JP2024026188A - Information processing device, measuring device and control method - Google Patents

Abstract

The present invention provides an information processing device and a measuring device that can reliably and accurately update a map. A server device 4 stores an advanced map DB 43 including feature information regarding features in a storage unit 42. Then, the server device 4 receives difference information Idf indicating the difference between the feature information and the actual feature corresponding to the feature information from a plurality of vehicle-mounted devices equipped with external sensors that measure features. Further, the server device 4 transmits a raw data request signal SR requesting transmission of raw data, which is measurement data of the actual feature, to the on-vehicle device according to the reliability calculated based on the plurality of difference information Idf. do. [Selection diagram] Figure 3

Description

The present invention relates to a technique for updating map data.

2. Description of the Related Art Techniques for updating map data based on the output of sensors installed in a vehicle have been known. For example, in Patent Document 1, in a navigation system that includes a server that manages the latest map data and a navigation device that receives map update information from the server, when a sensor detects a change in map data, , a navigation device is disclosed that makes settings to increase the frequency of map update requests at detected points.

JP2013-108820A

2. Description of the Related Art A system is known in which, when each vehicle detects a change point in map data using a sensor, the map data is updated by transmitting data regarding the change point to a server that manages the map data. In such a system, for example, when the server receives data on a predetermined number or more of the same or similar change points, the server determines that the change point is reliable and reflects the data on the change point in the map data. . On the other hand, if the reliability of the change is medium (that is, it cannot be clearly determined whether there has been a change), it may not be reflected in the map data even though there has been a change, or the change may not actually be reflected in the map data. There is a possibility that erroneous changes may be reflected in the map data even though they did not occur. On the other hand, advanced maps used in autonomous driving need to be updated reliably and accurately when changes occur to the map. Patent Document 1 does not disclose or suggest any of the above problems.

The present invention has been made in order to solve the above-mentioned problems, for example, and its main purpose is to provide an information processing device and a measuring device that can reliably and accurately update a map. shall be.

The claimed invention is an information processing device that processes feature information and the location from a plurality of mobile bodies equipped with a storage unit that stores feature information regarding the feature and a measurement device that measures the feature. a receiving unit that receives difference information indicating a difference from an actual feature corresponding to object information; and a receiving unit that transmits measurement data of the actual feature according to a reliability calculated based on a plurality of pieces of the difference information. The present invention is characterized by comprising a requesting unit that makes a request to the plurality of moving bodies or other moving bodies.

Further, the claimed invention provides a measuring device mounted on a moving object, which includes a measuring section that measures the position of an object existing around the moving object, and a memory that sequentially stores measurement data by the measuring section. a receiving unit that receives a transmission request including location information related to the feature from an external device including a storage unit that stores feature information regarding the feature; and a transmitting section that transmits the measurement data stored in the storage section to the external device after the included position is within a predetermined distance.

Further, the claimed invention is a control method executed by an information processing device having a storage unit for storing feature information regarding features, the control method being performed by a plurality of moving objects equipped with measuring devices for measuring features , a receiving step of receiving difference information indicating a difference between feature information and an actual feature corresponding to the feature information; The method is characterized by comprising a requesting step of requesting the plurality of moving bodies or another moving body to transmit measurement data of the object.

Further, the claimed invention provides a control method carried out by a measuring device that is mounted on a moving object and has a measuring section that measures the position of an object that exists around the moving object, the method comprising: a storage step of sequentially storing information about the feature in a storage unit; a receiving step of receiving a transmission request including position information related to the feature from an external device including a storage unit that stores feature information about the feature; The method is characterized by comprising a transmitting step of transmitting the measurement data stored in the storage unit to the external device after the position of the body and the position included in the transmission request become within a predetermined distance.

This is a schematic configuration of the advanced map system. (A) Shows the functional configuration of the on-vehicle device. (B) shows the functional configuration of the server device. FIG. 2 is a functional block diagram showing the functional relationship between an on-vehicle device and a server device. This is an example of a data structure of difference information. It is an example of the data structure of a raw data request signal. This is an example of the data structure of raw data information. 3 is an example of a flowchart showing a processing procedure according to an embodiment. Shows a data structure containing raw data requests.

According to a preferred embodiment of the present invention, the information processing device acquires the feature information and the corresponding information from a plurality of moving bodies equipped with a storage unit that stores feature information regarding the feature, and a measuring device that measures the feature. a receiving unit that receives difference information indicating a difference between the feature information and an actual feature, and transmits measurement data of the actual feature in accordance with a reliability calculated based on a plurality of pieces of the difference information; a requesting unit that requests the plurality of moving bodies or other moving bodies to perform the following.

The information processing device includes a storage section, a receiving section, and a requesting section. The storage unit stores feature information regarding features. The receiving unit receives difference information indicating a difference between the feature information and an actual feature corresponding to the feature information from a plurality of moving bodies equipped with measurement devices that measure the feature. The requesting unit requests the plurality of moving bodies or another moving body to transmit measurement data of the actual feature according to reliability calculated based on the plurality of difference information. With this aspect, the information processing device acquires and analyzes the measurement data of the target feature from the moving object, based on the difference information, and accurately determines the change in the feature. can do.

In one aspect of the information processing device, the measurement data has a larger capacity than the difference information. With this aspect, the information processing device can accurately determine changes in features while suitably suppressing an increase in communication traffic due to transmission and reception of unnecessary measurement data.

In another aspect of the information processing device, the feature information is updated when the reliability exceeds a predetermined upper limit, and the feature information is updated when the reliability is less than a predetermined lower limit. The measuring device includes an updating section that does not update the measurement data, and the requesting section requests transmission of the measurement data when the reliability is less than or equal to the upper limit value and greater than or equal to the lower limit value. With this aspect, the information processing device can suitably suppress an increase in communication traffic due to the transmission and reception of unnecessary measurement data, and even when it is not possible to accurately determine a change in a feature using difference information alone, the information processing device can Based on this, it is possible to accurately determine changes in terrestrial features.

In another aspect of the information processing device, the requesting unit requests transmission of the measurement data when a number of the difference information necessary for calculating the reliability cannot be received within a predetermined period. With this aspect, the information processing device can accurately determine the change in the feature based on the measurement data even if it is not possible to accurately determine the presence or absence of a change in the feature because the required amount of difference information cannot be collected. can.

In another aspect of the information processing device, the measurement data is three-dimensional data generated by a distance measuring device that irradiates a laser. With this aspect, the information processing device can accurately determine whether there is a change in the feature based on the measurement data.

According to another preferred embodiment of the present invention, the measuring device is mounted on a moving object, and includes a measuring section that measures the position of an object existing around the moving object, and a measuring section that sequentially receives measurement data from the measuring section. a receiving unit that receives a transmission request including location information related to the feature from an external device including a storage unit that stores feature information regarding the feature; and a transmitting section that transmits the measurement data stored in the storage section to the external device after the position included in the transmission request becomes within a predetermined distance. In this aspect, when the measurement device receives a transmission request including location information related to a feature from an external device that manages feature information, the external device preferably performs analysis regarding changes in feature information, etc. Measurement data of the feature of interest can be transmitted to an external device so that the feature can be executed.

In one aspect of the measuring device, the storage unit updates the measurement data when the position of the moving object changes. With this aspect, the measuring device can suitably prevent measurement data measured at the same point from being duplicated and stored in the storage unit.

In another aspect of the measuring device, the storage unit stores a plurality of measurement data corresponding to a plurality of different positions of the movable body, and when the position of the movable body changes, , one measurement data stored for the longest period is deleted, and one new measurement data by the measurement section is stored. With this aspect, the measuring device can cause the storage unit to store the measurement data generated when the vehicle traveled within the most recent predetermined distance.

According to another preferred embodiment of the present invention, there is provided a control method executed by an information processing device having a storage unit that stores feature information regarding a feature, the method comprising: a receiving step of receiving difference information indicating a difference between feature information and an actual feature corresponding to the feature information from a mobile body; and a requesting step of requesting the plurality of moving bodies or other moving bodies to transmit measurement data of actual features. By executing this control method, the information processing device acquires and analyzes the measurement data of the target feature from the moving body, based on the difference information, for the feature that may change, and Changes can be accurately determined.

According to another preferred embodiment of the present invention, there is provided a control method carried out by a measuring device that is mounted on a moving body and has a measuring section that measures the position of an object existing around the moving body, the measuring device a storage step of sequentially storing measurement data obtained by the method in a storage unit; and a reception step of receiving a transmission request including position information related to the feature from an external device including a storage unit that stores feature information regarding the feature. , a transmitting step of transmitting the measurement data stored in the storage unit to the external device after the position of the mobile object and the position included in the transmission request become within a predetermined distance. By executing this control method, when the measurement device receives a transmission request including location information related to a feature from an external device that manages feature information, the external device can transmit information related to changes in feature information, etc. Measurement data of the target feature can be transmitted to an external device so that analysis and the like can be suitably executed.

In a preferred example, the program causes a computer to function as any of the information processing device or measurement device described above. The computer preferably functions as the information processing device or measurement device described above by executing the program described above.

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

[System configuration]
FIG. 1 shows a schematic configuration of an advanced map system according to this embodiment. The advanced map system includes a plurality of on-vehicle devices 1 (1A, 1B, . . . ) equipped with external sensors for measuring terrestrial objects, and a server device 4 that stores an advanced map DB 43. The advanced map system then accurately updates information related to features such as the position and shape of features around the road (also referred to as "feature information") registered in the advanced map DB 43.

The in-vehicle device 1 has one or more external sensors such as a lidar (Light Detection and Ranging or Laser Illuminated Detection and Ranging) and a camera, and can estimate the own vehicle position with high accuracy based on the output of the external sensor. etc.

In this embodiment, the on-vehicle device 1 detects differences in feature information registered in the advanced map DB 43 based on the output of the external sensor, and stores information regarding the detected differences (also referred to as "difference information Idf"). It is transmitted to the server device 4. In addition, when the on-vehicle device 1 receives a signal (also referred to as a "raw data request signal SR") requesting unprocessed data (so-called raw data) output by an external sensor, the in-vehicle device 1 determines that the raw data request signal SR is specified. Information regarding the raw data (also referred to as "raw data information Irw") whose detection target range includes the location where the target location is located is transmitted to the server device 4. Hereinafter, for convenience of explanation, the in-vehicle device 1 that transmits the difference information Idf will be appropriately referred to as the "vehicle device 1A", and the in-vehicle device 1 that transmits the raw data information Irw based on the raw data request signal SR will be appropriately referred to as the "vehicle device 1B". It is called. Note that the on-vehicle device 1 installed in each vehicle may actually have the functions of both the on-vehicle device 1A and the on-vehicle device 1B. The on-vehicle device 1 is an example of a "measuring device" in the present invention.

The server device 4 stores an advanced map DB 43 that includes feature information corresponding to each feature existing around the road, and distributes part or all of the advanced map DB 43 in response to a request from the on-vehicle device 1. Features registered as feature information in the advanced map DB 43 include, for example, kilometer posts, 100m posts, delineators, traffic infrastructure facilities (e.g. signs, direction signs, traffic lights), utility poles, and street lights that are periodically lined up on the side of the road. In addition to artificial features such as trees, natural features such as trees may be used. In this embodiment, the server device 4 determines whether there is a change in the feature information registered in the advanced map DB 43 based on the difference information Idf received from the on-vehicle device 1A. At this time, the server device 4 calculates the reliability (also referred to as "reliability Rdf") of the difference information Idf, and transmits the raw data request signal SR to the in-vehicle device 1 according to the calculated reliability Rdf. When the server device 4 receives the raw data information Irw based on the raw data request signal SR, the server device 4 analyzes the raw data included in the raw data information Irw and updates the feature information registered in the advanced map DB 43. Determine whether or not updates are necessary and the content of updates. The server device 4 is an example of an "information processing device" and an "external device" in the present invention.

[Configuration of in-vehicle device and server device]
FIG. 2(A) is a block diagram showing the functional configuration of the vehicle-mounted device 1. The vehicle-mounted device 1 mainly includes a communication section 11 , a storage section 12 , a sensor section 13 , an input section 14 , a control section 15 , and an output section 16 . Each of these elements is interconnected via a bus line.

The communication unit 11 communicates data such as the difference information Idf, the raw data request signal SR, and the raw data information Irw with the server device 4 under the control of the control unit 15. Further, the communication unit 11 receives map data including feature information from the server device 4 under the control of the control unit 15 .

The storage unit 12 stores programs executed by the control unit 15 and information necessary for the control unit 15 to execute predetermined processes. For example, the storage unit 12 stores map data including feature information received from the communication unit 11.

Furthermore, in this embodiment, the storage unit 12 of the on-vehicle device 1B stores raw data generated within the most recent travel section of a predetermined distance in the raw data cache 21 for temporarily storing raw data. As will be described later, each time the vehicle travels a predetermined distance, the control unit 15 extracts the latest raw data from the external sensor 31 along with information on the time at which the raw data was acquired, the vehicle position, and the vehicle posture. It is linked and stored in the raw data cache 21. At this time, information regarding the position, type, and setting conditions of the external sensor 31 used to generate the raw data may also be stored in the raw data cache 21. In this case, the raw data cache 21 deletes the raw data stored for the longest period and newly stores the latest raw data based on the first-in, first-out method. In this way, the control unit 15 stores raw data according to travel distance without storing raw data according to time, so that raw data generated at the same place when the vehicle is stopped is used for raw data. Duplicate storage in the cache 21 can be suitably suppressed.

The sensor unit 13 includes one or more external sensors 31 for measuring terrestrial objects existing around the vehicle, a GPS receiver 32, a gyro sensor 33, an acceleration sensor 34, and a speed sensor 35. The external sensor 31 measures terrestrial objects such as a lidar and a camera that are present around the vehicle, and outputs the measurement data to the control unit 15 . For example, lidar emits a pulsed laser over a predetermined angular range in the horizontal and vertical directions, thereby discretely measuring the distance to an object in the outside world and creating a three-dimensional image that indicates the position of the object. Output point cloud information as measurement data. Further, the camera outputs captured image data generated at predetermined intervals to the control unit 15. The external sensor 31 is an example of a "measuring section" in the present invention.

The input unit 14 is a button, a touch panel, a remote controller, a voice input device, etc. for user operation, and the output unit 16 is, for example, a display, a speaker, etc. that performs output based on the control of the control unit 15.

The control unit 15 includes a CPU that executes programs, and controls the entire vehicle-mounted device 1. For example, the control unit 15 transmits feature information from the server device 4 by transmitting a request signal for map data specifying the predicted vehicle position based on the output of the GPS receiver 32 or the like to the server device 4 through the communication unit 11. The communication unit 11 receives map data around the own vehicle position including the map data, and stores the map data in the storage unit 13. The control unit 15 also performs transmission processing of the difference information Idf, reception processing of the raw data request signal SR, and transmission processing of the raw data information Irw via the communication unit 11. ”.

FIG. 2(B) is a block diagram showing the functional configuration of the server device 4. As shown in FIG. The server device 4 mainly includes a communication section 41 that performs data communication with the in-vehicle device 1 under the control of the control section 45, a storage section 42, and a control section 45. Each of these elements is interconnected via a bus line.

The storage unit 42 stores programs executed by the control unit 45 and information necessary for the control unit 45 to execute predetermined processes. In this embodiment, the storage unit 42 stores an advanced map DB 43. The advanced map DB 43 includes feature information corresponding to each feature to be detected by the external sensor 31 of the vehicle-mounted device 1. Furthermore, the storage unit 42 stores difference information Idf and raw data information Irw received from the plurality of in-vehicle devices 1 under the control of the control unit 45, as described later.

The control unit 45 includes a CPU that executes programs, and controls the entire server device 4 . For example, when the communication unit 41 receives a request signal for map data, the control unit 45 extracts map data including feature information around the position indicated by the position information included in the request signal from the advanced map DB 43. and sends it to the requesting vehicle-mounted device 1. Further, in this embodiment, the control unit 45 functionally includes a difference information receiving unit 46, a raw data requesting unit 47, and a map updating unit 48, which will be described later.

[Map update process]
Next, details of the update process of the advanced map DB 43 will be explained.

(1) Functional Block FIG. 3 is a functional block diagram showing the functional relationship between the on-vehicle device 1 (1A, 1B) and each element of the server device 4.

The difference information receiving unit 46 receives, from the communication unit 41, difference information Idf indicating a change in a feature from the vehicle-mounted device 1A that has detected a change in a feature whose feature information is registered in the advanced map DB 43. Here, the difference information Idf does not include measurement data of terrestrial objects, and has a smaller data capacity than the raw data information Irw. Further, the difference information Idf includes identification information of a feature (also referred to as a "feature ID"), so that it is possible to identify which feature the information relates to. The difference information receiving section 46 is an example of a "receiving section" in the present invention. Note that the on-vehicle device 1A may transmit the difference information Idf indicating the detection result of the feature based on the output of the external sensor 31 to the difference information receiving unit 46, regardless of whether a change in the feature has been detected. good. In this case, the difference information Idf includes information as to whether or not a difference in the target feature has been detected.

The raw data requesting unit 47 calculates the reliability Rdf based on the difference information Idf for each feature stored in the storage unit 42. In this case, the raw data requesting unit 47 estimates, for example, a parameter on which detection processing has been performed for each feature, and based on the ratio of difference information Idf indicating disappearance or change of the feature to the parameter. Calculate reliability Rdf. In this case, the raw data requesting unit 47 counts the number of onboard devices 1 that have passed through a route that can detect the target feature by referring to the position information etc. regularly received from each onboard device 1, and performs the above-mentioned process. The parameter may be calculated, or the parameter described above may be estimated by referring to the statistical traffic volume of the route. In another example, if the difference information Idf is transmitted even when there is no change in the feature, the raw data requesting unit 47 calculates the above-mentioned parameter based on the number of received difference information Idf. You may. In another example, the raw data requesting unit 47 may calculate the corresponding reliability Rdf based only on the number of difference information Idf indicating disappearance or change of the feature. In yet another example, information indicating the type of external sensor 31 used for the feature detection process or the type of vehicle, which is included in the received difference information Idf, is identified, and detected by a specific type of external sensor 31 or vehicle. The reliability Rdf may be calculated by weighting the difference information Idf, or based only on the difference information Idf detected by a specific type of external sensor 31 or vehicle.

Then, if the raw data requesting unit 47 determines that it is necessary to analyze the raw data information Irw in detail based on the calculated reliability Rdf, etc. to determine whether there is a change in the feature information, the raw data requesting unit 47 sends the on-vehicle device 1B. Transmit raw data request signal SR. In this case, as will be described later, the raw data request signal SR includes position information of the feature to be detected. In this case, for example, the raw data requesting unit 47 transmits the raw data request signal SR to the on-vehicle device 1B that is located within a predetermined distance from the position where the feature for which the raw data information Irw is required exists. Note that the raw data requesting unit 47 specifies the position of each on-vehicle device 1 by receiving position information at predetermined intervals from each on-vehicle device 1 traveling on the road, for example.

Here, the transmission timing of the raw data request signal SR will be supplementarily explained using a specific example.

For example, when the reliability Rdf is less than or equal to a predetermined upper limit threshold (also referred to as a “first threshold”) and greater than or equal to a predetermined lower limit threshold (also referred to as a “second threshold”), , determines that it is necessary to analyze in detail whether there is a change in the feature information, and transmits a raw data request signal SR. For example, the above-mentioned first threshold is a threshold for determining whether it is possible to conclude that the difference information Idf is reliable information, and the above-mentioned second threshold is a threshold for determining whether the difference information Idf is unreliable information. This is a threshold value for determining whether or not it can be determined. The first threshold is an example of a "predetermined upper limit" in the present invention, and the second threshold is an example of a "predetermined lower limit" in the present invention.

In another example, the raw data requesting unit 47 may not collect the required number of difference information Idf for calculating the reliability Rdf within a predetermined period among the features whose feature information is registered in the advanced map DB 43. If a feature exists, a raw data request signal SR specifying the location of the feature is transmitted. In yet another example, when receiving notification information from the in-vehicle device 1 to the effect that a road in the map data is different from an actual road, the raw data requesting unit 47 specifies a position around the road. A raw data request signal SR is transmitted.

Then, the raw data requesting unit 47 receives raw data information Irw including raw data obtained by measuring the target feature from the on-vehicle device 1B via the communication unit 41 as a response to the raw data request signal SR. Then, the raw data requesting unit 47 stores the received raw data information Irw in the storage unit 42. The raw data request section 47 is an example of a "request section" in the present invention.

The map update unit 48 updates the feature information in the advanced map DB 43 based on the raw data information Irw stored in the storage unit 42. For example, when a predetermined number or more of raw data information Irw targeting the same feature is accumulated in the storage unit 42, the map updating unit 48 analyzes the accumulated raw data information Irw to update the corresponding location. Determine whether something has changed. Then, if the map update unit 48 determines that the position, shape, etc. of the target feature has changed or disappeared based on the analysis results, the map update unit 48 updates the feature information of the target feature registered in the advanced map DB 43. will be changed based on the analysis results. The map update section 48 is an example of an "update section" in the present invention.

Here, a supplementary explanation will be given of the processing performed when the on-vehicle device 1B receives the raw data request signal SR.

For example, in a case where the detection range of the external sensor 31 exists in the front direction of the vehicle, when the vehicle-mounted device 1B approaches the position indicated by the position information included in the raw data request signal SR within a predetermined distance, Part or all of the raw data stored in the raw data cache 21 is extracted and transmitted to the server device 4 as raw data information Irw. The above-mentioned predetermined distance is set, for example, to a distance that is within the detectable distance of the external sensor 31 and is necessary and sufficient for detecting the object. In another example, in a case where the detection range of the external sensor 31 includes the rear and side directions of the vehicle, the on-vehicle device 1B may move away from the vehicle by a predetermined distance or more after passing the position indicated by the position information included in the raw data request signal SR. Sometimes, part or all of the raw data stored in the raw data cache 21 is extracted and transmitted to the server device 4 as raw data information Irw. The in-vehicle device 1B immediately transmits the raw data information Irw when the condition of approaching within a predetermined distance from the position indicated by the position information included in the raw data request signal SR, or leaving the vehicle by a predetermined distance or more after approaching is satisfied. Alternatively, the information may be transmitted at any timing after the conditions are met.

According to these examples, the on-vehicle device 1B can suitably transmit to the server device 4 raw data whose target range includes a feature existing at a position specified by the raw data request signal SR. Furthermore, the on-vehicle device 1B transmits raw data information Irw that includes raw data generated at multiple positions stored in the raw data cache 21, so that the target feature is temporarily located in the blind spot of a stopped vehicle, etc. Even if the target feature is not included in the raw data information Irw, the server device 4 can preferably statistically detect the location, shape, etc. of the feature from a plurality of raw data. .

(2) Data Structure Next, specific examples of the data structures of the difference information Idf, the raw data request signal SR, and the raw data information Irw will be described.

(2-1) Difference information FIG. 4 is an example of the data structure of the difference information Idf generated by the onboard device 1A when a change in a feature is detected. The feature information IF shown in FIG. 4 includes header information and body information.

The header information includes fields of "header ID", "version information", "time information at the time of difference detection", "own vehicle position information at the time of difference detection", and "own vehicle posture information at the time of difference detection". Identification information indicating that the information is the difference information Idf is registered in the “header ID”. The version of the data structure of the body information is registered in "version information". "Time information at the time of difference detection", "Vehicle position information at the time of difference detection", and "Vehicle attitude information at the time of difference detection" each contain time information at the time when the change in feature (i.e. difference) was detected. , position information, and vehicle attitude information are registered. In this case, the vehicle-mounted device 1 calculates the roll angle, pitch angle, and yaw angle of the vehicle at the time of detecting the feature based on detection signals from internal sensors such as the gyro sensor 33 and the acceleration sensor 34, Information on these angles is registered in "vehicle posture information at the time of difference detection."

The body information includes fields of "terrestrial feature ID", "change identification flag", and "sensor type information". Identification information of a feature uniquely assigned in the advanced map DB 43 is registered in the "terrestrial feature ID". The feature ID may be composed of a plurality of IDs that identify the target feature in stages. For example, the feature ID of "road sign A" may include an ID representing the type of "road sign" and an ID representing "A", which is a type of road sign. In this case, these IDs may be registered in different fields.

A flag indicating that a change has occurred is registered in the "change identification flag." For example, the "change identification flag" includes a flag indicating that the target feature has disappeared, a flag indicating that the position of the target feature has changed, a flag indicating that the target feature has been deformed, etc. be done. In the "sensor type information", information indicating the type of the external sensor 31 used for the feature detection process is registered. Note that instead of or in addition to the "sensor type information," "vehicle type information" indicating the type of vehicle may be provided.

In this way, the difference information Idf does not have a field for registering data with a large amount of data, and thus has a smaller data amount than the raw data information Irw that includes measurement data (raw data) of the external sensor 31.

(2-2) Raw Data Request Signal FIG. 5 shows an example of the data structure of the raw data request signal SR. In the example of FIG. 5, the raw data request signal SR includes a "header ID" and "version information" indicating that it is a raw data request signal SR as header information, and "location information" and "version information" as body information. including "Raw data transmission conditions".

Here, information specifying the point from which the raw data information Irw is to be obtained (that is, the position of the feature from which the presence or absence of a change is to be determined) is registered in the "position information." Preferably, in addition to the "location information" field, a "terrestrial feature ID" field is further provided.

In the "raw data transmission conditions", information that defines the conditions for acquiring the raw data information Irw is registered. Here, the "raw data transmission conditions" include subfields of "vehicle position conditions," "traveling speed conditions," "time zone conditions," and "sensor conditions." Conditions related to the position of the vehicle at the time of acquiring the raw data information Irw are registered in the "own vehicle position condition". For example, the lane number specifying the lane and the posture of the vehicle when acquiring the raw data information Irw are registered. Specifications, etc. are registered. In the "traveling speed condition", a condition of the vehicle speed at the time of acquiring the raw data information Irw (for example, x ("x" is a positive number) km/h or less) is registered. In the "time zone condition", the time zone condition when acquiring the raw data information Irw is registered.

The "sensor condition" registers the conditions related to the external sensor 31 that generates the raw data to be included in the raw data information Irw, and is composed of subfields of "sensor type condition" and "sensor data condition". In the "sensor type condition", information that defines the type of external sensor 31 (for example, lidar, camera, etc.) that generates the raw data information Irw is registered. In the "sensor data conditions", conditions such as settings when generating raw data for the external sensor 31 specified in the sensor type conditions are registered. For example, in the case of a lidar, the "sensor data condition" states that only point cloud information of objects that are more than y (y is a positive number) meters away should be sent as raw data, and only point cloud information that has a predetermined brightness or more. The information that the data should be sent as raw data is registered. Further, as "sensor condition", a subfield may be provided for specifying the positional condition of the external sensor 31 used to generate the raw data when the external sensor 31 is present at a plurality of positions on the vehicle. That is, in the "sensor condition" field, information specifying the external sensor 31 that generates raw data and the conditions related to its settings are registered.

Note that the body further includes fields such as "raw data transmission request flag" that stores flag information indicating whether raw data information Irw is necessary (for example, "1" if necessary, "0" if unnecessary). It may be provided in the information.

(2-3) Raw Data Information FIG. 6 shows an example of the data structure of raw data information Irw generated by the on-vehicle device 1B that has received the raw data request signal SR. The feature information IF shown in FIG. 6 includes header information and body information.

The header information consists of the following fields: "Header ID", "Version information", "Time information at the time of raw data acquisition", "Vehicle position information at the time of raw data acquisition", and "Vehicle attitude information at the time of raw data acquisition" including. Identification information indicating that the raw data information Irw is registered in the "header ID". The version of the data structure of the body information is registered in "version information". "Time information at the time of raw data acquisition", "Vehicle position information at the time of raw data acquisition", and "Vehicle posture information at the time of raw data acquisition" each indicate the time at which the raw data included in the body information was generated. information, position information, and vehicle attitude information are registered.

The body information includes fields of "raw data type ID", "raw data size", and "raw data". Identification information indicating the type of raw data or identification information indicating the type of external sensor 31 that outputs the raw data is registered in the “raw data type ID”. In the "Raw data size", size information of the raw data registered in the "Raw data" is registered. Raw data extracted from the raw data cache 21 is registered in "raw data."

(3) Processing flow FIG. 7 shows the on-vehicle device 1A that generates the difference information Idf, the server device 4, and the on-vehicle device 1B that receives the raw data request signal SR from the server device 4 and generates the raw data information Irw. It is a flowchart which shows each processing procedure. The vehicle-mounted device 1A, the server device 4, and the vehicle-mounted device 1B repeatedly execute the process of the flowchart shown in FIG.

First, the vehicle-mounted device 1A detects the current position, attitude, speed, etc. of the vehicle based on the outputs of the GPS receiver 32, gyro sensor 33, acceleration sensor 34, speed sensor 35, etc. (step S11).

Next, the vehicle-mounted device 1A performs a feature detection process based on the output of the external sensor 31 (step S12). In this case, for example, the onboard device 1A identifies the feature existing around the current position predicted in step S11 based on the feature information stored in the storage unit 12, and detects the feature based on the output of the external sensor 31. Perform the processing to do. In this case, the onboard device 1A periodically receives map data including feature information around the vehicle's location from the server device 4, thereby registering it in the advanced map DB 43. The storage unit 12 stores feature information having the same content as the feature information obtained.

Then, the vehicle-mounted device 1A determines whether or not there is a change in the detection target feature (step S13). In this case, for example, the on-vehicle device 1A stores the position and shape of the feature specified based on the current position predicted in step S11 and the output of the external sensor 31, and the feature information indicated by the feature information stored in the storage unit 12. By comparing the position, shape, etc., it is determined whether the position or shape of the target feature has changed, the target feature has disappeared, etc. When the vehicle-mounted device 1A determines that there is a change in the detection target feature (step S13; Yes), it generates difference information Idf and transmits it to the server device 4 (step S14). On the other hand, when the vehicle-mounted device 1A determines that there is no change in the detection target feature (step S13; No), the process returns to step S11. Note that even if the on-vehicle device 1A determines that there is no change in the feature to be detected, the vehicle-mounted device 1A sends information to the effect that there has been no change to the feature to be detected, such as the feature ID of the feature to be detected. It may also be transmitted to the server device 4 together with the information. The difference information Idf in this case is used, for example, to calculate the reliability Rdf.

The server device 4 receives and stores difference information Idf transmitted from the on-vehicle devices 1A of a plurality of vehicles (step S21). Then, the server device 4 executes the following steps S22 to S27 for each feature for which difference information Idf has been accumulated.

The server device 4 determines whether or not the accumulated difference information Idf indicates disappearance of the feature for which the difference information Idf has been accumulated, and whether or not its reliability Rdf exceeds the first threshold (step S22). When the server device 4 determines that the accumulated difference information Idf indicates disappearance and its reliability Rdf exceeds the first threshold (step S22; Yes), the server device 4 determines that the difference information Idf is reliable. , updates the advanced map DB 43 (step S27). Specifically, in this case, the server device 4 deletes the feature information regarding the target feature from the advanced map DB 43, or adds information to the effect that the feature has disappeared to the feature information.

On the other hand, if the accumulated difference information Idf indicates a change other than disappearance, or if the reliability Rdf is less than or equal to the first threshold (step S22; No), the server device 4 determines whether the raw data requirement condition is satisfied. (Step S23). For example, when the reliability Rdf is less than the second threshold, the server device 4 determines that the corresponding difference information Idf has low reliability, and determines that the raw data requirement condition is not satisfied. In another example, the server device 4 determines that the raw data requirement condition is satisfied when the accumulated difference information Idf indicates a change other than disappearance and the reliability Rdf is equal to or higher than the second threshold. In yet another example, the server device 4 determines that the raw data requirement condition is satisfied when the accumulated difference information Idf indicates disappearance and the reliability Rdf is less than or equal to the first threshold value and greater than or equal to the second threshold value. In yet another example, the server device 4 determines that the raw data requirement condition is satisfied when the required number of difference information Idf for calculating the reliability Rdf has not been collected.

If the server device 4 determines that the raw data request condition is satisfied (step S23; Yes), the server device 4 sends a raw data request signal SR specifying the location of the target feature, etc., to a location around the target feature. The information is transmitted to the on-vehicle device 1B (step S24). On the other hand, if the server device 4 determines that the raw data requirement condition is not satisfied (step S23; No), the process returns to step S21.

The on-vehicle device 1B mounted on each vehicle traveling on the road stores raw data for a predetermined travel distance output from the external sensor 31 in the raw data cache 21 (step S31). Then, when the vehicle-mounted device 1B receives the raw data request signal SR from the server device 4, it stores information on the raw data request position indicated by the raw data request signal SR (step S32). In the example of FIG. 5, the in-vehicle device 1B stores the information registered in the "position information" of the body information as the information on the requested position of the raw data described above.

Then, the vehicle-mounted device 1B determines whether the vehicle is traveling around the raw data requested position stored in step S32 (step S33). Then, when the on-vehicle device 1B determines that the vehicle is traveling around the raw data request position (step S33; Yes), the raw data stored in the raw data cache 21 is included in the raw data request signal SR. Raw data information Irw including raw data corresponding to the information registered in the "raw data transmission conditions" of the body information to be sent is transmitted to the server device 4 (step S34). On the other hand, if the on-vehicle device 1B determines that the vehicle is not traveling around the raw data request position stored in step S32 (step S33; No), the process returns to step S31, and the raw data cache 21 is subsequently stored in the outside world. The raw data of the sensor 31 is stored.

On the other hand, the server device 4 determines whether or not a predetermined number or more of raw data information Irw has been received for each feature that has transmitted the raw data request signal SR (step S25). The above-mentioned predetermined number is set to, for example, the number of pieces of raw data information Irw necessary for detecting a feature through known image analysis, statistical analysis, etc. on raw data information Irw. When the server device 4 determines that a predetermined number or more of raw data information Irw has been received (step S25; Yes), the server device 4 performs an analysis process for detecting a feature on the received raw data information Irw. Then, it is determined whether or not there has actually been a change in the target feature (step S26). On the other hand, if the server device 4 determines that less than the predetermined number of raw data information Irw have been received (step S25; No), it continues to perform the process of receiving raw data information Irw.

If the server device 4 determines that there has actually been a change in the target feature based on the analysis of the raw data information Irw (step S26; Yes), the server device 4 uses the advanced map DB 43 based on the analysis result of the raw data information Irw. is updated (step S27). On the other hand, if the server device 4 determines that there is actually no change in the target feature based on the analysis of the raw data information Irw (step S26; No), it ends the process of the flowchart.

As described above, the server device 4 according to the present embodiment stores the advanced map DB 43 including feature information regarding features in the storage unit 42 . Then, the server device 4 receives difference information Idf indicating the difference between the feature information and the actual feature corresponding to the feature information from the plurality of in-vehicle devices 1 equipped with external sensors 31 that measure features. do. In addition, the server device 4 sends a raw data request signal SR to the on-vehicle device 1 requesting transmission of raw data, which is measurement data of the actual feature, in accordance with the reliability Rdf calculated based on the plurality of difference information Idf. Send. With this aspect, the server device 4 acquires raw data of the target feature from the on-vehicle device 1 based on the difference information Idf, analyzes the raw data of the target feature in detail, and analyzes changes in the feature based on the difference information Idf. can be accurately determined.

Here, a supplementary explanation will be given of the effect of collecting the raw data information Irw and updating the advanced map DB 43.

Generally, the difference information Idf transmitted by each vehicle-mounted device 1A is information determined by each vehicle-mounted device 1A independently, and therefore may include data based on erroneous detection. Therefore, the server device 4 according to the present embodiment can suitably calculate the reliability Rdf for the difference information Idf by collecting and analyzing the difference information Idf of the plurality of vehicle-mounted devices 1A at the same point. In this case, the server device 4 updates the advanced map DB 43 when the reliability Rdf exceeds the first upper threshold, and updates the advanced map DB 43 when the reliability Rdf is less than the second lower threshold. is not updated. Then, the server device 4 distributes the updated advanced map DB 43 to each vehicle-mounted device 1 again, so that the latest map is always available to the vehicle-mounted device 1.

On the other hand, in places where the environment undergoes rapid dynamic changes, a situation may occur in which the reliability Rdf is less than or equal to the first threshold value and greater than or equal to the second threshold value, making it impossible to determine whether or not the difference information Idf can be trusted. In such a case, since the raw data is measurement data captured without processing the real world, the server device 4 performs a more detailed analysis by collecting the raw data information Irw from each in-vehicle device 1B. It is possible to determine whether or not a feature has changed. On the other hand, since raw data usually has a large amount of data, the server device 4 receives the minimum necessary raw data by transmitting a raw data request signal SR specifying the necessary part of the raw data to the on-vehicle device 1B. . Thereby, the amount of communication data can be suitably reduced.

[Modified example]
Instead of transmitting the raw data request signal SR, the server device 4 may embed information indicating that raw data is requested into the map data distributed to the on-vehicle device 1.

FIG. 8(A) is an example of a data structure of feature information in which information indicating that raw data is requested can be embedded.

In the example of FIG. 8A, the body information of the feature information is provided with an "attribute information" field, and the "attribute information" is further provided with a "reliability" subfield. In this case, for example, the server device 4 sets the "reliability" subfield of the feature information of the feature for which the raw data information Irw is required to "Unknown." In this case, when the on-vehicle device 1B that has received the map data from the server device 4 refers to the target feature information, it detects that the target feature information is set as "Unknown" in the "reliability" subfield. It is determined that the reliability of the object is unknown and that it is necessary to transmit the raw data information Irw. Then, the vehicle-mounted device 1B transmits raw data information Irw including the raw data stored in the raw data cache 21 to the server device 4 when passing around the position indicated by the position information of the target feature information.

In another example, a table in which points requiring raw data can be arbitrarily specified may be defined as attribute information of route information representing links and nodes. FIG. 8(B) is an example of the data structure of the above table.

In the example of FIG. 8B, the header information is provided with a "link ID or node ID" field, in which the corresponding link ID or node ID is registered. Further, the body information is provided with each field of "position information format information", "size information", and a plurality of (in this case n pieces) "position information" fields. Here, in the "location information format information", identification information of the format of the information stored in the "location information" (for example, a format expressed by latitude and longitude, a location reference format, etc.) is registered. In the "size information", information about the number of fields (n in this case) of the "position information" is registered. In the “position information”, position information of a feature for which raw data is required or position information specifying a measurement position is registered.

In this case, the server device 4 includes the table shown in FIG. 8(B) in the route information as attribute information, and distributes map data including the route information to the on-vehicle device 1. Then, the in-vehicle device 1B that has received the table of FIG. 8(B) generates raw data based on the position specified in the "position information" of the body information, and transmits the raw data information Irw including the raw data to the server device. Send to 4. Note that, similarly to the embodiment, the server device 4 may transmit the table shown in FIG. 8(B) as the raw data request signal SR to the on-vehicle device 1A traveling on the target route or the routes around it. .

1 On-vehicle device 4 Server device 11, 41 Communication section 12, 42 Storage section 13 Sensor section 14 Input section 15, 45 Control section 16 Output section 31 External world sensor 43 Advanced map DB

Claims (1)

a storage unit that stores feature information regarding the feature;
a receiving unit that receives difference information indicating a difference between feature information and an actual feature corresponding to the feature information from a plurality of moving objects equipped with measurement devices that measure the feature;
a requesting unit that requests the plurality of moving bodies or another moving body to transmit measurement data of the actual feature according to reliability calculated based on the plurality of pieces of difference information;
An information processing device comprising: