Recognized-region estimation device, recognized-region estimation method, and recognized-region estimation program

1. A recognized-region estimation device comprising:

a visually-recognized-region calculator to calculate a visually-recognized region visually recognized by a driver of a mobile body in a mobile body coordinate system based on the mobile body on the basis of a received line-of-sight direction of the driver;

a recognized-region calculator to calculate a recognized region recognized by the driver in the mobile body coordinate system on the basis of the visually-recognized region calculated by the visually-recognized-region calculator; and

a movement amount measurer to measure a movement amount per unit time of the mobile body in the mobile body coordinate system,

wherein the recognized-region calculator moves the recognized region calculated prior to one unit time on a basis of the movement amount per unit time measured by the movement amount measurer, and updates the recognized region by adding the visually-recognized region calculated by the visually-recognized-region calculator to the moved recognized region.

2. The recognized-region estimation device according to claim 1 , comprising:

a mirror manager to record an installation position in the mobile body coordinate system of mirrors installed in the mobile body and a projected region projected on the mirrors,

wherein the visually-recognized-region calculator makes the projected region of the mirrors the visually-recognized region of the driver when the line-of-sight direction of the driver is included in the installation position of the mirrors recorded by the mirror manager.

3. The recognized-region estimation device according to claim 1 , comprising:

a surrounding situation monitor to monitor surroundings of the mobile body and measuring information affecting a visually-recognizing state of the driver,

wherein the visually-recognized-region calculator adjusts a weight of a degree of recognition in the visually-recognized region on the basis of a measured result of the surrounding situation monitor.

4. The recognized-region estimation device according to claim 1 , comprising:

a surrounding situation monitor to monitor surroundings of the mobile body in the mobile body coordinate system and detecting an obstacle,

wherein the visually-recognized-region calculator calculates a blind corner region that is a blind corner by the obstacle detected by the surrounding situation monitor, and eliminates the blind corner region from the visually-recognized region of the driver.

5. The recognized-region estimation device according to claim 1 ,

wherein the visually-recognized-region calculator simulates a visually-recognized region when a visually-recognized region in a three-dimensional space is projected on a two-dimensional plane.

6. The recognized-region estimation device according to claim 1 ,

wherein the recognized-region calculator adds probability indicating a degree of recognition within the recognized region and probability indicating a degree of recognition within the visually-recognized region.

7. The recognized-region estimation device according to claim 1 , comprising:

a virtual locus calculator to estimate a line-of-sight direction at time after current time,

wherein the visually-recognized-region calculator calculates a visually-recognized region at time after the current time on a basis of the line-of-sight direction estimated by the virtual locus calculator.

8. The recognized-region estimation device according to claim 1 , comprising:

a virtual locus calculator to estimate a movement amount of the mobile body at time after current time,

wherein the recognized-region calculator calculates a recognized region at time after the current time on a basis of the movement amount estimated by the virtual locus calculator.

9. The recognized-region estimation device according to claim 1 , comprising:

a surrounding situation monitor to monitor surroundings of the mobile body in the mobile body coordinate system and determining a degree of hazard of the mobile body; and

a driving state determiner to determine a driving state of the mobile body using the degree of hazard determined by the surrounding situation monitor and the recognized region calculated by e recognized-region calculator.

10. The recognized-region estimation device according to claim 1 , comprising:

a map information manager to determine a degree of hazard of the mobile body in the mobile body coordinate system using map information; and

a driving state determiner to determine a driving state of the mobile body using the degree of hazard determined by the map information manager and the recognized region calculated by the recognized-region calculator.

11. The recognized-region estimation device according to claim 1 , wherein the line-of-sight direction of the driver is received from a line-of-sight direction measurer.

12. The recognized-region estimation device according to claim 11 , wherein the line-of-sight measurer is an element includes one or more sensors.

13. A recognized-region estimation method comprising:

a step of calculating, by a visually-recognized-region calculator, a visually-recognized region visually recognized by a driver of a mobile body in a mobile body coordinate system based on the mobile body on a basis of a received line-of-sight direction of the driver;

a step of calculating, by a recognized-region calculator, a recognized region recognized by the driver in the mobile body coordinate system on a basis of the visually-recognized region calculated by the visually-recognized-region calculator;

a step of measuring, by a movement amount measurer, a movement amount per unit time of the mobile body in the mobile body coordinate system; and

a step of moving, by the recognized-region calculator, the recognized region calculated prior to one unit time on a basis of the movement amount per unit time measured by the movement amount measurer, and updating, by the recognized-region calculator, the recognized region by adding the visually-recognized region calculated by the visually-recognized-region calculator to the moved recognized region.

14. The recognized-region estimation method according to claim 13 , wherein the line-of-sight direction of the driver is received from a line-of-sight direction measurer.

15. The recognized-region estimation method according to claim 14 , further comprising

causing the line-of-sight direction measurer to measure the line-of-sight direction of the driver.

16. A recognized-region estimation program stored in a non-transitory computer-readable recording medium, the program for allowing a computer to execute:

a visually-recognized-region calculating procedure of calculating a visually-recognized region visually recognized by a driver of a mobile body in a mobile body coordinate system based on the mobile body on a basis of a received line-of-sight direction of the driver;

a recognized-region estimating procedure of calculating a recognized region recognized by the driver in the mobile body coordinate system on a basis of the visually-recognized region calculated by the visually-recognized-region calculating procedure;

a procedure of measuring, by a movement amount measurer, a movement amount per unit time of the mobile body in the mobile body coordinate system; and

a procedure of moving, by a recognized-region calculator, the recognized region calculated prior to one unit time on a basis of the movement amount per unit time measured by the movement amount measurer, and updating, by the recognized-region calculator, the recognized region by adding the visually-recognized region calculated by the visually-recognized-region calculating procedure to the moved recognized region.

17. The recognized-region estimation program according to claim 16 , wherein the line-of-sight direction of the driver is received from a line-of-sight direction measurer.

18. The recognized-region estimation program according to claim 17 , wherein the program further includes a procedure of measuring, by the line-of-sight direction measurer, the line-of-sight direction of the driver.