Autonomous driving assistance device and autonomous driving assistance system
Provided are an autonomous driving assistance device and an autonomous driving assistance system capable of determining whether or not a specific area is usable. The autonomous driving assistance device includes: an object detection unit which detects an object from monitoring data of a specific area; a position calculation unit which calculates a position, in the real world, of the object detected by the object detection unit; a map information acquisition unit which acquires a position, in the real world, of the specific area; a determination unit which determines, by using the position of the object calculated by the position calculation unit and the position of the specific area acquired from the map information acquisition unit, whether or not the specific area is usable; and an output unit which outputs a result, of the determination performed by the determination unit, indicating whether or not the specific area is usable.
1 . An autonomous driving assistance device for determining whether or not a target area including a plurality of load reception spaces is usable, the autonomous driving assistance device comprising:
an object detector to detect an object from sensor data acquired by a sensor device which monitors the target area and define a two-dimensional (2D) bounding box for the object;
a position calculation circuitry to calculate a real-world position of the object by defining an object position at the 2D bounding box, and transforming the object position from an image coordinate system to a world coordinate system using a homography matrix calculated based on a set of reference points on a ground plane within the target area,
a map information acquisition circuitry to acquire a real-world position of the plurality of load reception spaces;
a determination circuitry to determine whether each of the plurality of load reception spaces is usable based on the real-world position of the object and the real-world position of the plurality of load reception spaces; and
an output circuitry to transmit to an autonomous driving vehicle, to enable the vehicle to select a usable load reception space among the plurality of load reception spaces.
2 . An autonomous driving assistance system comprising:
the autonomous driving assistance device according to claim 1 ; and
the sensor device which monitors the target area.
3 . The autonomous driving assistance device according to claim 1 , further comprising a restriction information acquisition circuitry to acquire restriction information as to whether or not the target area is usable.
4 . An autonomous driving assistance system comprising:
the autonomous driving assistance device according to claim 3 ; and
the sensor device which monitors the target area.
5 . An autonomous driving assistance system comprising:
the autonomous driving assistance device according to claim 3 ;
the sensor device which monitors the target area; and
an operation device through which information is inputted to the autonomous driving assistance device, wherein
the restriction information acquisition circuitry acquires, from the operation device, the restriction information as to whether or not the target area is usable.
6 . The autonomous driving assistance device according to claim 1 , further comprising an occlusion region acquisition circuitry to acquire, by using the real-world position of the object calculated by the position calculation circuitry, a region that is occluded by the object.
7 . An autonomous driving assistance system comprising:
the autonomous driving assistance device according to claim 6 ; and
the sensor device which monitors the target area.
8 . The autonomous driving assistance device according to claim 6 , further comprising a restriction information acquisition circuitry to acquire restriction information as to whether or not the target area is usable.
9 . An autonomous driving assistance system comprising:
the autonomous driving assistance device according to claim 8 ; and
the sensor device which monitors the target area.
10 . An autonomous driving assistance system comprising:
the autonomous driving assistance device according to claim 8 ;
the sensor device which monitors the target area; and
an operation device through which information is inputted to the autonomous driving assistance device, wherein
the restriction information acquisition circuitry acquires, from the operation device, the restriction information as to whether or not the target area is usable.
11 . The autonomous driving assistance device according to claim 6 , further comprising a degree-of-priority calculation circuitry to calculate a degree of priority for a target area determined, by the determination circuitry, to be usable.
12 . An autonomous driving assistance system comprising:
the autonomous driving assistance device according to claim 11 ; and
the sensor device which monitors the target area.
13 . The autonomous driving assistance device according to claim 11 , further comprising a restriction information acquisition circuitry to acquire restriction information as to whether or not the target area is usable.
14 . An autonomous driving assistance system comprising:
the autonomous driving assistance device according to claim 13 ; and
the sensor device which monitors the target area.
15 . An autonomous driving assistance system comprising:
the autonomous driving assistance device according to claim 13 ;
the sensor device which monitors the target area; and
an operation device through which information is inputted to the autonomous driving assistance device, wherein
the restriction information acquisition circuitry acquires, from the operation device, the restriction information as to whether or not the target area is usable.
16 . The autonomous driving assistance device according to claim 11 , further comprising a degree-of-priority parameter acquisition circuitry to acquire degree-of-priority parameters including at least a parameter regarding a movement efficiency of an autonomous driving vehicle that moves in the target area, wherein
the degree-of-priority calculation circuitry to calculate, by using each of the degree-of-priority parameters acquired by the degree-of-priority parameter acquisition circuitry and a degree-of-priority weight corresponding to the degree-of-priority parameter, the degree of priority for the target area determined to be usable.
17 . An autonomous driving assistance system comprising:
the autonomous driving assistance device according to claim 16 ; and
the sensor device which monitors the target area.
18 . The autonomous driving assistance device according to claim 16 , further comprising a restriction information acquisition circuitry to acquire restriction information as to whether or not the target area is usable.
19 . An autonomous driving assistance system comprising:
the autonomous driving assistance device according to claim 18 ; and
the sensor device which monitors the target area.
20 . An autonomous driving assistance system comprising:
the autonomous driving assistance device according to claim 18 ;
the sensor device which monitors the target area; and
an operation device through which information is inputted to the autonomous driving assistance device, wherein
the restriction information acquisition circuitry acquires, from the operation device, the restriction information as to whether or not the target area is usable.