JP2020035493A - Movement support device, movement support method and movement support program - Google Patents

Abstract

To provide a movement support device capable of performing effective travel support even in a vehicle without having map data, etc. in an own vehicle.SOLUTION: When movement of a vehicle C is supported, vehicle information corresponding to other vehicle except the vehicle C is acquired, and whether or not the vehicle C and the other vehicle move on the same road is determined based on the acquired vehicle information. Then, when the other vehicle and the vehicle C move on the same road, road data associated with a fact is acquired from the other vehicle, and necessity of travel support of the vehicle C using the road data is determined. When it is determined that the travel support is necessary, the travel support using the road data is executed.SELECTED DRAWING: Figure 2

Description

  The present application belongs to the technical field of a movement support device, a movement support method, and a movement support program, and more specifically, a movement support device and a movement support method for supporting movement of a moving object, and a program for the movement support device. Belongs to the technical field.

  In recent years, it has been studied to mutually utilize map data by communication between two or more vehicles within a communicable distance to improve, for example, the accuracy of alerting for safe driving. In the following description, communication between two or more vehicles within a communicable distance is simply referred to as “inter-vehicle communication”. As a document disclosing a conventional technology regarding such inter-vehicle communication, for example, Patent Document 1 below is cited. In the prior art described in Patent Document 1, when the road on which the own vehicle is traveling and the road on which vehicles around the own vehicle intersect in a plane, the inter-vehicle communication is performed. By comparing the heights (altitudes) between the two vehicles using the information, it is determined whether one of the vehicles is traveling on an elevated road. When either of the vehicles is traveling on an elevated road, there is no danger of collision because there is no danger of collision.

International Publication No. 2008-146507

  However, in the related art disclosed in Patent Document 1, in order to grasp surrounding vehicles using inter-vehicle communication and perform safe driving, it is necessary to have map data in the own vehicle. In Patent Document 1, no consideration is given to a vehicle having no map data in its own vehicle.

  Accordingly, the present application has been made in view of the above points, and an example of the problem is a movement support device capable of performing effective driving support even in a vehicle having no map data or the like in its own vehicle. An object of the present invention is to provide a movement support method and a program for the movement support device.

  In order to solve the above-described problem, the present invention is directed to a movement support apparatus that is used in a moving body and performs movement support that is support for movement of the moving body, wherein current position information indicating a current position of the movement support apparatus is provided. A current position information acquisition unit such as an interface for acquiring; a moving body information acquisition unit such as an interface for acquiring moving body information of a moving body other than the moving body in which the movement support device is used; Movement determination means such as a movement determination unit that determines whether the moving body and the other moving body using the movement support device are moving on the same moving path based on current position information and moving body information. And an interface for acquiring, from the other moving body, moving path information related to the moving path where the other moving body is located, when the other moving body is moving on the same moving path. Comprising a moving path information acquiring unit equal, and a support means supporting unit or the like for the moving support based on the acquired moving path information.

  In order to solve the above-mentioned problem, the present invention relates to a movement support method used in a moving body and executed in a movement supporting apparatus that performs movement support that is support for movement of the moving body, wherein A current position information obtaining step of obtaining current position information indicating a position, a moving body information obtaining step of obtaining moving body information of a moving body other than the moving body in which the movement support device is used, and A movement determination step of determining whether or not the moving body and the other moving body in which the movement support device is used are moving on the same moving path, based on the current position information and the moving body information. A moving path information obtaining step of obtaining, from the other moving body, moving path information related to a moving path where the other moving body is located, when the moving body is moving on the same moving path; Moved Comprising a support step for the mobile support based on road information.

  In order to solve the above-described problems, the present invention provides a computer included in a movement support device that is used in a moving object and performs a movement support that is a support of the movement of the moving object, and indicates a current position of the movement support device. Current position information acquiring means for acquiring current position information, moving body information acquiring means for acquiring moving body information of a moving body other than the moving body in which the movement support device is used, the acquired current position information and Movement determining means for determining whether or not the moving body and the other moving body used by the movement support device are moving on the same moving path based on moving body information; Moving path information acquiring means for acquiring, from the other moving body, moving path information related to the moving path where the other moving body is located, and the acquired moving path information Based on Support means for performing said moving support, to function as a.

1 is a block diagram illustrating a schematic configuration of a movement support device according to an embodiment. FIG. 1 is a block diagram illustrating a schematic configuration of an inter-vehicle communication system according to an embodiment. FIG. 2 is a block diagram illustrating a schematic configuration of a terminal device according to an embodiment. It is a flowchart which shows the driving | running | working assistance process which concerns on an Example. It is a conceptual diagram which illustrates the driving support process which concerns on an Example, (a) is a figure which shows a 1st example, (b) is a figure which shows a 2nd example.

  Next, an embodiment for carrying out the present application will be described with reference to FIG. FIG. 1 is a block diagram illustrating a schematic configuration of the movement support device according to the embodiment.

  As shown in FIG. 1, the movement support device S according to the embodiment is a movement support device that is used in a mobile object and performs a movement support that is a support of the movement of the mobile object. The apparatus includes a movement determination unit 2, a movement path information acquisition unit 3, a current position information acquisition unit 4, and a support unit 5. In this case, the “moving body” includes not only a vehicle such as an automobile, a two-wheeled vehicle, and a bicycle but also a person who carries the movement supporting device S according to the embodiment.

  In this configuration, the current position information obtaining means 4 obtains current position information indicating the current position of the movement support device S.

  On the other hand, the moving body information acquiring means 1 acquires moving body information of a moving body other than the moving body in which the movement support device S is used.

  Then, based on the current position information and the moving body information acquired by the current position information acquiring means 4 and the moving body information acquiring means 1, respectively, the movement judging means 2 determines whether the moving Is moving on the same moving path.

  Next, when another moving body is moving on the same moving path, the moving path information obtaining means 3 obtains moving path information related to the moving path where the other moving body is located from the other moving body. I do.

  Then, the support unit 5 performs the movement support based on the traveling route information acquired by the traveling route information acquiring unit 3.

  As described above, according to the operation of the movement support device S according to the embodiment, the moving body information corresponding to another moving body is acquired, and whether or not the other moving body is moving on the same moving path is determined. Is determined, and when traveling on the same traveling path, traveling path information related to another moving object is acquired. Thereby, movement support based on the movement path information is performed. Therefore, since the movement support based on the movement path information from another moving body is executed, even if the movement support apparatus is used in a moving body having no unique movement path information, for example, the movement support is performed. Effective movement support for the body can be performed.

  Next, a specific example corresponding to the above-described embodiment will be described with reference to FIGS. In addition, the example described below is a case where the embodiment is applied to an inter-vehicle communication system that supports the traveling of the vehicle by a terminal device mounted on the vehicle corresponding to an example of the moving object according to the embodiment. This is an example.

  FIG. 2 is a block diagram illustrating a schematic configuration of an inter-vehicle communication system according to the embodiment, and FIG. 3 is a block diagram illustrating a schematic configuration of a terminal device according to the embodiment. FIG. 4 is a flowchart showing a driving support process according to the embodiment, and FIG. 5 is a conceptual diagram illustrating the driving support process. At this time, in FIG. 3, the same member numbers as those of the components of the movement support device S are used for the respective components of the example corresponding to the respective components of the movement support device S according to the embodiment illustrated in FIG. ing. FIG. 5 is a diagram for explaining the driving support processing according to the embodiment as a concept in data processing.

  As shown in FIG. 2, the inter-vehicle communication system CS according to the embodiment is a terminal device SS mounted on the vehicle C, and various types of data are interconnected by direct wireless communication via the antenna AT. It is composed of a terminal device SS capable of giving and receiving. Here, the terminal device SS constituting the inter-vehicle communication system CS includes a terminal device SSb which itself records the map data for guidance, and a terminal device according to the embodiment which does not itself record the map data. Device SSa.

  Next, a configuration and a schematic operation of the terminal device SSa according to the embodiment will be described with reference to FIG.

  As illustrated in FIG. 3, the terminal device SSa according to the embodiment includes an interface 1 connected to an antenna AT, a processing unit 10 including a CPU, a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. A memory 11 having an active area and a non-volatile area, an operation unit 12 including an operation button or a touch panel, a sensor unit 13 including various sensors for detecting a current position of the vehicle C including the terminal device SSa, and a terminal And a display 14 such as a liquid crystal display for displaying necessary information as the device SSa. At this time, the interface 1 includes an example of the moving body information acquiring unit 1 according to the embodiment, an example of the current position information acquiring unit 4 and an example of the moving path information acquiring unit 3, and an example of the “providing unit” according to the present application. Equivalent to. The display 14 corresponds to an example of the “output unit” according to the present application.

  The processing unit 10 includes a movement determination unit 2 corresponding to an example of the movement determination unit 2 according to the embodiment and an example of the “detection unit” according to the present application, and an example of the “environment determination unit” according to the present application and “necessity”. The necessity determination unit 15 corresponds to an example of the “determination unit”, and the support unit 5 corresponds to an example of the support unit 5 according to the embodiment. At this time, each of the movement determination unit 2, the necessity determination unit 15, and the support unit 5 may be realized by a hardware logic circuit included in the processing unit 10, or may include a driving support processing program described later. It may be executed as software by reading and executing by the processing unit 10. Further, the interface 1, the movement determination unit 2 and the support unit 5 of the processing unit 10 constitute an example of the movement support device S according to the embodiment (see the broken line in FIG. 3).

  In the above configuration, the interface 1 controls transmission and reception of data with another terminal device SSb under the control of the processing unit 10. In addition, the memory 11 temporarily stores data and the like necessary for the processing unit 10 to execute the driving support processing according to the embodiment, and reads the data and the like as necessary. Further, the sensor unit 13 detects the current position of the terminal device SSa autonomously or by a method such as receiving a navigation radio wave from a GPS (Global Positioning System) navigation satellite, and outputs current position data indicating the current position. Output to the processing unit 10. Further, when an operation or the like for designating an operation as the terminal device SSa is performed, the operation unit 12 outputs an operation signal corresponding to the operation or the like to the processing unit 10. Thus, the processing unit 10 executes the driving support process according to the embodiment while displaying necessary information on the display 14. At this time, the movement determination unit 2, the necessity determination unit 15, and the support unit 5 of the processing unit 10 perform the driving support processing as a center.

  Next, the driving support processing according to the embodiment will be described more specifically with reference to FIGS. Note that the driving support process according to the embodiment is started, for example, by performing a start operation on the operation unit 12 as a trigger. Further, in the following description, when a common matter is described for vehicles C0 to C3 described below, it is simply referred to as “vehicle C”.

  That is, as shown in FIG. 4, for example, when the start operation is performed, the processing unit 10 first communicates with the terminal device SSb of another vehicle C via the interface 1 and the antenna AT, as illustrated in FIG. Data necessary for the traveling support processing is obtained by direct wireless communication (inter-vehicle communication) (step S1). The data acquired from the other terminal device SSb by the process of step S1 includes, for example, transmission source identification data, destination identification data, current position data, type data, shape data, intersection data, trajectory data, distance data, and the like. Have been. Among them, for example, the source identification data, the destination identification data, the current position data, the trajectory data, the distance data, and the like correspond to an example of the moving object information according to the embodiment, and the type data, the shape data, the intersection data, and the like are implemented. This corresponds to an example of travel route information according to the mode. At this time, the transmission source identification data is data for identifying the vehicle C on which the terminal device SSb is mounted from other vehicles C. The destination identification data is data for identifying the vehicle C on which the terminal device SSa that is the transmission destination (destination) is mounted from other vehicles C. Further, the current position data is data indicating the current position of the vehicle C on which the terminal device SSb is mounted. The type data is data indicating the type of the road on which the vehicle C is currently traveling (for example, whether the vehicle C is traveling on a general road or a highway). Further, the shape data is data indicating the shape of the road on which the vehicle C is currently traveling by, for example, so-called link data and node data. Further, the intersection data is data indicating the position of the intersection closest to the traveling direction on the road on which the vehicle C is currently traveling, the distance and azimuth to the intersection, the shape of the intersection, the presence or absence of a signal at the intersection, and the like. is there. Further, the track data is data indicating a running history (running track) of the vehicle C. Lastly, the distance data indicates the distance between the vehicle C on which the terminal device SSb is mounted and the vehicle C on which the terminal device SSa is mounted (when both vehicles are traveling on the same road in the same direction, the distance between the vehicles C). (Which is the inter-vehicle distance). In this case, the type data, the shape data, and the intersection data are transmitted because the vehicle C on which the terminal device SSb is mounted records map data for normal guidance.

When the reception of various data is started in step S1, the processing unit 10 next determines whether or not a predetermined amount of data required for performing determinations in steps S3 and S4 described below has been obtained. (Step S2). If it is determined in step S2 that the required amount of data has not yet been acquired (step S2; NO), the processing unit 10 returns to step S1 and continues acquiring various data. On the other hand, when the necessary amount of data has been obtained in the determination in step S2 (step S2; YES), the movement determination unit 2 of the processing unit 10 next determines the data obtained in step S1 and the sensor of the terminal device SSa itself. Based on the current position data and the like output from the unit 13, another vehicle C (another terminal device) traveling on the same road as the road on which the vehicle C0 on which the terminal device SSa is mounted is currently traveling. It is determined whether there is a vehicle C) on which SSb is mounted (step S3).
In this case, for example, as shown in FIG. 5A, the movement determination unit 2 uses the same road as the vehicle C0 (its traveling locus is the locus TR0) on which the terminal device SSa according to the embodiment is mounted. When the trajectory data, the shape data and the current position data indicating the trajectory TR1 of the vehicle C1 are transmitted from the terminal device SSb mounted on the vehicle C1 traveling ahead of the vehicle C1, the trajectory data and the shape data are transmitted. Is determined, and if the degree of coincidence is equal to or greater than a preset threshold, the vehicle C1 travels on the same road as the vehicle C0 (own vehicle). It is determined that there is. Similarly, the movement determination unit 2 determines the trajectory data, the shape data, and the trajectory TR2 of the vehicle C2 from the terminal device SSb mounted on the vehicle C2 traveling behind the same road with respect to the vehicle C0. When the current position data is transmitted, the degree of coincidence between the traveling locus indicated by the locus data and the shape data and the traveling locus of the vehicle C0 is determined, and the coincidence is equal to or greater than a preset threshold. Then, it is determined that the vehicle C2 is traveling on the same road as the vehicle C0.

  In addition, as the determination in step S3, the movement determining unit 2 may determine whether the inter-vehicle distance between the vehicle C1 and the vehicle C0 changes (or the vehicle C0) when the distance data is received from the vehicle C1 (or the vehicle C2). If the inter-vehicle distance between C2 and vehicle C0) is equal to or less than a predetermined threshold, it is determined that two vehicles C (vehicle C0 and vehicle C1, or vehicle C0 and vehicle C2) are traveling on the same road. May be.

  When there is no other vehicle C traveling on the same road in the determination of step S3 (step S3; NO), the processing unit 10 returns to step S1 and continues acquiring various data. On the other hand, in the determination of step S3, when there is another vehicle C traveling on the same road (step S3; YES), the movement determination unit 2 next determines that the vehicle C0 on which the terminal device SSa is mounted is It is determined whether there are a plurality of other vehicles C traveling on the same road as the traveling road (step S4). In the determination of step S4, the movement determination unit 2 determines whether or not the plurality of vehicles C have traveled on the same road in the determination of step S3. Is determined. For example, in the case illustrated in FIG. 5A, it is determined that there are two vehicles C1 and C2 traveling on the same road before and after the vehicle C0 (step S4; YES). When it is determined in step S4 that there is only one other vehicle C traveling on the same road (step S4; NO), the processing unit 10 returns to step S1 and continues acquiring various data. On the other hand, in the determination of step S4, when there are a plurality of other vehicles C traveling on the same road (step S4; YES), the processing unit 10 next determines the data received from the vehicles C respectively. For example, it is determined whether or not the contents of the type data match (step S5). If the two do not match in the determination in step S5 (step S5; NO), the type of the road is different even though the vehicle is traveling on the same road. The data reliability is low. Therefore, in this case, the processing unit 10 returns to step S1 and continuously obtains data. In addition, as a cause of the determination of “NO” in the determination of step S5 (a cause of the decrease in reliability), for example, a difference between the versions of the map data recorded in the vehicle C1 and the version of the map data recorded in the vehicle C2 may be cited. Can be

  On the other hand, if the contents of the various types of data match in the determination of step S5 (step S5; YES), it is determined that the reliability of the received data is high. Reference numeral 15 indicates whether traveling support for the driver of the vehicle C0 on which the terminal device SSa is mounted is necessary, for example, using the type data and the like received from the vehicles C1 and C2 traveling on the same road. (Step S6), and when it is determined that the necessity is not present (Step S6; NO), the process proceeds to Step S8 described later, and when it is determined that the necessity is present (Step S6; YES). ), The driving support according to the determination result is executed by the support unit 5 of the processing unit 10 (step S7).

  Here, the driving support processing in steps S6 and S7 will be described with reference to FIG. 5B.

  For example, as shown in FIG. 5B, the vehicle C0 on which the terminal device SSa is mounted and the vehicles C1, C2, and C3 on which the terminal device SSb is mounted are performing inter-vehicle communication. (See steps S1 to S5 in FIG. 4). Then, it is assumed that the vehicle C0, the vehicle C1, and the vehicle C2 are traveling on the general road in the order illustrated in FIG. 5B to the left in FIG. 5B. On the other hand, it is assumed that the vehicle C3 is traveling on a highway that crosses the general road on which the vehicle C0 and the like travels by an elevated road in the upward direction in FIG. 5B. At this time, it is determined that the vehicle C1 and the vehicle C2 are traveling on the same road as the vehicle C0 (see step S3; YES and step S4; YES in FIG. 4), but it is determined that the vehicle C3 is traveling on the same road. Is not determined (see step S3 in FIG. 4; NO). The processing unit 10 recognizes, based on the intersection data from the vehicle C1 or the vehicle C2, that there is an intersection CR1 immediately in front of the general road on which the vehicle C0 or the like travels, and forwards the highway on which the vehicle C3 travels. For example, it is assumed that the processing unit 10 recognizes that there is a branch point CR2 for entering a parking area in the latest, based on the intersection data from the vehicle C3.

  In the case illustrated in FIG. 5B, the necessity determination unit 15 of the processing unit 10 determines that the vehicle C0 traveling on the general road and the vehicle C3 traveling at a high speed that crosses the general road by an elevated road. It can be determined that there is no possibility of collision at both the intersection CR1 and the junction CR2. Therefore, in this case, the necessity determination unit 15 determines that there is no need for driving support (see step S6 in FIG. 4; NO).

  On the other hand, for example, the type data from the vehicle C3 indicates that the vehicle C3 is traveling on the general road, and the position of the intersection CR1 immediately in front of the general road on which the vehicle C0 and the like travels. When it is determined that the position of the intersection that is immediately in front of the general road on which the vehicle C3 travels coincides, the necessity determination unit 15 determines that there is a need for driving support (step in FIG. 4). S6; see YES). Thus, the support unit 5 performs driving support such as alerting the vehicle C3 that may cross at the front intersection CR1 using, for example, the display 14 or an audio output unit (not shown) (step S7 in FIG. 4). reference). At this time, for example, when the entry timings to the intersection CR1 that may cross each other are different from each other, or when there is no possibility of entering the intersection CR1 at the same time due to the switching state of the signal at the intersection CR1. With regard to, the above-mentioned traveling support for the vehicle C3 may not be performed.

  When it is determined in step S6 that there is no need for driving support (step S6; NO), or after the driving support in step S7 has been executed, the processing unit 10 receives the vehicle C0 from another vehicle C. The data (including the type data and shape data of the road on which the vehicle C0 is traveling) is transmitted to another vehicle C (for example, the vehicle C3 illustrated in FIG. 5B) (step S8). .

  Thereafter, the processing unit 10 ends the driving support process according to the embodiment, for example, because the power of the terminal device SSa is turned off, or the setting is made to not perform the driving support according to the embodiment. It is determined whether or not to perform (step S9). When it is determined in step S9 that the driving support process is to be continued (step S9; NO), the processing unit 10 returns to step S1. On the other hand, when the driving support processing according to the embodiment ends in the determination of step S9 (step S9; YES), the processing unit 10 ends the driving support processing as it is.

  As described above, according to the operation of the inter-vehicle communication system CS according to the embodiment, the current position data or the like is acquired from another vehicle C, and whether the other vehicle C is traveling on the same road is determined. Is determined (see steps S3 and S4 in FIG. 4), and type data related to the other vehicle C is acquired from another vehicle C traveling on the same road (see step S1 in FIG. 4). Thereby, the necessity of the driving support is determined based on the type data and the like (see step S6 in FIG. 4), and when it is determined that the driving support is necessary, it is executed (see step S7 in FIG. 4). Therefore, when traveling support based on the type data or the like from another vehicle C is required, the traveling support is executed. For example, in the terminal device SSa of the vehicle C0 in which original map data or the like is not recorded, Even so, effective driving support for the vehicle C0 can be performed.

  In addition, when it is determined that traveling support is necessary, the presence / absence of the intersection CR1 in the traveling direction is determined based on the type data, the intersection data, and the like, and the status of the intersection CR1 and the like is output. Can provide assistance.

  Further, when data transmitted from another vehicle C includes at least one of the trajectory data and the distance data, more specific driving support can be performed based on these. More specifically, for example, when trajectory data is transmitted, the degree of coincidence with the traveling trajectory of another vehicle C is detected based on the trajectory data, and based on the degree of coincidence, the vehicle C0 and the vehicle C1, etc. If it is determined that the vehicle C is traveling on the same road, it is possible to accurately determine whether each vehicle C is traveling on the same road and to provide travel support. Further, when the distance data is transmitted, whether or not each vehicle C is traveling on the same road is determined based on the change in the inter-vehicle distance indicated by the distance data. It is possible to accurately determine whether or not the vehicle C is traveling and to provide travel assistance.

  Furthermore, the necessity of the driving support related to the collision between the vehicles C is determined based on the type data transmitted from the other vehicles C. Therefore, the necessity of the driving support is accurately determined based on the type of the road. Can be determined.

  Further, since the data received by the terminal device SSa is transmitted to another vehicle C (for example, a vehicle C3 illustrated in FIG. 5B) traveling on a road other than the same road (step S4 in FIG. 4). (See S8), the other vehicle C can execute the same driving support as the vehicle C0.

  In the above-described embodiment, if “NO” is determined in each of the steps S3 to S5, the process returns to the step S1, but otherwise “NO” is determined in each of the steps S3 to S5. In such a case, the process may proceed to step S6. In this case, before the step S8, if the type data or the like of the road on which the vehicle C0 is traveling can be determined, it is transmitted to another vehicle C. If the type data or the like cannot be determined, the relevant data is transmitted. It can be configured not to transmit.

  Further, in the above-described embodiment, the case where the present application is applied to the inter-vehicle communication system CS using the inter-vehicle communication has been described. In addition, for example, a predetermined server device may be connected via a network such as the Internet. The present invention can also be applied to a communication system that exchanges data between vehicles C). In this case, each terminal device SS transmits and receives data while identifying each other using the transmission source identification data and the like.

  Furthermore, in the above-described embodiment, a case has been described in which the present application is applied to the inter-vehicle communication system CS using inter-vehicle communication. However, in addition to this, for example, a person as an example of a moving object according to the embodiment carries the object. The present application can be applied to a system that supports movement of a person who carries the portable information terminal device while performing communication between the portable information terminal devices (including a so-called smartphone). In this case, necessary data is exchanged between the portable information terminal devices while identifying each other using identification data for identifying each other.

  Further, a driving support program corresponding to the flowchart shown in FIG. 4 is recorded on a recording medium such as an optical disk or a hard disk, or obtained via a network such as the Internet, and is obtained by using a general-purpose microcomputer. The microcomputer and the like can also function as the processing unit 10 according to the embodiment by reading and executing the same.

1 Moving body information acquisition means (interface)
2 movement judgment means (movement judgment unit)
3 moving path information acquisition means 4 current position information acquisition means 5 support means (support section)
10 processing unit 15 necessity determination unit SSa, SSb terminal device CS inter-vehicle communication system C, C0, C1, C2, C3 vehicle CR1 intersection CR2 junction

Claims (1)

In a movement support device that is used in a moving body and performs movement support that is support for movement of the moving body,
Current position information acquisition means for acquiring current position information indicating the current position of the movement support device,
A moving body information acquisition unit for acquiring moving body information of a moving body other than the moving body, in which the movement support device is used;
Based on the acquired current position information and moving body information, a movement determining unit that determines whether the moving body and the other moving body used by the movement support device are moving on the same moving path; ,
When the other moving body is moving on the same moving path, moving path information obtaining means for obtaining moving path information related to the moving path where the other moving body is located from the other moving body,
Support means for performing the movement support based on the obtained movement path information,
A movement support device comprising:

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