JP2022093704A - Data structure, information transmission apparatus, control method, program, and storage medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a data structure of map data that can suitably suppress a fluctuation in a received amount of each point of object detection information transmitted from a moving object traveling on a road.

SOLUTION: A link information included in a map DB 4 and a distribution map DB 5 comprises a basic information part and a specific information part. The basic information part includes items (for example, a link ID, a link length, etc.) that specify information related to a target link. The specific information part includes items of "an information ID", "number of upload points", and "upload point n" (n=1, 2,...). The "upload point n" includes a plurality of sub items such as "an upload point ID", "a position", "a day of the week/time zone", "an expiration date", and "an upload probability". In the "upload probability", an upload probability for a target upload point is designated.

SELECTED DRAWING: Figure 10

COPYRIGHT: (C)2022,JPO&INPIT

Description

The present invention relates to a technique for acquiring peripheral information of a moving body such as a vehicle.

Conventionally, a technique for updating map data based on the output of a sensor installed in a vehicle has been known. For example, in Patent Document 1, when a change point of a partial map is detected based on the output of a sensor installed in a moving body such as a vehicle, a driving support device that transmits change point information regarding the change point to a server device. Is disclosed. Further, Non-Patent Document 1 discloses a specification relating to a data format for collecting data detected by a sensor on the vehicle side by a cloud server.

Japanese Unexamined Patent Publication No. 2016-156973

here homepage, VEHILE Sensor Data Interface Interface (v2.0.2), [Search on February 5, 2018], Internet <URL: https://lts.cms.here.com/static-cloud- content / Company_Site / 2015_06 / Vehicle_Sensor_Data_Cloud_Ingestion_Interface_Specification.pdf>

In a system that collects data detected by a mobile sensor with a server, the number of data uploads tends to be large on a road with heavy traffic, and the traffic may increase excessively, which may put pressure on the communication band.

The present invention has been made to solve the above-mentioned problems, and the amount of detection information transmitted from a moving body traveling on a road can be appropriately adjusted for each point. Its main purpose is to provide a data structure.

The invention according to claim is a control device mounted on a moving body, and is a detection unit that detects the object at the point and the detection unit at the point based on the point information indicating the point where the object is detected. Is a control device including a control unit that controls transmission of the detected object information based on probability information indicating the probability of necessity of transmission of the detected object information to the information processing device, which is information about the detected object.

It is a schematic configuration of the data collection system. The block configuration of the terminal device and the server device is shown. It is a block diagram which showed the outline of the process executed by a terminal apparatus. The data structure of the link information included in the map DB and the distribution map DB of the first embodiment is shown. It is a figure explaining the information specified in the sub-items "position" and "length". It is a figure which showed the upload probability adopted for each section when there is a duplicate upload range. An example of the data structure of the download information of the first embodiment is shown. An example of the data structure of upload information is shown. It is an example of the flowchart which shows the processing outline of the terminal apparatus in 1st Embodiment. The data structure of the link information included in the map DB and the distribution map DB of the second embodiment is shown. It is an example of the data structure of the download information of the second embodiment. It is an example of the flowchart which shows the processing outline of the terminal apparatus in 2nd Embodiment. It is a schematic configuration of a data collection system according to a modified example.

According to a preferred embodiment of the present invention, the data structure of map data includes point information indicating a point where an object is detected by a detection device mounted on a moving body, and information about an object detected at the point. A map including probability information for controlling transmission of certain detected object information, which indicates the probability of necessity of transmitting the detected object information detected by the detection device to the information processing device at the point. The data structure of the data. Here, "detecting an object by a detection device" is not limited to the detection device alone detecting an object, but another device performs a predetermined analysis process on the output data of the detection device. It also includes detecting objects. When the map data has such a data structure, the amount of data of the detected object information transmitted to the information processing apparatus can be suitably adjusted for each designated point. Therefore, for example, it is possible to suitably suppress an increase in traffic and a pressure on the communication band due to an excessive number of uploads at a road point with a large amount of traffic.

In one aspect of the data structure, the time designation information for designating a time zone or a day of day for controlling the transmission of the detected object information by the probability is further included. According to this aspect, the probability information for controlling the transmission of the detected object information can be registered in the map data for each time zone or day of the week.

In another aspect of the data structure, the expiration date information indicating the expiration date for controlling the transmission of the detected object information by the probability is further included. According to this aspect, it is possible to suitably suppress the reference and utilization of old probability information that is not valid.

Preferably, the point information and the probability information are included in the road information of the road corresponding to the point, or may be associated with the identification information of the road.

According to another preferred embodiment of the present invention, the information transmitting device is a detection point information indicating a point where an object is detected by a detection device mounted on a moving body, and information about an object detected at the point. Map data including probability information for controlling transmission of object information, which indicates the probability of necessity of transmission of the detected object information detected by the detection device at the point, to the information processing device. A storage means for storing, a generation means for generating the detected object information based on the output of the detection device, a transmission means for transmitting the detected object information generated by the generation means to the information processing device, and the above-mentioned point. A control means for controlling the transmission of the detected object information detected by the detection device based on the probability indicated by the probability information is provided. According to this aspect, the information transmission device can suitably adjust the transmission frequency of the detected object information to be transmitted to the information processing device for each designated point.

According to another preferred embodiment of the present invention, the transmission of the point information indicating the point where the object is detected by the detection device mounted on the moving body and the detected object information which is the information about the object detected at the point is transmitted. A storage means for storing map data including stochastic information for controlling, probabilistic information indicating the probability of necessity of transmission of the detected object information detected by the detection device at the point, to the information processing device. It is a control method executed by the information transmitting device having the information transmission device, and is a transmission method for transmitting the generation step of generating the detected object information and the detected object information generated by the generation step to the information processing device based on the output of the detection device. It has a step and a control step of controlling the transmission of the detected object information detected by the detection device at the point based on the probability indicated by the probability information. By executing this control method, the information transmission device can appropriately adjust the transmission frequency of the detected object information to be transmitted to the information processing device for each designated point.

According to another preferred embodiment of the invention, the program causes the computer to execute the control method described above. By executing this program, the computer functions as the information transmission device described above. Preferably, the program is stored in a storage medium.

According to another preferred embodiment of the present invention, the data structure of the map data includes the point information indicating the point to be detected by the detection device mounted on the moving body and the detection information which is the information detected at the point. A data structure of map data including probability information for controlling transmission of the detection information, which indicates the probability of necessity of transmission of the detection information detected by the detection device at the point, to the information processing device. be. When the map data has such a data structure, it is possible to suitably adjust the amount of detection information data transmitted to the information processing apparatus for each designated point. Therefore, for example, it is possible to suitably suppress an increase in traffic and a pressure on the communication band due to an excessive number of uploads at a road point with a large amount of traffic.

Hereinafter, preferred first and second embodiments of the present invention will be described with reference to the drawings.

<First Example>
[Overview of data collection system]
FIG. 1 is a schematic configuration of a data collection system according to the first embodiment. The data collection system includes a terminal device 1 that moves together with each vehicle that is a mobile body, and a server device 2 that communicates with each terminal device 1 via a network. Then, the data collection system updates the distribution map DB 5 which is a distribution map owned by the server device 2 based on the information transmitted from each terminal device 1. In the following, the "map" shall include, in addition to the data referred to by the conventional in-vehicle device for route guidance, data used for ADAS (Advanced Driver Assistance System) and automatic driving.

The terminal device 1 has a map DB 4, and is an output of a sensor unit 7 based on a camera, a lidar (LIDAR: Laser Illuminated Detection and Ranging, Laser Imaging Detection and Ranging, or LiDAR: Light Detection and Ranging), and the like. Detects the object of. In this embodiment, the terminal device 1 detects an object such as a feature based on the output of the sensor unit 7, and uploads information about the detected object together with the attribute information of the vehicle on which the terminal device 1 is mounted. It is transmitted to the server device 2 as "Iu". Further, the terminal device 1 receives the request information "Ir" which is a request signal for transmitting the upload information Iu from the server device 2, and controls the transmission of the upload information Iu based on the received information. The request information Ir includes information on a road section in which an object is detected and upload information Iu should be transmitted with a predetermined probability, and information on the probability (also referred to as "transmission control section information").

The terminal device 1 may be a part of the vehicle-mounted device or the vehicle-mounted device attached to the vehicle, or may be a part of the vehicle. Alternatively, if the sensor unit 7 can be connected, it may be a portable terminal device such as a notebook PC. The terminal device 1 is an example of an information transmission device. Further, an external sensor such as a camera or a rider is an example of a detection device.

The server device 2 receives and stores the upload information Iu from each terminal device 1. The server device 2 updates the distribution map DB 5 based on the collected upload information Iu, for example. Further, the server device 2 transmits the request information Ir including the transmission control section information to each terminal device 1. The server device 2 is an example of an information processing device.

[Terminal device configuration]
FIG. 2A shows a block diagram showing a functional configuration of the terminal device 1. As shown in FIG. 2A, the terminal device 1 mainly has a communication unit 11, a storage unit 12, an input unit 13, a control unit 14, an interface 15, and an output unit 16. Each element in the terminal device 1 is connected to each other via a bus line 98.

Based on the control of the control unit 14, the communication unit 11 transmits the upload information Iu to the server device 2 and receives the map data for updating the map DB 4 from the server device 2. Further, the communication unit 11 may perform a process of transmitting a signal for controlling the vehicle to the vehicle and a process of receiving a signal related to the state of the vehicle from the vehicle.

The storage unit 12 stores a program executed by the control unit 14 and information necessary for the control unit 14 to execute a predetermined process. In this embodiment, the storage unit 12 stores the map DB 4, the sensor data cache 6, and the vehicle attribute information “IV”.

Various data used in automatic driving, ADAS, and the like are recorded in the map DB 4. The map DB 4 is a database including, for example, road data representing a road network by a combination of nodes and links, facility data, and feature information around the road. The feature information includes information such as signboards such as road signs, road signs such as stop lines, road division lines such as center lines, and structures along roads. The feature information may include highly accurate point cloud information of the feature for use in estimating the position of the own vehicle. Further, as will be described later, the road data is associated with transmission control section information. In addition, various data necessary for position estimation may be stored in the map DB 4.

The sensor data cache 6 is a cache memory that temporarily holds the output data (so-called raw data) of the sensor unit 7. The vehicle attribute information IV indicates information regarding the attributes of the vehicle equipped with the terminal device 1, such as the vehicle type, vehicle ID, vehicle length, vehicle width, vehicle height, and vehicle fuel type.

The input unit 13 is a button, a touch panel, a remote controller, a voice input device, or the like for the user to operate. For example, an input for designating a destination for route search, an input for designating on / off of automatic operation, and the like. Is received, and the generated input signal is supplied to the control unit 14. The output unit 16 is, for example, a display, a speaker, or the like that outputs under the control of the control unit 14.

The interface 15 performs an interface operation for supplying the output data of the sensor unit 7 to the control unit 14 and the sensor data cache. The sensor unit 7 includes a plurality of external sensors such as a rider 31 and a camera 32 for recognizing the surrounding environment of the vehicle, and internal sensors such as a GPS receiver 33, a gyro sensor 34, a position sensor 35, and a 3-axis sensor 36. include. The rider 31 measures the distance to an object existing in the outside world discretely, recognizes the surface of the object as a three-dimensional point cloud, and generates point cloud data. The camera 32 generates image data taken from the vehicle. The position sensor 35 is provided to detect the position of each outside world sensor, and the 3-axis sensor 36 is provided to detect the posture of each outside world sensor. The sensor unit 7 may have any external sensor and internal sensor other than the external sensor and the internal sensor shown in FIG. 2A. For example, the sensor unit 7 may include an ultrasonic sensor, an infrared sensor, a microphone, or the like as an external sensor. Any external sensor included in the sensor unit 7 functions as a detection device.

The control unit 14 includes a CPU or the like that executes a predetermined program on one or a plurality of platforms, and controls the entire terminal device 1. The control unit 14 functionally includes a position estimation unit 17, an object detection unit 18, an upload data generation unit 19, and a map update unit 20. The control unit 14 functions as a generation means, a transmission means, a control means, a computer for executing a program, and the like.

FIG. 3 is a block diagram showing an outline of processing of the position estimation unit 17, the object detection unit 18, the upload data generation unit 19, and the map update unit 20 of the terminal device 1.

The position estimation unit 17 estimates the position of the own vehicle (including the posture of the vehicle) based on the output data of the sensor unit 7 held in the sensor data cache 6 and the map DB 4. The position estimation unit 17 can execute various position estimation methods. The position estimation unit 17 further collates, for example, an own vehicle position estimation method by dead reckoning (autonomous navigation) based on the output of an autonomous positioning sensor such as a GPS receiver 33 and a gyro sensor 34, and road data of a map DB 4 for autonomous navigation. The land indicated by the output data of the external sensor such as the rider 31 and the camera 32 and the feature information of the map DB4 based on the own vehicle position estimation method that performs the processing (map matching) and the predetermined objects (landmarks) existing in the surroundings. Execute the own vehicle position estimation method based on the mark position information. Then, the position estimation unit 17 executes, for example, a position estimation method having the highest estimation accuracy among the currently feasible position estimation methods, and shows the own vehicle position obtained based on the executed position estimation method. The own vehicle position information is supplied to the upload data generation unit 19.

The object detection unit 18 detects a predetermined object based on the point cloud information, image data, voice data, etc. output by the sensor unit 7. In this embodiment, the object detection unit 18 detects a predetermined object based on the data output by the sensor unit 7, and generates data related to the detected object (also referred to as “object data”) as upload data. Supply to unit 19. Here, the object data includes various attribute information such as the position, type, and size of the object detected by using various pattern recognition techniques, and further, the point group information of the object and the point group information of the object. , Image data, audio data itself may be included.

The upload data generation unit 19 generates upload information Iu based on the own vehicle position information supplied from the position estimation unit 17, the object data supplied from the object detection unit 18, and the vehicle attribute information IV. Then, the upload data generation unit 19 transmits the generated upload information Iu to the server device 2 by the communication unit 11. Here, the upload data generation unit 19 refers to the transmission control section information included in the map DB 10, and when it is determined that the current position exists in the section that restricts the transmission of the upload information Iu, the upload data generation unit 19 is associated with the section. The necessity of transmitting the upload information Iu is determined by the probability. The transmission control of the upload data generation unit 19 will be described in the [Processing flow] section, and the data structure of the upload information Iu transmitted by the upload data generation unit 19 will be described in detail in the [Data structure] section.

The map update unit 20 updates the map DB 4 based on the map update information received from the server device 2 by the communication unit 11. The map update unit 20 may register the transmission control section information included in the request information Ir received from the server device 2 in the map DB 4.

[Server device configuration]
FIG. 2B shows a block diagram showing a functional configuration of the server device 2. As shown in FIG. 2B, the server device 2 mainly has a communication unit 21, a storage unit 22, and a control unit 23. The elements in the server device 2 are connected to each other via the bus line 99.

Based on the control of the control unit 23, the communication unit 21 receives the upload information Iu from each terminal device 1 and sends the request information Ir for notifying the section and probability to which the upload Iu should be transmitted to each terminal device 1. Send it.

The storage unit 22 stores a program executed by the control unit 23 and information necessary for the control unit 23 to execute a predetermined process. In this embodiment, the storage unit 22 stores the distribution map DB 5 and the upload information DB 9.

The distribution map DB 5 is map data for distribution to each terminal device 1, and has the same data structure as the map DB 4. In this embodiment, the transmission control section information described later is recorded in the map DB 4 and the distribution map DB 5 in association with the road data. In the upload information DB 9, the upload information Iu received from each terminal device 1 by the communication unit 21 is stored under the control of the control unit 23.

The control unit 23 includes a CPU or the like that executes a predetermined program, and controls the entire server device 2. In this embodiment, when the upload information Iu is received from the terminal device 1 by the communication unit 21, the control unit 23 stores the upload information Iu in the upload information DB 9. Further, the control unit 23 transmits the request information Ir including the transmission control section information to the terminal device 1 by the communication unit 21.

[data structure]
Next, each data structure of the map DB4, the distribution map DB5, the request information Ir, and the upload information Iu will be described.

(1) Map DB and distribution map DB
First, the data structures of the map DB 4 and the distribution map DB 5 will be described. The map DB 4 and the distribution map DB 5 include link information regarding the link when the road network is represented by a link and a node as road data. In this embodiment, the link information is associated with transmission control section information indicating the probability that the terminal device 1 transmits the generated upload information Iu to the server device 2 (also referred to as “upload probability”) for each road section. ing.

FIG. 4 shows the data structure of the link information included in the map DB 4 and the distribution map DB 5. As shown in FIG. 4, the link information includes a basic information unit and a specific information unit.

The basic information unit includes each item (for example, link ID, link length, etc.) that specifies information about the target link.

The unique information unit includes each item of "information ID", "basic upload probability", "upload range number", and "upload range n" (n = 1, 2, ...).

The "information ID" is an item for designating an identification number or the like for specifying the data structure of the peculiar information unit. In this embodiment, the data structure of the peculiar information unit is a data structure for designating transmission control section information. An identification number or the like indicating that is designated as an "information ID". "Basic upload probability" is an item that specifies the upload probability for the range of the entire range of the target link that is not included in the road section (also referred to as "upload range") for which the upload probability described later is individually defined. be. The "upload range number" is an item that specifies the number of upload ranges set for the target link.

Each item of the "upload range n" (n = 1, 2, ...) Is an item for designating information regarding an individual upload range, and is provided in the number specified in the "upload range number". "Upload range n" includes a plurality of sub-items, respectively, and includes "upload range ID", "position", "length", "priority", "day of the week / time zone", "expiration date", and "expiration date". Includes each sub-item of "Upload Probability".

In the "upload range ID", a unique ID assigned to each upload range recorded in the map DB 4 and the distribution map DB 5 is specified. In "Position", information indicating the position of the target upload range is specified. For example, in the "position", information indicating the distance from the start point of the target link to the start point or the end point of the upload range may be specified. In the "length", information or the like indicating the length of the target upload range is specified. The information specified in the "upload range ID", "position", and "length" is an example of section information.

In "Priority", information indicating the priority of the target upload range is specified. This priority is used to determine which upload range the upload probability or the like should be prioritized for reference in the section where the upload ranges overlap. In "day of the week / time zone", the day of the week and / or the time zone in which the target upload range is valid is specified. In "Expiration date", the expiration date for which the target upload range is valid is specified. In "upload probability", the upload probability for the target upload range is specified. The upload probability is set so that, for example, the upload range with a large amount of traffic has a lower value. As a result, it is possible to suitably suppress the increase in traffic and the pressure on the communication band due to the excessive number of uploads of the upload information Iu to the road with a large amount of traffic. The information specified in "upload probability" is an example of probability information.

FIG. 5 is a diagram illustrating information specified in the above-mentioned sub-items “position” and “length”. FIG. 5 shows the link Lk1 of the start point P1 and the end point P4, and the upload range (rectangular area indicated as “range”) of the start point P2 and the end point P3 designated in the link Lk1. In this case, for example, the distance corresponding to the length of the arrow 61 (that is, the distance from the start point P1 of the link Lk1 to the start point P2 of the upload range) is specified in the sub-item "position" corresponding to the illustrated upload range. In the sub-item "length", the distance corresponding to the arrow 62 (that is, the distance from the start point P2 of the upload range to the end point P3) is specified.

FIG. 6 is a diagram showing the upload probabilities adopted by the terminal device 1 for each section when the overlapping upload ranges A and B are specified for the link Lk2 of the start point P11 and the end point P16. Here, the upload range A is a rectangular area of the start point P12 and the end point P15 described as “range A”, and the “priority” is set to 9 and the “upload probability” is set to 0.5. Further, the upload range B is a rectangular area of the start point P13 and the end point P14 described as “range B”, and the “priority” is set to 10 and the “upload probability” is set to 0.8.

In this case, the terminal device 1 has a basic upload probability of the link Lk2 (0 in this case) in the section from the point P11 to the point P12 and the section from the point P15 to the point P16 that do not belong to either the upload range A or the upload range B. Based on 1), it is decided whether or not the upload information Iu needs to be transmitted. Further, the terminal device 1 belongs to the upload range A and does not belong to the upload range B. In the section from the point P12 to the point P13 and the section from the point P14 to the point P15, the upload probability of the upload range A (here, 0). . Based on 5), it is decided whether or not the upload information Iu needs to be transmitted. Further, the terminal device 1 has an upload probability (here, 0. Based on 8), it is determined whether or not the upload information Iu needs to be transmitted. By adding priority information to each upload range in this way, the terminal device 1 can suitably determine the upload probability to be referred to even in the section where the upload ranges overlap. ..

As shown in FIG. 4, the transmission control section information is not limited to the mode added to the road data (link data) as the peculiar information unit, and may be managed as data different from the road data. For example, in this case, the server device 2 may store the database of transmission control section information generated for each upload range or each link ID as a part of the distribution map DB 5. Similarly, the terminal device 1 may store the above-mentioned database of transmission control section information as a part of the map DB 4.

(2) Request information
FIG. 7 shows an example of a data structure of request information Ir. As shown in FIG. 7, the request information Ir includes a basic information unit and a specific information unit. The basic information unit includes each item of "header" and "link ID". The "header" is an item for designating the header information of the request information Ir, and the server device 2 uses information such as the version information of the data format of the request information Ir and the time stamp indicating the time when the object is detected as the "header". Specify in.

The peculiar information unit includes each item related to specific transmission control section information. Specifically, the specific information unit includes "information ID", "upload range ID", "position", "length", "priority", "day of the week / time zone", "expiration date", and "upload probability". "including.

The "information ID" is an item for designating an identification number or the like for specifying the data structure of the peculiar information unit. In this embodiment, the data structure of the peculiar information unit is a data structure for designating transmission control section information. An identification number or the like indicating that is designated as an "information ID". In the "upload range ID", a unique ID assigned to the target upload range specified in the request information Ir is specified. Information indicating the position of the target upload range is specified in "position", and information indicating the length of the target upload range is specified in "length". In "Priority", information indicating the priority of the target upload range is specified. In "day of the week / time zone", the day of the week and / or the time zone in which the target upload range is valid is specified. In "Expiration date", the expiration date for which the target upload range is valid is specified. In "upload probability", the upload probability for the target upload range is specified.

The data structure of the request information Ir is not limited to that shown in FIG. 7. For example, the server device 2 may deliver the link information having the data structure shown in FIG. 4 as the request information Ir to each terminal device 1 as the request information Ir. Even in this case, the server device 2 can suitably deliver the request information Ir including the transmission control section information to each terminal device 1. The server device 2 may limit the terminal device 1 to which the request information Ir is transmitted to the terminal device 1 located in the vicinity of the upload range specified in the request information Ir. In this case, the server device 2 recognizes the position of each terminal device 1 based on the position information included in the upload information Iu received from each terminal device 1, for example.

(3) Upload information
FIG. 8 is an example of the data structure of the upload information Iu transmitted by the terminal device 1 to the server device 2. As shown in FIG. 8, the upload information Iu includes a basic information unit and a unique information unit.

The basic information unit includes each item related to the vehicle of the terminal device 1 that has detected the object. Specifically, the basic information unit includes each item of "header", "vehicle metadata", "vehicle position", and "vehicle speed". Here, the "header" is an item for designating the header information of the upload information Iu, and the terminal device 1 inputs information such as version information of the data format of the upload information Iu and a time stamp indicating the time when the object is detected. Specify in "Header". Further, the "vehicle metadata" is an item for designating the metadata of the vehicle, and the terminal device 1 can refer to the vehicle attribute information IV and the like to obtain a vehicle type, a vehicle ID, a vehicle length, a vehicle width, a vehicle height, and the like. Various attribute information of the vehicle equipped with the terminal device 1 of the above is designated as "vehicle metadata". Further, the "vehicle position" is an item for designating the position information of the vehicle, and the terminal device 1 designates the position information of the vehicle when the object is detected as the "vehicle position". Further, the "vehicle speed" is an item for designating the speed information of the vehicle, and the terminal device 1 designates the speed information of the vehicle measured when the object is detected as the "vehicle speed".

The peculiar information unit includes each item related to the object detected by the terminal device 1. Specifically, the specific information unit includes an "information ID", an "object type", an "object position", and the like. The "information ID" is an item for designating an identification number or the like for specifying the data structure of the unique information unit. The "object type" is an item for designating the type information of the object. The "object position" is an item for designating information regarding the position of the object.

[Processing flow]
FIG. 9 is an example of a flowchart showing an outline of the processing of the terminal device 1 in the first embodiment.

First, the terminal device 1 determines whether or not the request information Ir has been received from the server device 2 (step S101). Then, when the terminal device 1 receives the request information Ir from the server device 2 (step S101; Yes), the terminal device 1 stores the request information Ir (step S102). The terminal device 1 may register the transmission control section information included in the request information Ir in the map DB 4. On the other hand, when the terminal device 1 has not received the request information Ir from the server device 2 (step S101; No), the terminal device 1 proceeds to the process to step S103.

Next, the terminal device 1 determines whether or not a predetermined object has been detected (step S103). In this case, the terminal device 1 detects an object based on the output of an external sensor such as a rider 31 or a camera 32, and applies a known pattern matching technique to the detected object so that the object is a predetermined object. Judge whether or not it corresponds to.

Then, when it is determined that the terminal device 1 has detected a predetermined object (step S103; Yes), the terminal device 1 refers to the link information of the map DB 4 corresponding to the current position and the request information Ir stored in step S102, and uploads the information. It is determined whether or not the vehicle exists in the section in which the probability (including the basic upload probability) is defined (step S104). Then, when the vehicle exists in the section in which the upload probability is defined (step S104; Yes), the terminal device 1 determines whether or not the vehicle exists within the valid upload range (step S105). For example, whether or not the terminal device 1 has a vehicle within the upload range defined in the map DB 4 or the request information Ir, and within the upload range satisfying the conditions regarding the specified expiration date, day of the week, and time zone. judge.

Then, when the vehicle exists within the valid upload range (step S105; Yes), the terminal device 1 transmits the upload information Iu regarding the object detected in step S103 according to the upload probability for the upload range at the current position (step S105; Yes). Step S106). As a result, the terminal device 1 can suitably suppress the increase in communication traffic and the pressure on the communication band due to the excessive number of uploads of the upload information Iu to the road with a large amount of traffic. When the vehicle exists at a position where the effective upload ranges overlap, the terminal device 1 transmits the upload information Iu according to the upload probability for the upload range having the highest priority.

On the other hand, when the vehicle does not exist within the valid upload range (step S105; No), the terminal device 1 transmits the upload information Iu regarding the object detected in step S103 according to the basic upload probability (step S105; No). Step S107).

Further, when the vehicle exists in the section in which the upload probability is not defined (step S104; No), the terminal device 1 determines that it is not necessary to limit the transmission frequency of the upload information Iu based on the upload probability, and steps. The upload information Iu regarding the object detected in S103 is transmitted (step S108). In addition, instead of the processing of the flowchart of FIG. 9, the terminal device 1 does not have to generate and transmit the upload information Iu when the vehicle exists in the section where the upload probability is not defined. That is, the terminal device 1 may generate and transmit the upload information Iu only when the vehicle exists in the section in which the upload probability (including the basic upload probability) is defined.

As described above, in the first embodiment, the transmission control section information in which the upload probability is defined for each upload section is included in the map DB 4, the distribution map DB 5, and the request information Ir. As a result, the server device 2 can suitably adjust the traffic of the upload information Iu so that the amount of received data of the upload information Iu is not biased for each road section. Further, since it is determined whether or not each vehicle uploads according to the probability by using a random number or the like generated by the terminal device of the vehicle, there is no need for management on the server side or adjustment by vehicle-to-vehicle communication.

<Second Example>
In the data collection system of the second embodiment, the object is detected and the upload information Iu should be transmitted to the map DB4, the distribution map DB5, and the request information Ir in place of or in addition to the transmission control section information. It differs from the first embodiment in that it includes information on the point and the upload probability at the point (also referred to as “transmission control point information”). In the following, the same components as those of the data collection system of the first embodiment will be appropriately designated with the same reference numerals, and the description thereof will be omitted.

[data structure]
First, each data structure of the map DB 4, the distribution map DB 5, and the request information Ir according to the second embodiment will be described. Since the data structure of the upload information Iu is the same as that of the first embodiment, the description thereof will be omitted.

(1) Map DB and distribution map DB
First, the data structures of the map DB 4 and the distribution map DB 5 will be described. The map DB 4 and the distribution map DB 5 include link information regarding the link when the road network is represented by a link and a node as road data. In this embodiment, the link information is associated with transmission control point information indicating the upload probability for each point. Hereinafter, the points on the road where the upload probability is individually defined are also referred to as "upload points".

FIG. 10 shows the data structure of the link information included in the map DB 4 and the distribution map DB 5 in the second embodiment. As shown in FIG. 10, the link information includes a basic information unit and a specific information unit.

The basic information unit includes each item (for example, link ID, link length, etc.) that specifies information about the target link.

The unique information unit includes each item of "information ID", "number of upload points", and "upload point n" (n = 1, 2, ...).

The "information ID" is an item for designating an identification number or the like for specifying the data structure of the peculiar information unit. In this embodiment, the data structure of the peculiar information unit is a data structure for designating transmission control point information. An identification number or the like indicating that is designated as an "information ID". The "number of upload points" is an item that specifies the number of upload points set for the target link.

Each item of "upload point n" (n = 1, 2, ...) Is an item for designating information about individual upload points, and is provided in the number specified in "number of upload points". Each "upload point n" includes a plurality of sub-items, and includes each sub-item of "upload point ID", "location", "day / time zone", "expiration date", and "upload probability".

In the "upload point ID", a unique ID assigned to each upload point recorded in the map DB 4 and the distribution map DB 5 is specified. In "Position", information indicating the position of the target upload point is specified. For example, in the "position", information or the like indicating the distance from the start point of the target link to the start point or the end point of the upload point may be specified. The information specified in "upload point ID" and "position" is an example of point information.

In "day of the week / time zone", the day of the week and / or the time zone in which the target upload point is valid is specified. In "Expiration date", the expiration date for which the target upload point is valid is specified. In "upload probability", the upload probability for the target upload point is specified. The upload probability is set so that, for example, the upload point with a large amount of traffic has a lower value. As a result, it is possible to suitably suppress an increase in communication traffic and a pressure on the communication band due to an excessive number of upload information Iu uploaded to a road point with a large amount of traffic. The information specified in "upload probability" is an example of probability information.

(2) Request information
FIG. 11 shows an example of a data structure of request information Ir. As shown in FIG. 11, the request information Ir includes a basic information unit and a specific information unit. The basic information unit includes each item of "header" and "link ID". The "header" is an item for designating the header information of the request information Ir, and the server device 2 uses information such as the version information of the data format of the request information Ir and the time stamp indicating the time when the object is detected as the "header". Specify in.

The peculiar information unit includes each item related to specific transmission control section information. Specifically, the specific information unit includes an "information ID", an "upload range ID", a "location", a "day / time zone", an "expiration date", and an "upload probability".

The "information ID" is an item for designating an identification number or the like for specifying the data structure of the peculiar information unit. In this embodiment, the data structure of the peculiar information unit is a data structure for designating transmission control point information. An identification number or the like indicating that is designated as an "information ID". In the "upload point ID", a unique ID assigned to the target upload point specified in the request information Ir is specified. In "Position", information indicating the position of the target upload point is specified, and in "Day of the week / time zone", the day of the week and / or the time zone in which the target upload point is valid is specified. In "Expiration date", the expiration date for which the target upload point is valid is specified. In "upload probability", the upload probability for the target upload point is specified.

The data structure of the request information Ir is not limited to that shown in FIG. For example, the server device 2 may deliver the link information having the data structure shown in FIG. 10 as the request information Ir to each terminal device 1 as the request information Ir. Even in this case, the server device 2 can suitably deliver the request information Ir including the transmission control point information to each terminal device 1.

[Processing flow]
FIG. 12 is an example of a flowchart showing an outline of the processing of the terminal device 1 in the second embodiment.

First, the terminal device 1 determines whether or not the request information Ir has been received from the server device 2 (step S201). Then, when the terminal device 1 receives the request information Ir from the server device 2 (step S201; Yes), the terminal device 1 stores the request information Ir (step S202). The terminal device 1 may register the transmission control point information included in the request information Ir in the map DB 4. On the other hand, when the terminal device 1 has not received the request information Ir from the server device 2 (step S201; No), the terminal device 1 proceeds to the process to step S203.

Next, the terminal device 1 determines whether or not the vehicle passes through the valid upload point defined by the request information Ir stored in the map DB 4 or step S202 (step S203). For example, the terminal device 1 is an upload point defined in the map DB 4 or the request information Ir, and the vehicle passes through the upload point where the specified expiration date and / and the conditions regarding the day and time zone are satisfied. Judge whether or not.

Then, when the vehicle passes through the valid upload point defined by the request information Ir stored in the map DB 4 or step S202 (step S203; Yes), the terminal device 1 outputs the output of the external sensor such as the rider 31 or the camera 32. The upload information Iu of the object detected at the upload point is transmitted according to the upload probability (step S204). As a result, the terminal device 1 can suitably suppress the increase in communication traffic and the pressure on the communication band due to the excessive number of uploads of the upload information Iu to the road with a large amount of traffic. On the other hand, when the vehicle does not pass through the valid upload point defined by the request information Ir stored in the map DB 4 or step S202 (step S203; No), the terminal device 1 returns the process to step S201.

As described above, in the second embodiment, the transmission control point information in which the upload probability is defined for each upload point is included in the map DB 4, the distribution map DB 5, and the request information Ir. As a result, the server device 2 can set the point where the information of the object is desired as the upload point, and can suitably receive the upload information Iu regarding the object detected at the point. Further, the server device 2 can suitably adjust the traffic of the upload information Iu for each upload point so that the amount of received data of the upload information Iu is not biased for each set upload point.

<Modification example>
Hereinafter, modifications suitable for the first and second embodiments will be described.

[Modification 1]
The processing of the server device 2 described in the first and second embodiments may be executed by a server system (so-called cloud server) composed of a plurality of server devices.

For example, the server system may be composed of a server that stores the distribution map DB 5 and a server that performs distribution processing of request information Ir including transmission control section information and / and transmission control point information. In this case, each server appropriately receives information necessary for executing the pre-allocated process from another server and executes a predetermined process.

Further, the transmission control section information and / and the transmission control point information and the like may be exchanged between the terminal device 1 and the server device 2, and may be exchanged between the servers. FIG. 13 is a schematic configuration of a data collection system according to a modified example. The data collection system shown in FIG. 13 has a plurality of terminal devices 1, a vehicle cloud 2A, and a map cloud 2B. The vehicle cloud 2A is a server group mainly managed by the vehicle vendor, and the map cloud 2B is a server group mainly managed by the map vendor.

In this case, the vehicle cloud 2A and the map cloud 2B may receive the upload information Iu from the terminal device 1 of each vehicle, as in the server device 2 of the embodiment. Further, the vehicle cloud 2A may transmit data having the data structure shown in FIG. 7 or 11 to the map cloud 2B.

[Modification 2]
In the first embodiment, instead of the data structure shown in FIG. 7, the server device 2 may transmit the request information Ir for which the upload probability is specified without specifying the upload range to the terminal device 1.

For example, in this case, the server device 2 transmits the request information Ir with the upload probability specified to the terminal device 1 existing in the section in which the transmission of the upload information Iu is to be controlled by the predetermined upload probability. Then, when the terminal device 1 receives the request information Ir, the terminal device 1 transmits the upload information Iu with the upload probability specified by the request information Ir, for example, within a predetermined time or until the vehicle travels a predetermined distance. As described above, the request information Ir does not have to include information regarding the upload range.

[Modification 3]
For the section or point where the upload probability described in the first and second embodiments is not set, the terminal device 1 may control the transmission of the upload information Iu based on the preset upload probability. Further, the terminal device 1 may change the upload probability depending on the time zone for the section or the point where the upload probability is not set. In this case, for example, the terminal device 1 stores table information in which the time zone and the upload probability are associated with each other, and by referring to the table information, recognizes the upload probability corresponding to the current time zone. Transmission control of upload information Iu is performed based on the upload probability.

[Modification 4]
In the first and second embodiments, when the terminal device 1 detects an object, the terminal device 1 decides to transmit the upload information Iu including the information about the detected object to the server device 2 based on a predetermined upload probability. .. Instead of or in addition to this, the terminal device 1 uses the server device 2 for vehicle information and hearing hat information based on the output of the speed sensor, acceleration sensor, etc., and / and driver status information detected by the biometric sensor and the like. When transmitting to, transmission control may be performed based on the upload probability specified in the map DB 4 or the request information Ir. In this case, the map DB 4 and the request information Ir include transmission control section information that defines the upload probability, upload range, etc. for transmission of the above-mentioned vehicle information, hiyari hat information, and / or status information, and the terminal device 1 is used. , The necessity of transmitting the above-mentioned vehicle information, the hearing hat information, and / and the state information to the server device 2 is determined based on the above-mentioned transmission control section information. The above-mentioned vehicle information, hiyari hat information, state information, and the like are examples of detection information.

[Modification 5]
In the first and second embodiments, the expiration date may be set for each upload range, but instead, the start date or time when the upload range becomes valid and the end date when the upload range becomes invalid Alternatively, a valid period indicating the time may be set. In this case, if the upload range recorded in the map DB 4 or the received request information Ir has an expired upload range, the terminal device 1 deletes the upload range information. Alternatively, the server device 2 may be in the form of confirming whether or not the relevant specific information unit has been updated. In the latter case, when the update information exists for the target specific information unit, the terminal device 1 receives the update information from the server device 2, and controls the transmission of the upload information Iu with reference to the received update information.

[Modification 6]
In the item of "day of the week / time zone" shown in FIGS. 4, 7, 10, 11 and the like, a plurality of days and / or time zones in which the target upload range is valid may be set.

[Modification 7]
When the terminal device 1 determines that the detection result of the object different from the map DB 4 is obtained based on the comparison between the detection result of the object and the map DB 4 (that is, when a change is observed in the structure or the like). Only, the transmission control of the upload information Iu may be performed according to the upload probability, and the upload information Iu may not be transmitted if no change is observed.

1 Terminal device 2 Server device 4 Map DB
5 Distribution map DB
6 Sensor data cache 7 Sensor unit 9 Upload information DB

Claims (1)

It is a control device mounted on a moving body.
Based on the point information indicating the point where the object is detected, the detection unit that detects the object at the point and the detection unit.
A control unit that controls transmission of the detected object information based on probability information indicating the probability of necessity of transmitting the detected object information to the information processing apparatus, which is information about the object detected by the detection unit at the point.
A control device equipped with.

Images