WO2019008755A1

WO2019008755A1 - Information processing system, and information processing system infrastructure and information processing method used in same

Info

Publication number: WO2019008755A1
Application number: PCT/JP2017/024996
Authority: WO
Inventors: 山田　健一郎
Original assignee: マクセル株式会社
Priority date: 2017-07-07
Filing date: 2017-07-07
Publication date: 2019-01-10

Abstract

The purpose of the present invention is to provide an information processing device and an information processing method by which various types of detected information from various transmission sources can be appropriately shared between vehicles or between users using a map information system. In order to achieve the foregoing, this information processing system includes: peripheral information acquisition units that detect information of the surroundings thereof as peripheral information; a data storage unit that gathers detected position information resulting from detection of the surrounding information of a plurality of objects having a periphery information acquisition unit; and a shared data creation means for creating shared data by analyzing the surrounding information and detected position information of the plurality of objects. The shared data is shared with the plurality of objects.

Description

Information processing system, information processing system infrastructure used therefor, and information processing method

The present invention relates to an information processing system, and more particularly to an inter-vehicle communication system, an inter-road communication system, and a traffic management system.

In recent years, with the aim of spreading advanced driving support systems and realizing automatic driving on general roads, development of advanced technology of map information that can affect driving routes and control of vehicles is progressing. As background art of this technical field, there is WO 2017/038888 (patent document 1), for example. In Patent Document 1, "In an autonomous driving system, research and development of advanced technology (dynamic map) of map information is performed. Dynamic map is dynamic information (peripheral vehicles, pedestrian information, signal information, etc.) Semi-dynamic information (accident information, traffic jam information, narrow-area weather information, etc.), quasi-static information (traffic regulation information, road construction information, wide-area weather information, etc.), static information (road surface information, lane information, three-dimensional It is described that information of each hierarchy made up of structure information etc.) is linked. Further, as a communication system between vehicles using such map information, there is, for example, JP-A-2009-9486 (Patent Document 2). In Patent Document 2, the inter-vehicle communication system includes a wireless communication device mounted in each vehicle and a relay device fixedly arranged, and each wireless communication device passes the relay device more than the data received directly. It is described that the data received in is judged to have a high priority as being data of a car having a high collision risk.

WO 2017/038888 JP, 2009-9486, A

In Patent Document 2, for the purpose of providing a technology capable of avoiding a collision between vehicles, the information transmitted by the wireless communication device only describes information related to vehicles such as vehicle position information and vehicle speed information. It is done. However, the data that can be acquired by the in-vehicle sensor is not limited to the specific data for avoiding the collision in Patent Document 2. With the improvement of today's sensor technology, the information shared by future map information systems is from the important data related to driving safety such as road surface freezing condition and snow condition, driving safety such as parking lot availability condition. From the point of view, it is possible to detect various types of data, such as data of low importance but useful data. In view of the future in which autonomous driving is put to practical use, each automobile will be equipped with different types of on-vehicle sensors for different purposes.

In addition, the source of the information to be shared may be the "autonomous sensor mounted on a vehicle" described in Patent Document 1, a conventional monitoring camera for inter-vehicle communication, fixed-point monitoring used in inter-vehicle communication, traffic system, etc. It is not limited.

In order to realize a system capable of widely sharing dynamic information and forward dynamic information with high real-time capability, devices equipped with sensors such as smartphones in recent years, and network infrastructures of telephone networks. Against the background of the spread, there is a need for a new map information system, which can also include a privately owned device, as the source of sharable information is not confined to the conventional system.

Therefore, an object of the present invention is to provide an information processing system capable of appropriately sharing various types of detection information from various transmission sources between vehicles and users, and an information processing system infrastructure and information processing method used therefor. It is to be.

In view of the above background art and problems, the present invention is an information processing system, for example, a plurality of ambient information acquiring units that detect information around itself as ambient information, and a plurality of ambient information acquiring units. Data storage unit for collecting detection position information in which surrounding information of the target of the object is detected, shared data generating means for generating shared data by analyzing the peripheral information on the plurality of targets and the detection position information, Share with multiple targets.

According to the present invention, it is possible to provide an information processing system capable of appropriately sharing various types of detection information from various transmission sources between vehicles and users, and an information processing system infrastructure and an information processing method used therefor.

FIG. 1 is a schematic view of an information processing system in a first embodiment. FIG. 2 is a block diagram showing a configuration of an in-vehicle communication device in Embodiment 1. FIG. 1 is a block diagram showing a configuration of an information processing system infrastructure in Embodiment 1. FIG. 1 is a schematic view showing a concept of an information processing system in a first embodiment. 5 is a flowchart of data sharing processing according to the first embodiment. FIG. 5 is a schematic view showing a configuration of a data sharing packet transmitted by the host vehicle and the oncoming vehicle in the first embodiment. FIG. 6 is a schematic view showing a configuration of a data sharing packet transmitted by the information processing system infrastructure in the first embodiment. FIG. 3 is a schematic view showing a data configuration in Example 1; It is an example of the processing attribute decision table according to item of information in execution example 1. FIG. 18 is a schematic view showing a concept of changing a processing hierarchy for performing server uploading according to regionality of information in the second embodiment. FIG. 8 is a block diagram showing a functional configuration of an information processing system infrastructure in a second embodiment. 17 is an example of a process attribute determination table according to items of information in the second embodiment. It is a schematic diagram showing the concept which performs a detailed data request with respect to the own vehicle of each area according to the analysis result of the cloud server in Example 2. FIG. It is an example of the detailed data which the information processing system server in Example 2 requests. It is an example of the item contained in the detailed data request packet created when the information processing system server in the second embodiment requests detailed data. FIG. 14 is a schematic view showing the concept of the information processing system in the third embodiment. FIG. 18 is a flowchart of identical object detection data processing performed by the information processing system server in the third embodiment. FIG.

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

In this embodiment, in an information processing system sharing various types of data, information is processed according to locality and real-time nature of information for the purpose of efficiently using network traffic and communication time in the communication network. It is characterized by separating the layers to be

First, the necessity of dividing the processing layer according to the locality of information and the real time property will be described. In the information processing system using the present embodiment, for example, various information such as pedestrian information jumping out from the driver's blind spot ahead of the traveling direction of the vehicle, wide area weather information represented by poor visibility by PM 2.5, etc. Send and receive type information.

In the above two examples, considering that the former pedestrian information is dynamic information with extremely high locality and real-time property, in the present embodiment sharing of information is a vehicle near the position where the information is detected It is shared only by inter-vehicle communication and inter-vehicle communication, which is communication limited to the above. This is because pedestrian information having high real-time and locality need not occupy and upload limited network traffic of the communication network and share it with a wide-area vehicle until uploading.

On the other hand, the latter wide area weather information spreads to a wide area including the position where the information is detected, since the observation event is wide area. Also, considering that real-time performance is not so high as quasi-static information, not only in a narrow area where communication is possible only with inter-vehicle communication or inter-vehicle communication, but with vehicles that travel on wide area by uploading on servers. Need to share.

In addition to the above two examples, in view of the efficient use of limited network traffic, processing in inter-vehicle communication and inter-vehicle communication, or in addition to them, upload to a server and share across the entire network It is necessary to change the final information processing according to the information to be shared, such as processing. Here, in the present embodiment, in addition to the first process for performing only inter-vehicle communication and inter-vehicle communication, and the second process for uploading to a server in addition to the inter-vehicle communication and inter-vehicle communication and sharing the entire network Are collectively called processing hierarchy.

Subsequently, an outline of the information processing system in the present embodiment will be described using the drawings. FIG. 1 is a schematic view showing an information processing system 100 in the present embodiment. The information processing system 100 is a system for sharing between the vehicles information that may affect the driving route and control of the vehicle. As an example, FIG. 1 shows that the vehicle using the system travels by the on-vehicle sensor while traveling on the road. It is a schematic diagram shown about the case where the detected information is shared with other vehicles.

As shown in FIG. 1, the information processing system 100 includes another vehicle 200 traveling in the same lane as the host vehicle 101, an oncoming vehicle 300 traveling in the opposite lane, an information processing system infrastructure 400, an information processing system network 500, and an information processing system. The server 600 is included. The information processing system infrastructure 400 is installed, for example, to project on a road or a crossing through a pole erected on the roadside. Alternatively, it may be attached to a traffic light. The information processing system infrastructure 400 performs inter-vehicle communication with a vehicle. Each vehicle is equipped with an ambient information acquisition unit 102 and an in-vehicle communication device 103, which are sensors such as a camera and a radar. Also, as an example of a provider of information shared by the information processing system 100 other than the ambient information acquisition unit 102, an information processing system (server) 700 of a car company, an information processing system (server) 900 of an information service company, a map information company Information processing system (server) 1000, bus company information processing system (server) 1100, traffic information center information processing system (server) 1200, basic map company information processing system (server) 1300, mobile phone communication company information A processing system (server) 1400 is shown.

FIG. 2 is a block diagram showing a functional configuration of the in-vehicle communication device 103 in the present embodiment. In FIG. 2, the on-vehicle communication device 103 includes a data storage unit 103-1, a vehicle arrival position calculation unit 103-2, a held data list creation unit 103-3, a communication unit 103-4 and a priority determination unit 103-5. Configured Furthermore, the communication unit 103-4 is configured of a wireless data transmission unit 103-4-1 and a wireless data reception unit 103-4-2. The data storage unit 103-1 collects and stores information on past travel routes, surrounding information detected by the surrounding information acquisition unit 102, and detected position information detected from the surrounding information.

FIG. 3 is a block diagram showing a functional configuration of the information processing system infrastructure 400 in the present embodiment. In FIG. 3, the information processing system infrastructure 400 includes a wireless data transmission / reception unit 400-1, a data storage unit 400-2, a processing attribute determination unit 400-3, a transmission data list creation unit 400-4, and a server data transmission / reception unit 400-5. Composed of Further, the wireless data transmission / reception unit 400-1 is configured of a wireless data reception unit 400-1-1 and a wireless data transmission unit 400-1-2. The server data transmission / reception unit 400-5 includes a server data transmission unit 400-5-1 and a server data reception unit 400-5-2. The data storage unit 400-2 collects and stores surrounding information detected by the surrounding information acquisition unit 102 and detected position information detected from the surrounding information via the wireless data receiving unit 400-1-1.

Hereinafter, the distribution method of the data acquired by the surrounding information acquisition part 102 which the own vehicle 101 mounted in the information processing system 100 is described. The host vehicle 101 distributes data by connecting to the oncoming traffic lane with an oncoming vehicle 300 or an intersection at an intersection when traveling in parallel with another vehicle 200 traveling on the same lane by traveling on a road. At this time, the connection between vehicles is not limited to direct connection, but may be multi-hop communication via a plurality of vehicles. In addition, when communication only between vehicles is difficult due to shadowing by a shield, multi-hop communication via relay of the information processing system infrastructure 400 may be used.

As described above, in the information processing system 100, the processing hierarchy of the final information differs depending on the real-time nature and the locality of the information. FIG. 4 is a schematic view showing a concept in which the information processing system 100 performs processing in different layers according to the real time property and the locality of information. FIG. 4 (a) shows the case where the processing hierarchy is only inter-vehicle communication and inter-vehicle communication, and FIG. 4 (b) shows that the processing hierarchy is uploaded to the server in addition to inter-vehicle communication and inter-vehicle communication. Represents a processing hierarchy shared by the entire network. In both FIG. 4 (a) and FIG. 4 (b), the detected information is linked to the static information including the lowest real-time lane information by the detected position information. The difference between FIG. 4 (a) and FIG. 4 (b) is only the difference in the processing hierarchy of communication used to share information. That is, in FIG. 4A, dynamic information such as emergency vehicle information, obstacle (falling object) information, pedestrian information, etc. shared by each vehicle by inter-vehicle communication and inter-vehicle communication is linked. . On the other hand, in the processing hierarchy of FIG. 4B, in addition to the inter-vehicle communication and the inter-vehicle communication, they are uploaded to the server via the information processing system infrastructure 400 and shared across the entire network, for example, obstacles (falling objects) Dynamic information such as information, for example, semi-dynamic information such as weather information and traffic jam information, for example, quasi-static information such as PM 2.5 information and fog information are linked. Here, as can be seen from FIG. 4B, dynamic information is not necessarily shared only in the processing hierarchy of inter-vehicle communication and inter-vehicle communication in FIG. Depending on the nature, it may be shared in the processing hierarchy in the entire network through the information processing system infrastructure 400 of FIG. 4 (b).

FIG. 5 shows a flowchart of data sharing processing in the present embodiment. Hereinafter, details of data sharing processing when the host vehicle 101 is connected to the oncoming vehicle 300 and the information processing system infrastructure 400 will be described using FIGS. 1, 2, 3 and 5. First, the on-vehicle communication device 103 of the own vehicle 101 is connected by direct connection with the oncoming vehicle 300, by multihop communication via a plurality of oncoming vehicles 300, or by multihop communication relaying the information processing system infrastructure 400. When it is recognized, the data sharing process is started (step S501).

In step S 502, the vehicle arrival position calculation unit 103-2 calculates the position predicted to be reached by the vehicle at Tf seconds from the information on the past travel route stored in the data storage unit 103-1 of the own vehicle 101. . Further, based on the input from the vehicle arrival position calculation unit 103-2 and the detection data stored in the data storage unit 103-1 of the own, the held data list creation unit 103-3 is operated by the vehicle arrival position calculation unit 103-2. A list of data created in a two-dimensional rectangular area having the obtained arrival position and the current position of itself as vertices is created as a held data list. If creation of a data list is completed, it will transfer to step S503.

In step S 503, the data transmission request packet created in step S 503 is transmitted from the data transmission unit 103-4 constituting the communication unit 103-4 to the connected object.

The processes of step S502 and step S503 are performed similarly for the connection target (the oncoming vehicle 300 or the information processing system infrastructure 400). When the target of connection destination is the oncoming vehicle 300, the oncoming vehicle is obtained based on a data list created in a two-dimensional rectangular area with the arrival position predicted to be reached by the oncoming vehicle 300 and the current position of itself as a vertex. A data sharing request packet is also transmitted to the host vehicle 101 from 300. The own vehicle 101 is likely to access the oncoming vehicle 300 in the future based on the received data sharing request packet from the oncoming vehicle 300, that is, within the rectangular area with the on position and the oncoming position of the oncoming vehicle 300 at the top. Share data preferentially. An example of the item contained in the data sharing request packet which the own vehicle 101 and the oncoming vehicle 300 create in FIG. 6 is shown. The data sharing request packet includes, for example, a packet number, a transmission vehicle ID, a transmission vehicle current position, a transmission vehicle predicted position, a transmission vehicle speed vector, a hop number, and a held data list.

On the other hand, even when the target of the connection destination is the information processing system infrastructure 400, the information processing system infrastructure 400 transmits a data sharing request packet to the host vehicle 101. FIG. 7 shows an example of items included in the data sharing request packet created by the information processing infrastructure 400. The data sharing request packet includes, for example, a packet number, a transmission infrastructure ID, a transmission infrastructure installation position, a hop number, and a held data list.

In step S504 in FIG. 5, in the own vehicle 101, the reception timeout determination of the share request packet transmitted from the target of the connection destination is performed. When the wireless data reception unit 103-4-2 configuring the communication unit 103-4 does not receive the sharing request packet transmitted from the connection target within the preset timeout time (Yes in step S 504) After notifying the user that the sharing request communication has not been established, the process proceeds to step S511, and the data sharing process ends. On the other hand, when the data receiving unit 103-4-2 receives the sharing request packet during the set timeout time (No in step S504), the process proceeds to step S505.

In step S505, it is determined whether the target of the connection destination is the information processing system infrastructure 400 based on the ID (transmission vehicle ID, transmission infrastructure ID) included in the sharing request packet from the connection destination target. If it is determined in step S505 that the connection destination is not the information processing system infrastructure 400 (No in step S505), the process proceeds to step S506.

In step S506, as the processing of the in-vehicle communication device 103, the priority determination unit 103-5 determines the priority of the data, and a transmission data list at the time of data sharing is created. As an example of transmission data list creation, priority determination unit 103-5 selects the priority of the data to be shared among the holding data of host vehicle 101 stored in data storage unit 103-1 and is determined by oncoming vehicle 300. The list creation is performed by raising the priority at the time of sharing with respect to data created within a range having a rectangular area having the current position and the arrival position as a vertex. Further, by comparing the held data list transmitted from the oncoming vehicle 300 of the connection destination with the held data list of the own vehicle 101, the duplicate data is deleted from the transmission data list. Here, when step S506 is performed via step S512 (details will be described later) in step S506, the priority processing in the rectangular area is omitted, and only deletion of duplicate data is performed. When creation of the transmission data list to be shared is completed, the process proceeds to step S507.

FIG. 8 shows an example of the configuration of the data format in this embodiment. The data format is divided into two, for example, index data 800 in which characteristics and the like related to each data are described, and a data main body 801 including detailed detection information detected by the ambient information acquisition unit 102 and the like. The index data 800 includes a processing attribute 802 of detection data, a time 803 of detection, and a detection position 804 at which data is detected. The index data 800 has a very small data size, and communication of only the index data 800 can be completed in a short time as compared with the data body. Therefore, the data information constituting the held data list of the data sharing request packet shown in FIG. 6 and FIG. 7 does not include the data main body, and is constituted only by the index data 800.

In step S507 in FIG. 5, the oncoming vehicle 300 connected from the data transmission unit 103-4-1 configuring the communication unit 103-4 in descending order of priority based on the transmission data list created in step S506. Send data to

In the following step S508, the connection is disconnected due to an unexpected reason, such as transmission of the data started to be transmitted in step S507 is finished, or communication becomes difficult due to shadowing by a shield during transmission of the sharing planned data. Determine if it was. When the sharing planned data is being transmitted (No in step S508), the process proceeds to step S508 again, and step S508 is repeated until the determination becomes Yes. If the transmission of the distribution schedule data is completed or the communication is disconnected (Yes in step S508), the process proceeds to step S509.

In step S509, the user of the host vehicle 101 is notified of the end of the data distribution process using a visible interface such as a display or an arbitrary means such as voice, and the process proceeds to step S510. Note that the end notification in step S 509 is not necessarily required, and the user may not be notified of the end of the data distribution process. In the following step S510, in the oncoming vehicle 300, the information of the detection position 804 of each data shared from the own vehicle 101 is linked to static information including lane information stored in the data storage unit 103-1 of its own. That is, the oncoming vehicle 300 functions as shared data creation means for creating shared data by analyzing surrounding information of the host vehicle 101 and detected position information, and when the linking of all shared data is completed, the data sharing process is terminated. (Step S511).

On the other hand, when it is determined in step S505 that the connection destination is the information processing system infrastructure 400 (Yes in step S505), the process proceeds to step S512. In step S512, the processing attribute determination unit 400-3 determines the processing attribute according to the processing attribute 802 of the detection data included in the held data list. As a result of the process attribute determination, when it is determined that the process attribute does not include the server upload layer (No in step S512), the process proceeds to step S506. The description of the process from step S506 to step S511 is omitted because it is redundant.

When it is determined in step S512 that the process attribute includes the server upload hierarchy as a result of the process attribute determination (Yes in step S512), the process proceeds to step S513. In step S513, as processing of the information processing infrastructure 400, the transmission data list creation unit 400-4 compares the held data list of the information processing system server 600 with the held data list received from the host vehicle 101 to hold the data. The duplicate data already stored in the information processing system server 600 is deleted from the data list to create a transmission data list. When creation of the transmission data list to be shared is completed, the process proceeds to step S514.

FIG. 9 shows an example of the processing attribute determination table for each item of information. The large classification classifies whether each item belongs to any of dynamic information, quasi-dynamic information, and quasi-static information, and the presence or absence of a circle in the determination result indicates the hierarchy of the processing attribute. Of the determination results, those with a circle only in the inter-vehicle communication / inter-vehicle communication column, those with a circle in the server upload column that are determined as No in step S512, and step S512. Items which are determined as Yes in. The process attribute determination table is not limited to the items listed in FIG. 9, and the determination result is not limited to the initial state. Along with the change of the information processing system 100, updates such as addition of items and change of the determination result may be added.

In step S514, based on the transmission data list created in step S513, the server data transmission unit 400-5-1 transmits data to the information processing system server 600 via the information processing system network 500.

In the subsequent step S515, the connection is disconnected due to an unexpected reason, such as transmission of the data whose transmission has been started in step S514 has ended, or communication becomes difficult due to shadowing by a shield during transmission of the sharing scheduled data. Determine if it was. When the sharing planned data is being transmitted (No in step S515), the process returns to step S515 again, and step S515 is repeated until the determination becomes Yes. If the transmission of the distribution schedule data is completed or the communication is disconnected (Yes in step S515), the process proceeds to step S517.

In step S517, in the information processing system server 600, the information of the detection position 804 of each data shared from the host vehicle 101 is linked to static information including stored lane information. That is, the information processing system server 600 functions as a shared data creation unit that analyzes the surrounding information of the own vehicle 101 and the detected position information to create shared data, and when linking of all shared data is completed, the data sharing process The process ends (step S511).

As described above, according to the configuration and processing of the present embodiment, it is possible to efficiently use limited network traffic by changing the layer for processing information according to the real time property and the locality of the information to be shared. . As a result, it is possible to realize a new information processing apparatus and information processing system capable of appropriately sharing various types of detection information from various transmission sources between vehicles and users using the map information system.

In the first embodiment, the layer for processing information is classified into a layer for performing only inter-vehicle communication / inter-vehicle communication and a layer for performing server upload according to the real-time property and the locality of information to be shared. An example of trying to In the present embodiment, in the first embodiment, as a processing hierarchy for performing server upload, a hierarchy which has been grouped together in the information processing system server 600 is physically close to the information processing system infrastructure 400 according to the regionality of information. An example in which processing on a server (edge server) and processing on a server (cloud server) physically distant from the information processing system infrastructure 400 are distributed will be specifically described.

FIG. 10 is a schematic view showing the concept of changing the processing hierarchy for performing server uploading according to the regionality of information in the present embodiment. In FIG. 10, the situation in which the surrounding information acquisition unit 102 detects data with high wide-area characteristics is represented by the vehicle 101-1 traveling in the area A and the vehicle 101-2 traveling in the area B. Here, quasi-static information such as wide-area weather information detected across an area may be mentioned as an example of data having high wide-area characteristics. However, data with high regionality is not limited to quasi-static information, but may be quasi-dynamic information. That is, data with high wide-area characteristics may include accident information and traffic congestion information on a major arterial road that can also affect the route of a vehicle traveling in an area other than the area in which the data is detected. FIG. 10 shows a state in which wide-area meteorological information observed across the area A and the area B is observed as an example of data with high wide-area characteristics as an example.

In FIG. 10, the data observed by the vehicles 101-1 and 101-2 are detected by the respective vehicles by connecting to the information processing system infrastructure 400-A in area A and the information processing system infrastructure 400-B in area B. Upload data. The information processing system infrastructure 400-A of the area A determines the processing hierarchy of the data according to the wide area of the data, and the edge server 600- of the area A via the edge server network 500-1-1 of the area A. 1-1, or upload to the cloud server 600-2 via the cloud server network 500-2-1 in area A. The information processing system infrastructure 400-B in the area B determines the processing hierarchy of data according to the wide area of the data, and the edge server 600- in the area B via the edge server network 500-1-2 in the area B. Further, the image data is uploaded to the cloud server 600-2 via the cloud server network 500-2-2 of the area B or 1-2.

As described above, the terminal load on the data center can be reduced by distributing the processing hierarchy in two layers of the edge server and the cloud server. Furthermore, the classification of the hierarchy in the present embodiment is performed according to the wide area of the data. As a result, processing can be performed by an edge server having a close physical distance with respect to data for which area narrowness is high and real-timeness is required, and efficiency of arithmetic processing can be achieved. In addition, by collectively processing only wide area data across multiple areas with the cloud server, long distance network bandwidth can be used only with data that really needs wide area analysis, thus improving network traffic efficiency. It is possible to realize utilization for city planning that can not be understood only by data of one area and derivation of a long distance route in which the operation time of the vehicle is the shortest while planning.

FIG. 11 is a block diagram showing the functional configuration of the information processing system infrastructure 400 in the present embodiment. The description of the overlapping portions will be omitted as compared with FIG. 3 showing the functional configuration of the information processing system infrastructure 400 in the first embodiment. Unlike in FIG. 3, the information processing system infrastructure 400 in the present embodiment includes a server processing attribute determination unit 400-6 at a stage subsequent to the server data transmission unit constituting the server data transmission unit 400-5-1. At the time of data transmission in step S514 in FIG. 5, the information processing system infrastructure 400 in the present embodiment determines the processing attribute according to the processing attribute 802 of the detection data included in the index data. The data is transmitted to either the edge server 600-1 via the edge server network 500-1 or the cloud server 600-2 via the cloud server network 500-2.

FIG. 12 shows an example of the processing attribute determination table for each item of information. The large classification classifies whether each item belongs to any of dynamic information, quasi-dynamic information, and quasi-static information, and the presence or absence of the mark of the determination result indicates the hierarchy of the processing attribute. As described above, there is also an item to be uploaded to the cloud server as data having a wide area in the case of detection information on a highway even though it is quasi-dynamic information. The processing attribute determination table is not limited to the items listed in FIG. 12, and the determination result is not limited to the initial state. Along with the change of the information processing system 100, updates such as addition of items and change of the determination result may be added.

Furthermore, the information processing system server 600 (the edge server 600-1 and the cloud server 600-2) can analyze each object in more detail or accurately based on the analysis result of the data uploaded from the vehicle. You may request more detailed data from previously shared data. FIG. 13 is a schematic view showing a concept of performing a detailed data request to the vehicles 101-1 and 101-2 of each area according to the analysis result of the cloud server 600-2 in the present embodiment. That is, as shown in FIG. 13, when the cloud server 600-2 requests the detailed data related to the data having high wide area property, the detailed data is sent to the own vehicle 101-1 and 101-2 by the request signal shown by the star mark. To request.

FIG. 14 shows an example of detailed data requested by the information processing system server 600 (the edge server 600-1 and the cloud server 600-2). For example, although it is determined that road surface slippage has occurred as an analysis result based on narrow area data from the detection data of sudden change of the in-vehicle acceleration sensor by the edge server 600-1, the cause can not be identified with the current data If it is determined, the edge server 600-1 requests the sensor detection result such as the road surface temperature and the light reflectance in the vicinity of the detection position as the detailed data. This is to determine whether the cause of road surface slippage is puddle, road surface freezing, or road surface snow according to the required detailed data. As another example, the cloud server 600-2 determines that the wide area is not visible as an analysis result based on the detection data of the decrease in the camera view, but if it is determined that the current data can not identify the cause, the cloud server 600-2 requests the scattering coefficient in the vicinity of the detection position as detailed data. This is to determine whether the cause of the wide area visibility is fog, PM 2.5 or volcanic ash, based on the required detailed data. In addition, if it is determined that detection data sent from a vehicle is very rare detection data as an analysis result in view of conventional detection data etc. at the detection position, the information processing system server 600 ( The edge server 600-1 or the cloud server 600-2) may request data that can prove the detection result as detailed data.

FIG. 15 shows an example of the items included in the detailed data request packet created when the information processing system server 600 (the edge server 600-1 and the cloud server 600-2) requests the detailed data. The detailed data request packet includes, for example, a packet number, a transmission server ID, a request data position, a request data range, and a request data item.

As described above, according to the configuration and processing of the present embodiment, the terminal load applied to the data center can be reduced by changing the layer for processing the information according to the wide area of the information to be shared, and the operation regarding the data for which real time property is required It is possible to realize processing efficiency and network traffic efficiency.

This embodiment calculates the probability while displaying the maximum number of recognition results for the same target detection data shared by many vehicles when the information processing system is actually operated, along with the recognition results By displaying, it is an embodiment intended to take advantage of the statistical data of multiple data collection shared by many traveling vehicles. Hereinafter, the information processing system 100 according to the present embodiment will be described with reference to FIGS. 16 and 17.

FIG. 16A is a schematic diagram showing the concept of processing of detection data of the same object shared by many vehicles in this embodiment. As an example, detection data from a total of six transmission vehicle IDs A, B, C, D, E, and F are shared by the information processing system server 600, and detection data includes the surroundings of each vehicle. The results detected and recognized by the information acquisition unit 102 are included.

FIG. 17 is a flowchart of the same target detection data process performed by the information processing system server 600 in the present embodiment. In FIG. 17, first, when the same target detection data process is started (step S1701), in step S1702, it is determined whether or not the first detection data exists in the area that the information processing system server 600 takes charge of. If it is determined that the first detection data is not detected (No in step S1702), the process proceeds to step S1702 again, and step S1702 is repeated until the determination becomes Yes. When it is determined that the first detection data is detected (Yes in step S1702), the process proceeds to step S1703.

In step S1703, the information processing system server 600 performs attribute classification on the first detection data according to the attribute classification table prepared in advance. If attribute classification is completed, it will transfer to step S1704. In the following step S1704, a circular initial determination range 1600-1 having a radius of Rdef set in advance is set as a two-dimensional area, with the detection position 804 of the first detection data as the first position center. A circular area of white dots on the black background in FIG. 16A represents the initial determination range 1600-1. When the initial determination range 1600-1 is set, the process proceeds to step S1705.

In step S1705, it is determined whether there is additional detection data in the initial determination range 1600-1 set in step S1705 other than the first detection data. If there is no additional detection data (No in step S1705), the process returns to step S1705 again, and step S1705 is repeated until the determination becomes Yes. If it is determined that there is additional detection data within the initial determination range 1600-1 (Yes in step S1705), the process moves to step S1706.

In step S1706, attribute division is performed on the data detected in step S1705 according to the attribute division table prepared in advance as in step S1703. If attribute classification is completed, it will transfer to step S1707.

In step S1707, it is determined whether the number of data having the same detection data attribute in the initial determination range 1600-1 is equal to or greater than a predetermined number of data Nth. If the number of data of the same detected data attribute is smaller than Nth (No in step S1707), the process advances to step S1705. If it is determined that the number of data of the same detection data attribute is equal to or greater than Nth (Yes in step S1707), the process proceeds to step S1708.

In step S1708, the standard deviation .sigma. Is calculated with respect to the variation in the distance from the average value of the detection position 804 represented by the two-dimensional coordinates of all the data determined to be the same detection data attribute to the detection position. Further, a circular identical detection data judgment range 1600-2 is created with a radius of 3σ with respect to the standard deviation σ with the average coordinate value X of the detection position 804 as the center. The circle region of the tile pattern represents the same detection data determination range 1600-2 on the white background in FIG. 16 (a). When the same detection data determination range 1600-2 is set, the process proceeds to step S1709.

In step S1709, the ratio of the detection data number of the largest number of recognition results in all the data determined to be the same detection data attribute detected so far is calculated. For example, as shown in the table of FIG. 16A, the calculation result of the recognition result probability P with respect to six detection results is expressed by (Expression 1).

That is, the number of identical detection data attributes, which is the denominator of (Equation 1), is five for the same attributes A to E in the road surface condition, while the maximum number of recognition results for the numerator is B to E Since there are four, as a result, the recognition result is road surface freezing, and the recognition result probability P at that time is 80%. When the calculation of the recognition result probability P ends, the process moves to step S1710.

In step S1710, it is determined whether there is additional detection data in the same detection data determination range 1600-2. If additional detection data is present (Yes in step S1710), the process advances to step S1711. In step S1711, attribute classification is performed on the new detection data detected in step S1710 according to the attribute classification table prepared in advance as in step S1703. If attribute classification is completed, it will transfer to step S1708. On the other hand, when it is determined in step S1710 that there is no additional detection data in the initial determination range 1600-1 (No in step S1710), the process proceeds to step S1712.

In step S1712, a timeout is determined. That is, it is determined whether the time elapsed since the last addition of new detection data exceeds a preset time Tth. If it is determined in step S1712 that the time elapsed since the last addition of new detection data did not exceed Tth (No in step S1712), the process moves to step S1710. On the other hand, if it is determined that the elapsed time since the last addition of the new detection data exceeds Tth (Yes in step S1712), the process moves to step S1713, and the identical target detection data processing ends.

In the same object detection data processing, the recognition result and the recognition result probability P are sequentially updated in real time, for example, when the own vehicle 101 approaches the vicinity of the detection position 804 in a display such as 1600-3 in FIG. The driver may be notified.

Further, the recognition result probability P may be derived not only by the simple average as described above, but also by a calculation method in which the surrounding information acquisition unit 102 of each vehicle sharing the detection data is weighted. For example, in the case where detection data as shown in the table of FIG. 16 (a) are shared, the case where the past recognition agreement rate of the surrounding information acquisition unit 102 of each vehicle in the past becomes as shown in the table of FIG. Think. Here, the past recognition agreement rate indicates the probability that the recognition result by the surrounding information acquisition unit 102 in the past agrees with the largest number of recognition results derived by the same object detection data processing shown in FIG. The recognition result probability P 'in the case of the table of FIG. 16 (b) is expressed by (Expression 2).

That is, since the denominator of (Equation 2) is the sum of the past recognition coincidence rates of A to E, and the numerator is the sum of the past recognition coincidence rates of B to E, the recognition result probability P 'is 78.9% . As described above, according to the configuration and processing of the present embodiment, in actual operation of the information processing system 100, it is possible to make use of the merits of statistical data of multiple data collection shared by many traveling vehicles.

100: information processing system, 101: own vehicle, 102: ambient information acquisition unit, 103: in-vehicle communication device, 200: other vehicle, 300: oncoming vehicle, 400: information processing system infrastructure, 400-1: wireless data transceiver, 400-2: data storage unit, 400-3: processing attribute determination unit, 400-4: transmission data list creation unit, 400-5: server data transmission / reception unit, 500: information processing system network, 600: information processing system server, 600-1: Edge server, 600-2: Cloud server, 804: Detection position

Claims

An ambient information acquisition unit that detects information around itself as ambient information;
A data storage unit for collecting detection position information obtained by detecting the surrounding information of a plurality of targets having the surrounding information acquisition unit;
A shared data creation unit configured to analyze the plurality of target ambient information and the detected position information to create shared data;
An information processing system, wherein the shared data is shared with the plurality of targets.
The information processing system according to claim 1, wherein
The information processing system according to claim 1, wherein the ambient information acquisition unit includes a sensor provided in the self and detects the plurality of types of ambient information.
The information processing system according to claim 1, wherein
The shared data creation means comprises a plurality of processing hierarchies,
An information processing system, comprising: selecting the plurality of processing layers according to an attribute of the ambient information detected by the ambient information acquisition unit.
The information processing system according to claim 3, wherein
The plurality of objects are vehicles,
The ambient information acquisition unit is mounted on the vehicle,
The data storage unit includes an information processing system infrastructure that exchanges information by inter-vehicle communication with the vehicle.
An information processing system characterized in that the shared data creation means is an information processing system server connected to the information processing system infrastructure via a network.
The information processing system according to claim 3 or 4, wherein
The plurality of processing hierarchies include processing hierarchies on a network,
The processing layers on the network have a plurality of processing layers having different distances from the physical base point for transmitting the surrounding information and the detected position information,
An information processing system, comprising: selecting a processing hierarchy on the network according to a type of the ambient information acquired by the ambient information acquiring unit.
The information processing system according to claim 5, wherein
An information processing system, wherein a processing hierarchy on the network is selected according to the level of the wide area of the surrounding information.
The information processing system according to claim 3 or 4, wherein
The information processing system according to claim 1, wherein the shared data creation unit displays a maximum number of recognition results when a plurality of pieces of ambient information for the same ambient information are detected.
The information processing system according to claim 7, wherein
The information processing system, wherein the shared data creating means displays the largest number of recognition results and also displays the ratio of the largest number of recognition results in all the surrounding information.
The information processing system according to claim 8, wherein
7. The information processing system according to claim 1, wherein the shared data creating unit weights and displays the ratio of the largest number of recognition results.
An information processing system infrastructure used for an information processing system that shares the surrounding information of a vehicle,
A data storage unit for collecting surrounding information detected by the vehicle and detected position information at which the surrounding information is detected;
A processing attribute determination unit that determines whether to include a processing hierarchy to be updated in the server according to the attribute of the ambient information;
A transmission data list creation unit that creates a transmission data list when the processing attribute determination unit determines that the server includes a processing hierarchy to be updated in the server;
An information processing system infrastructure comprising: a server data transmission unit that transmits data to a server based on the transmission data list created by the transmission data list creation unit;
An information processing method for sharing surrounding information of a vehicle,
Detect the surrounding information of multiple vehicles,
Collecting detection position information that detected the ambient information;
Analyzing the surrounding information and the detected position information of the plurality of vehicles to create shared data;
An information processing method comprising: selecting a hierarchy of sharing processing of the shared data according to an attribute of the ambient information.