| CPC G01C 21/3685 (2013.01) [B60W 30/06 (2013.01); B60W 2556/45 (2020.02)] | 13 Claims |
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1. A moving body support system for supporting a moving body including a vehicle that recognizes a marker arranged in a predetermined area, the moving body support system comprising:
one or more memories configured to store marker position information indicating positions of a plurality of markers arranged in the predetermined area, and light position information indicating positions of one or more lights present in the predetermined area; and
one or more processors configured to:
acquire, based on the marker position information, a position of a target marker being a target to be recognized by the moving body;
execute a brightness acquisition process that acquires information indicating brightness at the position of the target marker;
when the brightness at the position of the target marker is less than a threshold, execute a light control process that selects, based on the light position information, a target light present at a position capable of illuminating the target marker and increases a light intensity of the target light as compared with a case where the brightness is equal to or greater than the threshold;
acquire moving body position information indicating at least one of a position and a target path of the moving body in the predetermined area; and
acquire the position of the target marker based on the marker position information and the moving body position information, wherein:
the plurality of markers include:
a first marker included in the target marker; and
a second marker farther from the position or the target path of the moving body than the first marker is,
the light control process includes controlling the one or more lights such that illuminance of the second marker becomes lower than illuminance of the first marker based on the marker position information, the light position information, and the moving body position information,
the one or more processors are further configured to:
determine a light intensity of the target light based on a difference between a current brightness and the target brightness at the position of the target marker;
receive a notification of a recognized target marker, the notification including identification information or a position of the recognized marker; and
reduce, in response to the notification, the light intensity of the target light that has illuminated the recognized marker, and
the target marker is the marker scheduled to be recognized by the vehicle in the future based on a target path position.
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