Driving assistance system, server device, and driving assistance information generation method

A server device connected to a roadside sensor and a roadside device, which acquires information from the roadside sensor and transmits driving assistance information to the roadside device, the server device comprising:

• a sensor information processing circuit to generate sensing information using information indicating a state in a detection range of the roadside sensor from the roadside sensor, the sensing information including a position and a movement direction of a first dynamic object within the detection range;
• an assistance information generation circuit to generate driving assistance information by combining surrounding object information and the sensing information, the surrounding object information being obtained by extracting predicted position information present within an information provision range including the detection range and being wider than the detection range, the predicted position information including a predicted position of a second dynamic object predicted from probe information in consideration of delays in wide-area communication that uses radio communication involving a base station and in processing in the server device, the probe information including a position and a velocity of the second dynamic object within a predetermined range and being allowed to be delayed, the driving assistance information including a position and a velocity of a dynamic object in the information provision range;
• and
• a roadside device interface to transmit the driving assistance information to the roadside device.

A driving assistance information generation method for a roadside server connected to a roadside sensor and a roadside device, the roadside server acquiring information from the roadside sensor and transmitting driving assistance information to the roadside device, the driving assistance information generation method comprising:

• a step of generating, by the roadside server, sensing information using information indicating a state in a detection range of the roadside sensor from the roadside sensor, the sensing information including a position and a movement direction of a first dynamic object within the detection range;
• a step of generating, by the roadside server, driving assistance information by combining surrounding object information and the sensing information, the surrounding object information being obtained by extracting predicted position information present within an information provision range including the detection range and being wider than the detection range, the predicted position information including a predicted position of a second dynamic object predicted from probe information in consideration of delays in wide-area communication that uses radio communication involving a base station and in processing in the roadside server, the probe information including a position and a velocity of the second dynamic object within a predetermined range and being allowed to be delayed, the driving assistance information including a position and a velocity of a dynamic object in the information provision range;
• and
• a step of transmitting, by the roadside server, the driving assistance information to the roadside device.