12 determines that the person has been detected and specifies the direction in which the object exists and the distance to the object. You may. Further, the sensor 115 may include a three-dimensional measuring device for measuring the three-dimensional shape of the space around the automatic driving vehicle 1. In this case, when the person is detected by the three-dimensional measuring device, the person detection unit 12 may specify the direction in which the person exists and the distance to the person.

Further, in the first embodiment, the presentation unit 114 may include at least one of the laser irradiation unit 32, the display unit 33, and the sound output unit 34. That is, any two or all of the presentation of the recognition result by the laser irradiation unit 32, the presentation of the recognition result by the display unit 33, and the presentation of the recognition result by the sound output unit 34 may be combined.

(Embodiment 2)
FIG. 12 is a diagram showing a configuration of a recognition result presenting device according to the second embodiment. The recognition result presentation device shown in FIG. 12 includes a camera 31, a person detection unit 12, a coordinate conversion unit 13, an attribute determination unit 14, a presentation method determination unit 15, a presentation unit 114, and a coordinate conversion map data storage unit 221.

The configuration of the automatic driving vehicle according to the second embodiment is the same as the configuration of the automatic driving vehicle shown in FIG. 1, except that the automatic driving program 121 further includes an attribute determination unit 14 and a presentation method determination unit 15. In the recognition result presenting apparatus shown in FIG. 12, the same components as those in FIGS. 1 and 2 are designated by the same reference numerals, and the description thereof will be omitted.

The attribute determination unit 14 determines the attribute of the person detected by the person detection unit 12. Here, the attribute is, for example, a child or an elderly person. The attribute determination unit 14 determines the attribute of the person from the characteristics of the person detected by the person detection unit 12. For example, the attribute determination unit 14 estimates the height of the person detected by the person detection unit 12 from the captured image, and if the estimated height is equal to or less than a predetermined height, the attribute determination unit 14 determines that the attribute of the person is a child. Further, for example, the attribute determination unit 14 compares an image of a person detected by the person detection unit 12 with an image showing characteristics of an elderly person such as a bent waist, and the image of the detected person is older. If it matches the image showing the characteristics of the person, it is determined that the attribute of the person is an elderly person.

The presentation method determination unit 15 determines the presentation method according to the attributes determined by the attribute determination unit 14. For example, when the attribute of the person determined by the attribute determination unit 14 is a child, the presentation method determination unit 15 determines the presentation method using a sign without using characters. Further, for example, the presentation method determination unit 15 determines a presentation method for making the laser beam brighter or a presentation method for making the output sound louder when the attribute of the person determined by the attribute determination unit 14 is an elderly person. do.

The presentation unit 114 presents the recognition result according to the presentation method determined by the presentation method determination unit 15. The presentation unit 114 includes at least one of a laser irradiation unit 32, a display unit 33, and a sound output unit 34.

For example, when the presentation method determination unit 15 determines the presentation method using a sign without using characters, the display unit 33 can identify the person (recognition target) detected by the person detection unit 12. In addition to displaying the represented image, a sign is superimposed on the image instead of characters. If the detected person is not a child, the display unit 33 superimposes, for example, the characters "caution" on the captured image, but if the detected person is a child, the display unit 33 displays, for example, the captured image. A sign that calls attention is superimposed on the image. As a result, the meaning of the characters can be conveyed even to children who cannot read the characters.

Further, for example, when the presentation method determination unit 15 determines the presentation method for brightening the laser beam, the laser irradiation unit 32 increases the brightness toward the person (recognition target) detected by the person detection unit 12. Irradiate a raised laser beam.

Further, for example, when the presentation method is determined to make the sound output by the presentation method determination unit 15 louder, the sound output unit 34 sets the volume toward the person (recognition target) detected by the person detection unit 12. Outputs a louder sound.

(Embodiment 3)
FIG. 13 is a diagram showing a configuration of a recognition result presenting device according to the third embodiment. The recognition result presentation device shown in FIG. 13 includes a camera 31, a person detection unit 12, a coordinate conversion unit 13, a risk determination unit 16, a presentation method determination unit 17, a presentation unit 114, and a coordinate conversion map data storage unit 221.

The configuration of the automatic driving vehicle in the third embodiment is the same as the configuration of the automatic driving vehicle shown in FIG. 1, except that the automatic driving program 121 further includes a risk determination unit 16 and a presentation method determination unit 17. In the recognition result presenting apparatus shown in FIG. 13, the same components as those in FIGS. 1 and 2 are designated by the same reference numerals, and the description thereof will be omitted.

The risk level determination unit 16 determines the risk level of the person (recognition target) detected by the person detection unit 12. The risk includes a first risk and a second risk lower than the first risk. For example, the risk determination unit 16 estimates the distance from the automatically driven vehicle 1 to a person from a captured image, and if the estimated distance is less than or equal to a predetermined distance, determines that the risk is the first high risk. Then, when the estimated distance is longer than the predetermined distance, it is determined that the second risk is low.

The presentation method determination unit 17 determines the presentation method according to the degree of risk determined by the degree of risk determination unit 16. The presentation method determination unit 17 determines the color of the laser beam when the risk determination unit 16 determines the first risk, and the risk determination unit 16 determines the second risk. The color of the laser beam is different. For example, the presentation method determination unit 17 determines the presentation method for turning the laser beam red when it is determined to be the first risk, and when it is determined to be the second risk, the presentation method determination unit 17 determines the laser beam. Decide on the presentation method to make it blue.

The presentation unit 114 presents the recognition result according to the presentation method determined by the presentation method determination unit 17. The presentation unit 114 includes at least one of a laser irradiation unit 32, a display unit 33, and a sound output unit 34.

For example, when the presentation method determination unit 17 determines the presentation method for turning the laser beam red, the laser irradiation unit 32 directs the person (recognition target) of the first risk detected by the person detection unit 12. , Irradiate a red laser beam. For example, when the presentation method determination unit 17 determines the presentation method for making the laser beam blue, the laser irradiation unit 32 directs the person (recognition target) of the second risk detected by the person detection unit 12. , Irradiate a blue laser beam. As a result, the recognition target can recognize the degree of danger depending on the color of the irradiated light.

Further, for example, when the presentation method determination unit 17 determines the presentation method for turning the laser beam red, the laser irradiation unit 32 includes a person (recognition target) having a first degree of risk detected by the person detection unit 12. A red laser beam having a predetermined shape may be emitted toward the ground at an existing position. For example, when the presentation method determination unit 17 determines the presentation method for making the laser beam blue, the laser irradiation unit 32 has a person (recognition target) having a second risk detected by the person detection unit 12. A blue laser beam having a predetermined shape may be emitted toward the ground at the position.

Further, for example, when the presentation method determination unit 17 determines the presentation method for turning the laser beam red, the laser irradiation unit 32 includes a person (recognition target) having a first degree of risk detected by the person detection unit 12. Along with irradiating a laser beam of a predetermined shape in red toward the ground at the existing position, the red color is on a straight line connecting the ground at the position where a person (recognition target) exists and the ground at the position where an autonomous vehicle exists. You may irradiate the laser beam of. For example, when the presentation method determination unit 17 determines the presentation method for making the laser beam blue, the laser irradiation unit 32 has a person (recognition target) having a second risk detected by the person detection unit 12. A blue laser beam of a predetermined shape is emitted toward the ground at the position, and a blue laser is formed on a straight line connecting the ground at the position where a person (recognition target) exists and the ground at the position where an autonomous vehicle exists. You may irradiate light.

Further, the presentation method determination unit 17 has a sound when the risk determination unit 16 determines that the first risk is present, and a sound when the risk determination unit 16 determines that the second risk is present. It may be different from the sound. For example, the presentation method determination unit 17 determines the presentation method for outputting the first sound when it is determined to be the first risk level, and when it is determined to be the second risk level, the first The presentation method is determined to output a second sound different from the sound of. Then, when the presentation method for outputting the first sound is determined, the sound output unit 34 directs the first sound toward the person (recognition target) of the first risk detected by the person detection unit 12. May be output. Further, when the presentation method for outputting the second sound is determined, the sound output unit 34 directs the second sound to the person (recognition target) having the second risk detected by the person detection unit 12. May be output.

Further, for example, when the presentation method determination unit 17 determines that the risk level is the first, the presentation method determination unit 17 determines the presentation method in which the color of the rectangular frame given around the detected person is red. If it is determined that the risk level is, the presentation method is determined so that the color of the rectangular frame given around the detected person is blue. Then, when the presentation method is determined to change the color of the rectangular frame given around the detected person to red, the display unit 33 displays the person (recognition) of the first risk level detected by the person detection unit 12. An image with a red rectangular frame around the target) may be displayed. Further, when the presentation method is determined so that the color of the rectangular frame given around the detected person is blue, the display unit 33 displays the person (recognition) having a second degree of risk detected by the person detection unit 12. An image with a blue rectangular frame around the target) may be displayed.

When a plurality of persons (recognition targets) are detected by the person detection unit 12, the risk level determination unit 16 determines the risk level of each of the plurality of persons (recognition targets) detected by the person detection unit 12. You may. Then, the presentation unit 114 may present the recognition result in order from the person having the highest risk (recognition target) among the plurality of people (recognition target). For example, when a plurality of persons are detected by the person detection unit 12, the risk determination unit 16 estimates the distance from the automatic driving vehicle 1 to each of the plurality of persons from the captured image, and the estimated distance is the closest ( It is judged that the risk is higher in order from the person (shorter). Then, the presentation unit 114 preferentially presents the recognition result to the person having the highest risk among the plurality of persons.

For example, when the number of laser beams that the laser irradiation unit 32 can irradiate at one time is limited, the laser irradiation unit 32 preferentially emits the laser light to the person having the highest risk among the plurality of persons. Irradiate.

FIG. 14 is a diagram for explaining a process of preferentially irradiating a recognition target having a high risk of light in the third embodiment. In FIG. 14, the persons 2 and 3 are detected by the person detection unit 12 of the automatic driving vehicle 1. Since the person 2 is closer to the automatic driving vehicle 1 than the person 3, it is determined that the risk of the person 2 is higher than the risk of the person 3. When the laser irradiation unit 32 can emit one laser beam at a time, the laser irradiation unit 32 irradiates the laser beam only to the person 3 having the highest risk among the plurality of persons 2 and 3. ..

Further, when the laser irradiation unit 32 can emit two laser beams at one time, the laser irradiation unit 32 has the highest risk of the person 2 and the second highest risk among the plurality of persons 2 and 3. The laser beam may be applied to the tall person 3. At this time, it is preferable that the two laser beams have different colors.

Further, for example, when the number of sounds that can be output by the sound output unit 34 at one time is limited, the sound output unit 34 gives priority to the person having the highest risk among the plurality of persons. Is output.

FIG. 15 is a diagram for explaining a process of preferentially outputting sound to a recognition target having a high risk in the third embodiment. In FIG. 15, persons 2 and 3 are detected by each person detection unit 12 of the automatic driving vehicle 1a and the automatic driving vehicle 1b. Since the person 2 is closer to the automatic driving vehicle 1a and the automatic driving vehicle 1b than the person 3, it is determined that the risk of the person 2 is higher than the risk of the person 3. When the sound output unit 34 can output one sound at a time, the sound output unit 34 outputs the sound only to the person 2 having the highest risk among the plurality of persons 2 and 3.

Further, when the sound output unit 34 can output two sounds at a time, the sound output unit 34 has the highest risk of the person 2 among the plurality of persons 2 and 3 and the second highest risk. Sound is output to the person 3. At this time, it is preferable that the two sounds are different from each other.

In the third embodiment, the risk level determination unit 16 determines the risk level according to the distance between the person and the automatically driven vehicle, but the present disclosure is not particularly limited to this, and the person's degree is not limited to this. When the moving direction is detected and the detected moving direction is toward the traveling direction of the automatically driven vehicle, it may be determined that the risk is high. The moving direction of the person can be detected by comparing the currently captured image with the past captured image. Further, the traveling direction of the automatically driven vehicle can be detected by comparing the current position of the automatically driven vehicle with the position of the past automatically driven vehicle.

In the first to third embodiments, the detection unit of the automatically driven vehicle detects the manually driven vehicle in which the driver drives within a predetermined range from the automatically driven vehicle, and the presenting unit refers to the manually driven vehicle with respect to the manually driven vehicle. A recognition result indicating that the automatically driven vehicle recognizes the manually driven vehicle may be presented.

Further, in the first to third embodiments, a server capable of communicating with the recognition result presenting device via a network may be provided with a part of the components of the recognition result presenting device.

In the present disclosure, all or part of a unit, device, member or part, or all or part of a functional block in the block diagram shown in the figure, is a semiconductor device, a semiconductor integrated circuit (IC), or an LSI (Large Scale Integration). ) May be executed by one or more electronic circuits including. The LSI or IC may be integrated on one chip, or may be configured by combining a plurality of chips. For example, functional blocks other than the storage element may be integrated on one chip. Here, it is called LSI or IC, but the name changes depending on the degree of integration, and it may be called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Field Programmable Gate Array (FPGA), which is programmed after the LSI is manufactured, or Reconfigurable Logic Device, which can reconfigure the junction relationship inside the LSI or set up the circuit partition inside the LSI, can also be used for the same purpose.

Further, all or part of the function or operation of a unit, device, member or part can be performed by software processing. In this case, the software is recorded on a non-temporary recording medium such as one or more ROMs, optical discs, hard disk drives, and is identified by the software when it is executed by a processor. Functions are performed by the processor and peripherals. The system or device may include one or more non-temporary recording media on which the software is recorded, a processor, and the required hardware device, such as an interface.

The recognition result presentation device, the recognition result presentation method, and the autonomous mobile body according to the present disclosure are as a recognition result presentation device, a recognition result presentation method, and an autonomous mobile body that present the result of recognizing a recognition target existing around the autonomous mobile body. It is useful.

1,1a, 1b Automatically driven vehicle 2,3 Person 11 Lane detection unit 12 Person detection unit 13 Coordinate conversion unit 14 Attribute judgment unit 15 Presentation method determination unit 16 Risk determination unit 17 Presentation method determination unit 21 Map data 22 Coordinate conversion map Data 31 Camera 32 Laser irradiation unit 33 Display unit 34 Sound output unit 101 Automatic driving system 102 Indicator 103 Vehicle control processor 104 Brake control system 105 Accelerator control system 106 Steering control system 107 Vehicle navigation system 108 GPS
111 Processor 112 Memory 113 User input unit 114 Presentation unit 115 Sensor 121 Automatic operation program 122 Data 221 Coordinate conversion map data storage unit

Claims (11)

It is a recognition result presentation device that presents the result of recognizing a recognition target existing around an autonomous mobile body.
A detection unit that detects the recognition target existing around the autonomous mobile body,
A presentation unit that presents a recognition result indicating that the autonomous mobile body recognizes the recognition target by detecting the recognition target by the detection unit with respect to the recognition target detected by the detection unit. When,
Equipped with a,
The presentation unit irradiates the ground at the position where the recognition target exists with light having a predetermined shape, and has a linear shape extending from the ground at the position where the recognition target exists to the ground at the position where the autonomous moving body exists. Including a light irradiation part that irradiates light,
Recognition result presentation device. The recognition target is a person
An attribute determination unit that determines the attributes of the person detected by the detection unit, and
A presentation method determination unit that determines a presentation method that is easy for the person to recognize based on the attribute determined by the attribute determination unit.
With more
The light irradiation unit irradiates light having the predetermined shape according to the presentation method determined by the presentation method determination unit.
The recognition result presentation device according to claim 1. The recognition target is a person
When the person detected by the detection unit is an adult, the light irradiation unit irradiates light of the predetermined shape by a presentation method that is easy for an adult to recognize, and the person detected by the detection unit is In the case of a child, the light of the predetermined shape is irradiated by a presentation method that is easy for the child to recognize.
The recognition result presentation device according to claim 1. When the person detected by the detection unit is a child, the light irradiation unit irradiates light having the predetermined shape using a label.
The recognition result presentation device according to claim 3. When the person detected by the detection unit is an adult, the light irradiation unit irradiates light having the predetermined shape using characters.
The recognition result presentation device according to claim 3. A risk determination unit that determines the risk of the recognition target detected by the detection unit, and a risk determination unit.
A presentation method determination unit that determines a presentation method according to the risk determination determined by the risk determination unit, and a presentation method determination unit.
With more
The presenting unit presents the recognition result according to the presenting method determined by the presenting method determining unit.
The recognition result presentation device according to claim 1. The risk includes a first risk and a second risk lower than the first risk.
The presentation method determining unit is a presentation method when the risk determination unit determines that the first risk is present, and when the risk determination unit determines that the second risk is present. Different from the presentation method of
The recognition result presentation device according to claim 6. The presentation method determining unit determines the color of the light when the risk determination unit determines that it is the first risk, and the risk determination unit determines that it is the second risk. The color of the light is different from that of the light
The recognition result presentation device according to claim 7. The recognition target includes a plurality of recognition targets.
The detection unit detects the plurality of recognition targets, and the detection unit detects the plurality of recognition targets.
The risk level determination unit determines the risk level of each of the plurality of recognition targets detected by the detection unit.
The presenting unit presents the recognition result in order from the recognition target having the highest risk among the plurality of recognition targets.
The recognition result presentation device according to claim 6. The recognition result presenting device according to any one of claims 1 to 9.
A control unit that controls the movement of the autonomous moving body based on the recognition result by the recognition result presenting device.
Autonomous mobile with. It is a recognition result presentation method in a recognition result presentation device that presents the result of recognizing a recognition target existing around an autonomous mobile body.
The recognition target existing around the autonomous mobile body is detected, and the recognition target is detected.
Respect detected the recognition target, the autonomous moving body presents a recognition result indicating that recognizes the recognition target by the recognition target is detected,
In presenting the recognition result, a straight line extending from the ground at the position where the recognition target exists to the ground at the position where the autonomous moving body exists while irradiating the ground at the position where the recognition target exists with light having a predetermined shape. Irradiate the shape of light,
Recognition result presentation method.

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