Vehicle system, method of processing vehicle information, recording medium storing a program, traffic system, infrastructure system, and method of processing infrastructure information

1. A vehicle system comprising:

processing circuitry; and

first storage including at least one set of instructions that, when executed by the processing circuitry, cause the processing circuitry to perform operations including:

obtaining first blind spot information from an infrastructure system having an infrastructure sensor detecting a surrounding object, the first blind spot information indicating a blind spot region due to the object observed from the infrastructure sensor;

generating second blind spot information indicating a blind spot region due to the object observed from an in-vehicle sensor detecting the object; and

outputting common blind spot information indicating a first common blind spot region common to the blind spot regions based on the first blind spot information and the second blind spot information to an external device.

2. The vehicle system according to claim 1 , wherein

the operations further include controlling running of a vehicle in accordance with the common blind spot information.

3. The vehicle system according to claim 2 , wherein

the operations further include

determining whether a size of the first common blind spot region is larger than a predetermined size, and

allowing the vehicle to run when the size of the first common blind spot region is equal to or smaller than the predetermined size, and

stopping the vehicle from running when the size of the first common blind spot region is larger than the predetermined size.

4. The vehicle system according to claim 2 , wherein

the operations further include

extracting an attention region for controlling the vehicle in accordance with at least a running direction and a speed of the object, and

stopping the vehicle from running when a second common blind spot region common to the blind spot region due to the object and the attention region occurs when observed from the in-vehicle sensor.

5. The vehicle system according to claim 2 further comprising a second storage that stores road atlas information for enabling the vehicle to run, wherein

the operations further include

at least superimposing the first blind spot information and the second blind spot information onto the road atlas information.

6. The vehicle system according to claim 3 , wherein

the operations further include

estimating a predicted trajectory from when the vehicle starts a predetermined running to when the vehicle finishes the predetermined running, and

determining whether an estimated arrival-predicted period until another object reaches the predicted trajectory is longer than an estimated passage period until the vehicle finishes passing the predicted trajectory, and

allowing the vehicle to run when the arrival-predicted period is longer than the passage period, and

stopping the vehicle from running when the arrival-predicted period is equal to or shorter than the passage period.

7. The vehicle system according to claim 1 , wherein

the operations further include

obtaining first object information on the object observed from the infrastructure sensor,

outputting second object information on the object observed from the in-vehicle sensor, and

combining the first object information and the second object information.

8. A method of processing vehicle information comprising:

obtaining first blind spot information from an infrastructure system having an infrastructure sensor detecting a surrounding object, the first blind spot information indicating a blind spot region due to the object observed from the infrastructure sensor;

generating second blind spot information indicating a blind spot region due to the object observed from an in-vehicle sensor detecting the object; and

outputting common blind spot information indicating a first common blind spot region common to the blind spot regions based on the first blind spot information and the second blind spot information to an external device.

9. A non-transitory computer-readable recording medium storing a program, wherein

the program, when executed in a computer, causes the computer to execute operations including:

obtaining first blind spot information from an infrastructure system having an infrastructure sensor detecting a surrounding object, the first blind spot information indicating a blind spot region due to the object observed from the infrastructure sensor;

generating second blind spot information indicating a blind spot region due to the object observed from an in-vehicle sensor detecting the object; and

outputting common blind spot information indicating a first common blind spot region common to the blind spot regions based on the first blind spot information and the second blind spot information to an external device.

10. A traffic system comprising:

an infrastructure system; and

a vehicle system, wherein

the infrastructure system includes

an infrastructure sensor that detects a surrounding object, and

first processing circuitry that, in operation, performs first operations including

outputting first blind spot information to a vehicle, the first blind spot information indicating a blind spot region due to the object observed from the infrastructure sensor, and

the vehicle system includes

an in-vehicle sensor that detects the object, and

second processing circuitry that, in operation, performs second operations including

generating second blind spot information indicating a blind spot region due to the object observed from the in-vehicle sensor, and

outputting common blind spot information indicating a first common blind spot region common to the blind spot regions based on the first blind spot information and the second blind spot information to an external device.

11. The vehicle system according to claim 10 , wherein

the first operations further include

calculating a speed of another object presumed to be in the blind spot region due to the object, in accordance with a predetermined period for which the infrastructure sensor performs detection and a length of the blind spot region in a depth direction in which the object is observed from the infrastructure sensor, and

outputting speed information indicating the speed to the vehicle.

12. An infrastructure system that communicates with a vehicle system comprising:

an infrastructure sensor that detects a surrounding object; and

infrastructure processing circuitry that, in operation, performs operations including

extracting a blind spot region behind the object detected based on detection information obtained by the infrastructure sensor,

calculating a speed of another object presumed to be in the blind spot region due to the object, in accordance with a predetermined period for which the infrastructure sensor performs detection, and a length of the blind spot region in a depth direction in which the object is observed from the infrastructure sensor, and

outputting speed information indicating the speed to a vehicle.

13. The infrastructure system according to claim 12 , wherein

the predetermined period is a detection period between a first time point and a second time point at each of which the object is detected, and

the length of the blind spot region is a sum of a distance moved by the object during the detection period and a length of the blind spot region at the first time point.

14. The infrastructure system according to claim 12 , wherein

the predetermined period is a sampling cycle in which the infrastructure sensor performs detection periodically.

15. A method of processing infrastructure information in an infrastructure system comprising:

causing an infrastructure sensor to detect a surrounding object;

extracting, using infrastructure processing circuitry, a blind spot region due to the object detected based on detection information obtained by the infrastructure sensor;

calculating a speed of another object presumed to be in the blind spot region due to the object, in accordance with a predetermined period for which the infrastructure sensor performs detection, and a length of the blind spot region in a depth direction in which the object is observed from the infrastructure sensor; and

outputting speed information indicating the speed to a vehicle.