WO2019181839A1 - Data structure, terminal device, data communication method, program, and storage medium - Google Patents

Data structure, terminal device, data communication method, program, and storage medium Download PDF

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Publication number
WO2019181839A1
WO2019181839A1 PCT/JP2019/011140 JP2019011140W WO2019181839A1 WO 2019181839 A1 WO2019181839 A1 WO 2019181839A1 JP 2019011140 W JP2019011140 W JP 2019011140W WO 2019181839 A1 WO2019181839 A1 WO 2019181839A1
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WO
WIPO (PCT)
Prior art keywords
data
surrounding environment
terminal device
upload
representative
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PCT/JP2019/011140
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French (fr)
Japanese (ja)
Inventor
泰裕 下野
鉄平 浜田
堀川　邦彦
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パイオニア株式会社
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Publication of WO2019181839A1 publication Critical patent/WO2019181839A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G08G1/133—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops
    • G08G1/137—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops the indicator being in the form of a map
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram

Definitions

  • the present invention relates to a technique for acquiring peripheral information of a moving body such as a vehicle.
  • Non-Patent Document 1 discloses specifications related to a data format for collecting data detected by a vehicle-side sensor with a cloud server.
  • the server device When the server device collects various types of data from the vehicle, the amount and content of the data that the server device requests from the vehicle vary depending on the target area, the vehicle status, and the like. For example, when there are a large number of vehicles in the target area, it is necessary to perform control so that the amount of data transmitted to the server device does not become excessive. Further, the server device may request only data that satisfies certain conditions with respect to the type of sensor used on the vehicle side, the position and direction of the vehicle when data is acquired, the reliability of the acquired data, and the like. In addition, if a vehicle that has received a data generation and transmission request from the server device cannot generate the requested data due to a sensor failure or the like, another vehicle generates the data and sends it to the server instead. It is necessary to do.
  • the present invention has been made to solve the above-described problems, and it is an object of the present invention to appropriately control the amount and content of data collected from a vehicle by a server device according to the situation.
  • the invention according to claim 1 is a data structure of transmission data transmitted from the terminal device that generates the surrounding environment data related to the surrounding environment detected by the detection device mounted on the mobile body to the information processing device, Including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is being transmitted on behalf of another terminal device capable of detecting the surrounding environment, Used for device recognition.
  • the invention according to claim 6 is a terminal device mounted on a mobile body, the first generating means for detecting the surrounding environment and generating the surrounding environment data related to the detected surrounding environment, the surrounding environment data, Second transmission means for generating transmission data including representative transmission data indicating whether or not the peripheral environment data is transmitted on behalf of another terminal device capable of detecting the peripheral environment, and the transmission data Transmitting means for transmitting to the information processing apparatus.
  • the invention according to claim 7 is a data communication method executed by a terminal device mounted on a mobile body, the first generation step of detecting the surrounding environment and generating the surrounding environment data related to the detected surrounding environment; Second generation for generating transmission data including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment And a transmission step of transmitting the transmission data to the information processing apparatus.
  • the invention according to claim 8 is a program that is mounted on a mobile body and is executed by a terminal device that includes a computer, and that detects a surrounding environment and generates a surrounding environment data related to the detected surrounding environment. Second generation for generating transmission data including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment The computer is caused to function as a means for transmitting the transmission data to the information processing apparatus.
  • One preferred embodiment of the present invention is a data structure of transmission data transmitted from a terminal device that generates peripheral environment data related to a surrounding environment detected by a detection device mounted on a mobile body to an information processing device. Including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment. Used for recognition by the information processing apparatus.
  • the above transmission data is transmitted from the terminal device that generates the surrounding environment data related to the surrounding environment detected by the detecting device mounted on the moving body to the information processing device.
  • the data structure includes the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment. This data structure is used for the information processing apparatus to recognize that the representative transmission has been performed.
  • One aspect of the above data structure includes the number of other terminal devices represented by the terminal device when the representative transmission data represents another terminal device.
  • the information processing apparatus can know how many other terminal apparatuses the transmission data represents.
  • the surrounding environment data includes feature data relating to features detected by the detection device and features relating to features stored in the moving body at the same location. It is difference data which shows the difference with data.
  • the information processing apparatus can acquire difference data from already stored feature data.
  • Another aspect of the data structure includes position data of the moving body when the surrounding environment data is generated.
  • the information processing apparatus can know at which position the moving object has generated the surrounding environment data.
  • Another aspect of the above data structure includes type data indicating the type of the detected surrounding environment.
  • the information processing apparatus can know the type of the detected surrounding environment.
  • Another preferred embodiment of the present invention is a terminal device mounted on a mobile object, the first generating means for detecting the surrounding environment and generating the surrounding environment data related to the detected surrounding environment, and the surrounding environment data And second transmission means for generating transmission data including representative transmission data indicating whether or not the peripheral environment data is transmitted on behalf of another terminal device capable of detecting the peripheral environment, and the transmission Transmitting means for transmitting data to the information processing apparatus.
  • the surrounding environment is detected, and surrounding environment data related to the detected surrounding environment is generated. Then, transmission data including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment is generated, and the information processing device Sent to. Thereby, the information processing apparatus can know that the transmission data is transmitted on behalf of another terminal apparatus.
  • Another preferred embodiment of the present invention is a data communication method executed by a terminal device mounted on a mobile body, wherein the first generation detects a surrounding environment and generates surrounding environment data related to the detected surrounding environment. Generating transmission data including a process, the surrounding environment data, and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment. 2 generation process, and the transmission process which transmits the said transmission data to information processing apparatus.
  • the surrounding environment is detected, and surrounding environment data related to the detected surrounding environment is generated. Then, transmission data including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment is generated, and the information processing device Sent to. Thereby, the information processing apparatus can know that the transmission data is transmitted on behalf of another terminal apparatus.
  • Another preferred embodiment of the present invention is a program that is mounted on a mobile body and is executed by a terminal device that includes a computer.
  • the first embodiment detects a surrounding environment and generates surrounding environment data related to the detected surrounding environment.
  • the computer is caused to function as generation means and transmission means for transmitting the transmission data to the information processing apparatus.
  • the above terminal device can be realized by executing this program on a computer.
  • This program can be stored and handled in a storage medium.
  • FIG. 1 is a schematic configuration of a data collection system according to an embodiment.
  • the data collection system includes a terminal device 1 that moves together with a vehicle that is a moving body, and a server device 2 that communicates with each terminal device 1 via a network. And a data collection system updates the map and other information which the server apparatus 2 holds based on the information transmitted from each terminal device 1.
  • FIG. 1 includes data used for ADAS (Advanced Driver Assistance System) and automatic driving in addition to data referred to by a conventional in-vehicle device for route guidance.
  • ADAS Advanced Driver Assistance System
  • the server device 2 establishes a communication session with the terminal device 1 of each vehicle, and sends a request Dr that requests transmission of data related to the surrounding environment of the vehicle (hereinafter referred to as “ambient environment data”) to the server device 2. It transmits to the terminal device 1.
  • the terminal device 1 transmits upload data Du including the requested surrounding environment data to the server device 2.
  • the terminal device 1 includes the attribute information of the vehicle on which the terminal device 1 is mounted in the upload data Du and transmits the upload data Du to the server device 2.
  • the terminal device 1 generates peripheral environment data based on the output of the sensor unit 7 including a camera and a lidar (LIDAR: Laser Illuminated Detection and Ranging, Laser Imaging Detection and Ranging or LiDAR: Light Detection and Ranging).
  • the data is included in the upload data Du and transmitted to the server device 2.
  • the server device 2 receives and stores the upload data Du from each terminal device 1.
  • the server device 2 detects, for example, a changed portion (change point) from the creation reference time point of the map data based on the collected upload data Du, and updates the map data to reflect the detected change point.
  • the terminal device 1 performs vehicle-to-vehicle communication by transmitting / receiving vehicle-to-vehicle communication data Dv to / from other terminal devices 1.
  • the terminal device 1 may be a vehicle-mounted device attached to the vehicle, a part of the vehicle-mounted device, or a part of the vehicle.
  • the terminal device 1 may be a portable terminal device such as a notebook PC.
  • FIG. 2 is a block diagram illustrating a functional configuration of the terminal device 1.
  • the terminal device 1 mainly includes a communication unit 11, a storage unit 12, an input unit 13, a control unit 14, an interface 15, and an output unit 16.
  • Each element in the terminal device 1 is connected to each other via a bus line 98.
  • the communication unit 11 transmits upload data Du to the server device 2 or receives map data for updating the map DB 4 from the server device 2 based on the control of the control unit 14. Moreover, the communication part 11 may perform the process which transmits the signal for controlling a vehicle to a vehicle, and the process which receives the signal regarding the state of a vehicle from a vehicle.
  • the storage unit 12 stores a program executed by the control unit 14 and information necessary for the control unit 14 to execute a predetermined process.
  • the storage unit 12 stores a plurality of map DBs 4, a sensor data cache 6, and vehicle attribute information IV.
  • the map DB 4 is a database including road data, facility data, and feature data around the road, for example.
  • the road data includes lane network data for route search, road shape data, traffic regulation data, and the like.
  • the feature data includes information such as signs such as road signs, road markings such as stop lines, road lane markings such as center lines, and structures along the road. Further, the feature data may include highly accurate point cloud information of the feature to be used for the vehicle position estimation.
  • the map DB 4 may store various data necessary for position estimation.
  • storage part 12 may memorize
  • the sensor data cache 6 is a cache memory that temporarily holds output data (so-called raw data) of the sensor unit 7.
  • the vehicle attribute information IV indicates information related to attributes of the vehicle on which the terminal device 1 is mounted, such as a vehicle type, a vehicle ID, a vehicle length, a vehicle width, a vehicle size such as a vehicle height, and a fuel type of the vehicle.
  • the input unit 13 is a button operated by the user, a touch panel, a remote controller, a voice input device, and the like. For example, an input for specifying a destination for route search, an input for specifying on / off of automatic driving, and the like And the generated input signal is supplied to the control unit 14.
  • the output unit 16 is, for example, a display or a speaker that performs output based on the control of the control unit 14.
  • the interface 15 performs an interface operation for supplying the output data of the sensor unit 7 to the control unit 14 and the sensor data cache 6.
  • the sensor unit 7 includes a plurality of external sensors for recognizing the surrounding environment of the vehicle such as a rider 31 and a camera 32, and internal sensors such as a GPS receiver 33, a gyro sensor 34, a position sensor 35, and a triaxial sensor 36.
  • the lidar 31 discretely measures the distance to an object existing in the outside world, recognizes the surface of the object as a three-dimensional point group, and generates point group data.
  • the camera 32 generates image data taken from the vehicle.
  • the position sensor 35 is provided for detecting the position of each external sensor, and the triaxial sensor 36 is provided for detecting the posture of each external sensor.
  • the sensor unit 7 may include an arbitrary external sensor and an internal sensor other than the external sensor and the internal sensor shown in FIG.
  • the sensor unit 7 may include an ultrasonic sensor, an infrared sensor, a microphone, and the like as
  • the control unit 14 includes a CPU that executes a predetermined program on one or a plurality of platforms, and controls the entire terminal device 1.
  • the control unit 14 functionally includes a position estimation unit 17, an object detection unit 18, and an upload data generation unit 19.
  • FIG. 3 is a block diagram illustrating an outline of processing of the position estimation unit 17, the object detection unit 18, and the upload data generation unit 19 of the terminal device 1.
  • the position estimation unit 17 estimates the own vehicle position (including the attitude of the vehicle) based on the output data of the sensor unit 7 held in the sensor data cache 6 and the map DB 4.
  • the position estimation unit 17 can execute various position estimation methods.
  • the position estimator 17 further collates the road data in the map DB 4 with autonomous navigation, a vehicle position estimation method based on dead reckoning (autonomous navigation) based on outputs of autonomous positioning sensors such as the GPS receiver 33 and the gyro sensor 34, and the like.
  • a vehicle position estimation method based on the mark position information is executed.
  • the position estimation unit 17 executes the position estimation method that provides the highest estimation accuracy among the currently executable position estimation methods, and indicates the vehicle position obtained based on the executed position estimation method.
  • the position information is supplied to the upload data generation unit 19.
  • the position estimation unit 17 includes information for specifying the executed position estimation method in the vehicle position information and supplies the information to the upload data generation unit 19.
  • the object detection unit 18 detects a predetermined object based on point cloud information, image data, audio data, and the like output from the sensor unit 7.
  • the object detection unit 18 extracts feature data corresponding to the object detected by the sensor unit 7 from the map DB 4 based on the vehicle position estimated by the position estimation unit 17. Then, the object detection unit 18 determines whether there is a difference between the position and shape of the object detected by the sensor unit 7 and the position and shape of the object indicated by the feature data extracted from the map DB 4 or When the corresponding feature data does not exist, information related to the object detected by the sensor unit 7 (also referred to as “object data”) is supplied to the upload data generation unit 19.
  • the object detection unit 18 detects a specific object regardless of whether the object detected by the sensor unit 7 and the object indicated by the feature information in the map DB 4 are different in shape, position, or the like.
  • Object data related to the object may be supplied to the upload data generation unit 19. For example, when the object detection unit 18 recognizes the content, shape, position, or the like of a road sign based on the output of the sensor unit 7, or when the position, shape, etc. of a lane boundary (ie, a lane line) is recognized. These recognition results may be supplied to the upload data generation unit 19 as object data.
  • the upload data generation unit 19 includes vehicle position information supplied from the position estimation unit 17, object data supplied from the object detection unit 18, and output data (so-called raw data) of the sensor unit 6 supplied from the sensor data cache 6. Data) and upload data Du is generated. Then, the upload data generation unit 19 transmits the generated upload data Du to the server device 2 through the communication unit 11. For example, when the communication session with the server device 2 is established, the upload data generation unit 19 generates upload data Du including the vehicle attribute information IV, and transmits the generated upload data Du to the server device 2 through the communication unit 11. To do.
  • FIG. 4 is a block diagram showing a functional configuration of the server device 2. As illustrated in FIG. 4, the server device 2 mainly includes a communication unit 21, a storage unit 22, and a control unit 23. Each element in the server device 2 is connected to each other via a bus line 99.
  • the communication unit 21 receives the upload data Du from each terminal device 1 or transmits map data for updating the map DB 4 to each terminal device 1 based on the control of the control unit 23.
  • the storage unit 22 stores a program executed by the control unit 23 and information necessary for the control unit 23 to execute a predetermined process.
  • the storage unit 22 stores the distribution map DB 5.
  • the distribution map DB 5 is map data for distribution to each terminal device 1 and is updated based on the upload data Du received from each terminal device 1. Similar to the map DB 4, the distribution map DB 5 stores various data used in automatic driving, ADAS, etc., such as road data, facility data, and feature data around the road.
  • the control unit 23 includes a CPU that executes a predetermined program, and controls the entire server device 2.
  • the control unit 23 updates the map data in the distribution map DB based on the surrounding environment data included in the upload data Du.
  • the vehicle is an example of the moving body of the present invention
  • the sensor unit 7 is an example of the detection apparatus of the present invention
  • the server apparatus 2 is an example of the information processing apparatus of the present invention.
  • the terminal devices 1 of a plurality of vehicles requested to upload the surrounding environment data from the server device 2 cooperate to upload the surrounding environment data.
  • “cooperate” means that any one of the plurality of terminal devices 1 requested to upload data transmits peripheral environment data to the server device 2 as a representative of the plurality of terminal devices 1.
  • the server device 2 collects the surrounding environment data using the terminal device 1, it is not necessary for the server device 2 to acquire data from the terminal devices 1 of all vehicles in an area where the traveling density of the vehicle is high. . That is, it does not make sense to transmit the same surrounding environment data from a large number of terminal devices 1, but rather the processing load on the server device 2 side increases. Therefore, when the server device 2 requests the terminal device 1 to upload the surrounding environment data, the server device 2 cooperates between the plurality of terminal devices 1 and represents one terminal device 1 that represents the plurality of terminal devices 1 (hereinafter referred to as “representative terminal”). Device 1 ”) also instructs or permits uploading of the surrounding environment data to the server device 2.
  • the server apparatus 2 requests (hereinafter referred to as “representative upload request”) that includes information indicating, allowing, or prohibiting the uploading of the surrounding environment data (hereinafter referred to as “representative upload”) by the representative terminal apparatus 1. To the terminal device 1.
  • Fig. 5 shows the format of a representative upload request.
  • the representative upload request is a request for one of the plurality of terminal devices 1 to upload the surrounding environment data on behalf of the terminal device 1, and is transmitted from the server device 2 to the terminal devices 1 of the plurality of vehicles. .
  • the representative upload request includes a “basic information part” and a “specific information part”.
  • the basic information part is a part including basic information necessary for a request from the server device 2 to the terminal device 1, and includes “header”, “target vehicle information”, and “target area information”.
  • the “header” includes a version of a data format used in communication performed between the server device 2 and the terminal device 1, and a time stamp indicating the time when the request is transmitted.
  • “Target vehicle information” is information for identifying a vehicle to which a request is transmitted, and is, for example, a vehicle ID.
  • “Target area information” is information for specifying the transmission target area of the request, such as a link ID or an area ID in map data. Therefore, the request transmitted from the server device 2 to the terminal device 1 exists in the target area indicated by the target area information, and is transmitted to the terminal device 1 of the vehicle specified by the target vehicle information.
  • the specific information part of the representative upload request includes “representative upload flag”, “representative number”, “peripheral environment position”, “measurement start position”, “measurement end position”, “upload time interval”, “peripheral environment type”, Includes “sensor type”.
  • “Representative upload flag” is a flag indicating whether or not a plurality of terminal devices 1 that have received a representative upload request cooperate to upload peripheral environment data.
  • the representative upload flag “1” indicates that a plurality of terminal devices 1 cooperate to request that the representative terminal device 1 uploads the surrounding environment data to the server device 2.
  • the representative upload flag “0” indicates that the plurality of terminal devices 1 do not need to cooperate and each terminal device 1 is requested to individually upload the surrounding environment data to the server device 2.
  • the representative upload flag “2” indicates that a plurality of terminal devices 1 may cooperate. In this case, cooperation is allowed but not mandatory. Therefore, a plurality of terminal devices 1 may cooperate, the representative terminal device 1 may upload the surrounding environment data to the server device 2, and each terminal device 1 may individually upload the surrounding environment data to the server device 2. .
  • the “representative number” indicates how many other terminal devices 1 a single representative terminal device 1 represents when a plurality of terminal devices 1 cooperate. For example, when the representative number is “10”, the ten terminal devices 1 that have received the representative upload request cooperate to determine one representative terminal device 1, and the representative terminal device 1 transmits the surrounding environment data to the server device. Will be uploaded to 2.
  • “Ambient environment position” is information indicating the position of the surrounding environment from which the server device 2 requests data, and includes the position of the surrounding environment or the ID of the surrounding environment. For example, when the server device 2 requests the surrounding environment data related to a certain feature such as a specific building or sign, the surrounding environment position is a position coordinate of the feature or an ID given to the feature.
  • Measurement start position and “measurement end position” are information for designating a range in which the terminal device 1 should measure the surrounding environment.
  • the measurement start position indicates a position where the terminal device 1 should start measurement of the surrounding environment
  • the measurement end position indicates a position where the terminal device 1 should end the measurement of the surrounding environment. For example, when requesting the surrounding environment data about a traffic jam or an accident in a specific section of a road where the server device 2 is located, the start position and end position of the section are set as the measurement start position and measurement end position, respectively.
  • one of the surrounding environment position, the measurement start position, and the measurement end position is set according to the surrounding environment data requested by the server device 2 or both are set.
  • the server device 2 requests the surrounding environment data of a specific feature as described above, it is not necessary to set only the surrounding environment position and set the measurement start position and the measurement end position.
  • the server device 2 may set only the measurement start position and the measurement end position without setting the surrounding environment position.
  • the server device 2 requests the surrounding environment data for a certain feature existing in a certain section (for example, a specific sign existing in a certain section), the surrounding environment position, the measurement start position, and the measurement Both the end position and the end position may be set.
  • “Upload time interval” is information for specifying an interval at which the terminal device 1 transmits upload data to the server device 2.
  • “Ambient environment type” is information indicating the type of the surrounding environment for which the server device 2 requests data. Specifically, the feature, feature difference, construction, traffic jam, accident, fallen object, road collapse Including freezing, snow cover, road surface condition, etc. Further, when the surrounding environment for which the server apparatus 2 requests data is not classified into any of these, the surrounding environment type is set to “other”, and when the surrounding environment is not classified into a specific type, the surrounding environment type is set. Is set to “none”.
  • the “feature difference” refers to a difference value between the feature data included in the current map data and the feature data measured by the terminal device 1.
  • “Sensor type” is information that specifies the type of sensor that the terminal device 1 should use for measuring the surrounding environment, and includes, for example, a lidar, an ultrasonic sensor, a radar, and the like.
  • the representative upload request process is a process in which the server device 2 transmits a representative upload request shown in FIG. 5 to the plurality of terminal devices 1.
  • FIG. 6 is a flowchart of representative upload request processing. This process is performed by the control unit 23 of the server device 2 executing a program prepared in advance.
  • the server device 2 determines the surrounding environment to be measured (step S20). That is, the server device 2 determines peripheral environment data to be collected using the terminal device 1 among various information managed on the server device 2 side. For example, when a building or a sign is maintained in a specific area, the server device 2 determines to collect surrounding environment data related to the feature or sign in the area.
  • the server device 2 determines whether or not the plurality of terminal devices 1 should cooperate with each other to upload the surrounding environment data, and sets a representative upload flag (step S11). For example, as described above, in an area where the travel density of the vehicle is high, the server device 2 sets the representative upload flag to “1” as an instruction for the representative upload to the terminal device 1 or permits the representative upload. The representative upload flag is set to “2”. When instructing or permitting the representative upload, the server device 2 also determines the representative number. On the other hand, in an area where the running density of the vehicle is not high or when it is desired to collect as many data as possible, the server device 2 sets the representative upload flag to “0” as prohibiting the representative upload.
  • the server device 2 generates a representative upload request including the set representative upload flag and the representative number (step S12), and transmits it to the plurality of terminal devices 1 (step S13).
  • the representative upload request process ends.
  • the plurality of terminal devices 1 that have received a representative upload request for instructing or permitting a representative upload negotiate using vehicle-to-vehicle communication or the like, and determine the representative terminal device 1. At this time, the plurality of terminal devices 1 determine one representative terminal device 1 for each representative number included in the representative upload request. The determined representative terminal device 1 uploads the surrounding environment data to the server device 2 on behalf of the other terminal device 1.
  • the upload data including the representative upload flag is hereinafter referred to as “representative upload data”.
  • Fig. 7 shows the format of representative upload data.
  • the representative upload data includes a “basic information part” and a “specific information part”.
  • the basic information part is a part including basic information necessary for upload data from the terminal device 1 to the server device 2 and includes “header”, “vehicle metadata”, and “vehicle position”.
  • the “header” includes a version of a data format used in communication performed between the server apparatus 2 and the terminal apparatus 1 and a time stamp indicating the time when the upload data is transmitted.
  • “Vehicle metadata” is information relating to a vehicle on which the terminal device 1 is mounted, and includes a vehicle ID, a vehicle size, a type of sensor mounted on the vehicle, and the like.
  • “Vehicle position” is information indicating the position of the vehicle when the terminal device 1 measures the surrounding environment, for example, position coordinates.
  • the unique information part of representative upload data includes “representative upload flag”, “representative number”, “peripheral environment position”, “peripheral environment type”, and “peripheral environment data”.
  • the “representative upload flag” is a flag indicating whether or not the upload data is transmitted on behalf of the plurality of terminal devices 1, that is, whether or not the representative upload is performed.
  • the representative upload flag is set to “1” when the representative upload is performed, and is set to “0” when the representative upload is not performed.
  • the “representative number” indicates how many other terminal devices 1 the representative terminal device 1 represents when the representative upload is performed.
  • the “peripheral environment position” is information indicating the position of the surrounding environment that is the basis of the surrounding environment data transmitted from the terminal device 1 to the server device 2, and includes the position of the surrounding environment or the ID of the surrounding environment.
  • the surrounding environment position is a position coordinate of the feature or an ID given to the feature.
  • “Ambient environment type” is information indicating the type of the surrounding environment that is the basis of the surrounding environment data transmitted from the terminal device 1 to the server device 2. Specifically, the feature, feature difference, construction, traffic jam , Accidents, fallen objects, road depressions and freezing, snow cover, road surface conditions, etc. When the surrounding environment is not classified into any of these, the surrounding environment type is set to “other”, and when the surrounding environment is not limited to a specific type, the surrounding environment type is set to “none”. “Ambient environment data” is the surrounding environment data itself acquired by measurement. Specifically, any of the measured raw data, difference data with past data, a flag indicating that there is difference data, etc. Including.
  • the representative upload flag is an example of the representative transmission data of the present invention
  • the surrounding environment type is an example of the type data of the present invention.
  • the representative upload process is a process in which the representative terminal device 1 transmits the representative upload data shown in FIG.
  • FIG. 8 is a flowchart of the representative upload process. This process is performed by the control unit 14 of the terminal device 1 executing a program prepared in advance.
  • the terminal device 1 determines whether or not a representative upload request has been received from the server device 2 (step S20). If not received (step S20: No), the process ends. On the other hand, when the representative upload request is received (step S20: Yes), the terminal device 1 determines whether or not the terminal device 1 has become the representative terminal device 1 as a result of discussions with a plurality of terminal devices 1 through inter-vehicle communication or the like. (Step S21). If it is not the representative terminal device 1 (step S21: No), the process ends.
  • the terminal device 1 detects the vehicle position and measures the surrounding environment using a sensor or the like (step S22). Thereby, the vehicle position, the surrounding environment position, the surrounding environment type, the surrounding environment data, and the like included in the representative upload data are generated. Next, the terminal device 1 sets the representative upload flag to “1”, sets the number of other terminal devices 1 that it represents to the representative number, and includes the representative upload including each data generated in step S22. Data is generated (step S23). Then, the terminal device 1 transmits the generated representative upload data to the server device 2 (step S24). Thus, the representative upload process ends.
  • the server device 2 transmits a representative upload request including a representative upload flag to the terminal device 1 to respond to the environment of the target area and the surrounding environment data to be collected.
  • the amount of upload data from the plurality of terminal devices 1 can be controlled. Thereby, necessary surrounding environment data can be efficiently collected.
  • the server device 2 since the representative terminal device 1 transmits representative upload data including a representative upload flag indicating that it is the representative terminal device 1 to the server device 2, the server device 2 receives the upload data received from the terminal device 1. It can be easily known that the other terminal device 1 is represented.
  • the terminal device 1 when the terminal device 1 requested to upload the surrounding environment data from the server device 2 cannot generate the surrounding environment data due to a sensor failure or the like, the other terminal device 1 acts as a proxy. Then, the surrounding environment data is uploaded to the server device 2.
  • the terminal device 1 may not be able to generate the requested surrounding environment data depending on the state of the sensor. For example, when the sensor of the vehicle on which the terminal device 1 is mounted is out of order, the surrounding environment cannot be measured and the surrounding environment data cannot be generated. Further, although the sensor is not malfunctioning, the vehicle does not have the type of sensor necessary for generating the ambient environment data requested from the server device 2, or the sensor that is possessed is the server. If the specifications and software version requested by the apparatus 2 are not satisfied, the requested surrounding environment data cannot be generated. For example, when a rider is required on the vehicle side to generate the surrounding environment data requested by the server device 2, the terminal device 1 mounted on the vehicle that does not have the rider generates the requested surrounding environment data. Can not do it.
  • the terminal device 1 that cannot generate the surrounding environment data (hereinafter, also referred to as “proxy requesting terminal device 1”) has another terminal device 1 that can appropriately generate the requested surrounding environment data (hereinafter, “ Requests upload of the surrounding environment data to the proxy transmission terminal device 1 ”).
  • the proxy transmission terminal device 1 that has received the request from the proxy request terminal device 1 measures the peripheral environment instead of the proxy request terminal device 1, generates the peripheral environment data, and uploads it to the server device 2 (hereinafter referred to as “ Called proxy upload.)
  • the proxy transmission terminal device 1 adds information indicating that it is uploading the surrounding environment data on behalf of the proxy requesting terminal device 1 to the upload data and transmits it to the server device 2.
  • the server device 2 that has received the upload data can easily know that the upload data is being transmitted by the proxy transmission terminal device 1.
  • FIG. 9 shows the format of the proxy upload request.
  • the proxy upload request is a request in which the terminal device 1 that has received the upload request for the surrounding environment data from the server device 2 requests the other terminal device 1 to perform a proxy upload by inter-vehicle communication.
  • the proxy upload request is transmitted from the proxy request terminal device 1 to the proxy transmission terminal device 1.
  • the proxy upload request includes a “basic information part” and a “specific information part”.
  • the basic information part is a part including basic information necessary for a request from one terminal device 1 to another terminal device 1 by inter-vehicle communication, and includes “header” and “vehicle metadata”.
  • the “header” includes a version of a data format used in the inter-vehicle communication and a time stamp indicating the time when the request is transmitted.
  • “Vehicle metadata” is information relating to a vehicle on which the terminal device 1 is mounted, and includes a vehicle ID, a vehicle size, a type of sensor mounted on the vehicle, and the like.
  • the special information part of the proxy upload request includes “proxy upload flag”, “proxy reason”, “sensor type”, “peripheral environment position”, and “peripheral environment type”.
  • the “proxy upload flag” is information indicating whether or not the terminal device 1 that has received the upload request for the surrounding environment data from the server device 2 requests another terminal device 1 to perform proxy upload.
  • the proxy upload flag is set to “1” when requesting proxy upload to another terminal device 1, and is set to “0” when proxy upload is not requested. That is, in the proxy upload request transmitted from the proxy request terminal device 1 to the proxy transmission terminal device 1, the proxy upload flag is set to “1”.
  • “Reason Reason” is information indicating the reason for requesting proxy upload. For example, when the sensor is out of order, the proxy upload flag is set to “1”. When the vehicle does not have a sensor necessary for generating the ambient environment data requested from the server device 2, the proxy upload flag is set to “2”. When a data acquisition error by the sensor occurs and the surrounding environment data cannot be generated, the proxy upload flag is set to “3”.
  • the “sensor type” is information for specifying a sensor necessary for measuring the requested ambient environment data, and is, for example, a lidar, an ultrasonic sensor, a radar, or the like.
  • “Ambient environment position” is information indicating the position of the surrounding environment data requested by the server apparatus 2 to the proxy requesting terminal apparatus 1 and includes the position of the surrounding environment or the ID of the surrounding environment.
  • the “peripheral environment type” is information indicating the type of peripheral environment data requested by the server device 2 to the proxy request terminal device 1.
  • the proxy request terminal device 1 includes the “sensor type,“ peripheral environment position ”, and“ peripheral environment type ”in the proxy upload request and transmits them to the proxy transmission terminal device 1, thereby determining the surrounding environment to be measured.
  • the position and type, and the sensor type to be used are transmitted to the proxy transmission terminal device 1. If the surrounding environment data upload request received from the server device 2 specifies the surrounding environment to be measured by the measurement start position and the measurement end position as in the representative upload request shown in FIG. May include a measurement start position and a measurement end position instead of the surrounding environment position.
  • the proxy upload request process is a process in which the terminal device 1 transmits the proxy upload request shown in FIG. 9 to the other terminal device 1.
  • FIG. 10 is a flowchart of proxy upload request processing. This process is performed by the control unit 14 of the terminal device 1 executing a program prepared in advance.
  • the terminal device 1 determines whether or not a request for uploading ambient environment data has been received from the server device 1 (step S30). If not received (step S30: No), the process ends. On the other hand, when the surrounding environment data upload request is received (step S30: Yes), the terminal device 1 determines whether or not the requested surrounding environment can be measured based on the sensor status of its own vehicle ( Step S31). Specifically, the terminal device 1 determines whether or not it has a sensor necessary for generating the requested ambient environment data, and whether or not it currently operates normally.
  • step S31: Yes the terminal device 1 does not need to request proxy upload to another terminal device 1, and thus the proxy upload request process ends.
  • the terminal device 1 itself measures the surrounding environment, generates the surrounding environment data, and uploads it to the server device 2.
  • the terminal device 1 when measurement of the requested surrounding environment is not possible (step S31: No), the terminal device 1 generates a proxy upload request according to the format shown in FIG. 9 as the proxy request terminal device 1 (step S32). Specifically, the proxy request terminal device 1 sets the proxy upload flag to “1”, sets the reason why the peripheral environment cannot be generated as the proxy reason, and based on the peripheral environment data upload request from the server device 2. A proxy upload request is generated by setting a sensor type, a surrounding environment position, and a surrounding environment type. Then, the proxy request terminal device 1 transmits the generated proxy upload request to another terminal device 1 (step S33). Thus, the proxy upload request process ends.
  • the terminal device 1 that has received the proxy upload request from the proxy request terminal device 1 transmits the surrounding environment data to the server device 2 instead of the proxy request terminal device 1 as the proxy transmission terminal device 1.
  • the upload data transmitted from the proxy transmission terminal device 1 to the server device 2 in this way is referred to as proxy upload data.
  • Fig. 11 shows the format of proxy upload data.
  • the proxy upload data includes a “basic information part” and a “specific information part”.
  • the basic information part is a part including basic information necessary for upload data from the terminal device 1 to the server device 2 and includes “header”, “vehicle metadata”, and “vehicle position”. Since these data are the same as the representative upload data shown in FIG. 7, description thereof is omitted here.
  • the special information section of proxy upload data includes “proxy upload flag”, “proxy reason”, “proxy request vehicle”, “peripheral environment position”, “peripheral environment type”, and “peripheral environment data”.
  • the “proxy upload flag” is a flag indicating whether or not the upload data is transmitted on behalf of another terminal device 1, that is, whether or not proxy upload is being performed.
  • the proxy upload flag is set to “1” when proxy upload is performed, and is set to “0” when proxy upload is not performed.
  • the “proxy reason” is a reason why the proxy request terminal apparatus 1 requests proxy upload, and the proxy reason included in the proxy upload request received from the proxy request terminal apparatus 1 is included as it is.
  • the “proxy request vehicle” is information for identifying the vehicle on which the proxy request terminal device 1 is mounted, for example, the vehicle ID of the vehicle on which the proxy request terminal device 1 is mounted. This is included in the proxy upload data in order to inform the server device 2 of the proxy request vehicle.
  • the identification data of the proxy request terminal device 1 (for example, the ID of the terminal device 1) may be used.
  • the “peripheral environment position” and “peripheral environment type” are the position and type of the peripheral environment measured by the proxy transmission terminal device 1 and are basically the same as those included in the proxy upload request received from the proxy request terminal device 1. It is.
  • the “ambient environment data” is the ambient environment data itself acquired by measurement.
  • the proxy upload process is a process in which the proxy transmission terminal device 1 transmits the proxy upload data illustrated in FIG. 11 to the server device 2.
  • FIG. 12 is a flowchart of proxy upload processing. This process is performed by the control unit 14 of the terminal device 1 executing a program prepared in advance.
  • the terminal device 1 determines whether or not a proxy upload request has been received from the terminal device 1 of another vehicle (step S40). If the proxy upload request has not been received (step S40: No), the process ends. On the other hand, when the proxy upload request is received (step S40: Yes), the terminal device 1 becomes the proxy transmission terminal device 1, detects the vehicle position, and measures the surrounding environment using a sensor or the like (step S41). At this time, the proxy transmission terminal device 1 identifies the peripheral environment to be measured based on the peripheral environment position and the peripheral environment type included in the proxy upload request, and uses the sensor indicated by the sensor type included in the proxy upload request. Measure. Thereby, the vehicle position, the surrounding environment position, the surrounding environment type, the surrounding environment data, and the like that are included in the proxy upload data are generated.
  • the proxy transmission terminal device 1 sets the representative upload flag to “1”, and sets the vehicle ID on which the proxy request terminal device 1 is mounted to the proxy request vehicle. Then, the proxy transmission terminal 1 generates proxy upload data including those data and each data generated in step S41 (step S42), and transmits it to the server device 2. Thus, the proxy upload process ends.
  • the terminal device 1 that cannot generate the ambient environment data requested from the server device 2 due to a sensor failure or the like performs proxy upload to other terminal devices 1. Can be requested. Further, the proxy transmission terminal device 1 requested to perform proxy upload can generate necessary peripheral environment data instead of the proxy request terminal device 1 and upload it to the server device 2. Therefore, even when there is a terminal device 1 in a state such as a sensor failure, the server device 2 can collect necessary surrounding environment data.
  • the sensor used for measuring the surrounding environment is designated.
  • a sensor used for measurement may be specified. For example, there is a case where data measured by a lidar is necessary for a certain feature, and data measured by an ultrasonic sensor is necessary for another feature. Further, there are cases where map data is stored for each sensor in the distribution map DB 5 of the server device 2 and the server device 2 wants to collect data measured by a specific sensor for a certain feature. is there. Therefore, in the third embodiment, a sensor to be used for measurement is designated in an upload request transmitted from the server device 2 to the terminal device 1.
  • the upload request designating the sensor in this way is hereinafter referred to as “sensor designated upload request”.
  • FIG. 13 shows the data format of the sensor-specified upload request.
  • the sensor designated upload request is a request for uploading the ambient environment data measured using the designated sensor to the server device 2 and is transmitted from the server device 2 to the terminal devices 1 of a plurality of vehicles.
  • the sensor designation upload request includes a “basic information part” and a “specific information part”.
  • the basic information part is a part including basic information necessary for a request from the server device 2 to the terminal device 1, and includes “header”, “target vehicle information”, and “target area information”. These pieces of information are the same as the representative upload request shown in FIG.
  • the unique information part of the sensor designation upload request includes “peripheral environment position”, “measurement start position”, “measurement end position”, “upload time interval”, “peripheral environment type”, and “sensor designation”.
  • peripheral environment position “measurement start position”, “measurement end position”, “upload time interval”, and “peripheral environment type” are the same as those in the representative upload request shown in FIG. .
  • “Sensor designation” is information for designating the type of sensor used for measurement of the surrounding environment, and there are cases where one sensor is designated and plural sensors are designated.
  • FIG. 13 shows an example when a plurality of sensors are designated.
  • “sensor designation” does not include information indicating priority, and one sensor to be used for measurement is designated. For example, when only the data measured by the lidar is necessary, the server apparatus 2 sets the lidar to “sensor designation”.
  • priority is designated together. That is, the sensor designated as “sensor designation (first priority)” has the first priority, and the sensor designated as “sensor designation (second priority)” has the second priority.
  • the server device 2 sets “sensor designation (first priority)”. A lidar is set, and an ultrasonic sensor is set to “sensor designation (second priority)”.
  • the priority need not be set.
  • the sensor designation upload request process is a process in which the server apparatus 2 transmits a sensor designation upload request shown in FIG. 13 to a plurality of terminal apparatuses 1.
  • FIG. 14 is a flowchart of the sensor designation upload request process. This process is performed by the control unit 23 of the server device 2 executing a program prepared in advance.
  • the server device 2 determines the surrounding environment to be measured (step S50). That is, the server device 2 determines peripheral environment data to be collected using the terminal device 1 among various information managed on the server device 2 side. Next, the server device 2 determines a sensor to be used in the measurement of the surrounding environment (step S51). Then, the server device 2 sets a peripheral environment position, a measurement start position, a measurement end position, an upload time interval, a peripheral environment type, and the like based on the peripheral environment determined in step S50. The “sensor designation” is set, and a sensor designation upload request as shown in FIG. 13 is generated (step S52). And the server apparatus 2 transmits the produced
  • the terminal device 1 that has received the sensor designation upload request measures the surrounding environment using the designated sensor, generates surrounding environment data, and uploads it to the server device 2.
  • the terminal device 1 of the vehicle that does not have the designated sensor does not upload the surrounding environment data.
  • the server device 2 efficiently collects only necessary data by designating the sensor used for measurement in the surrounding environment data upload request to the terminal device 1. be able to.
  • the position and direction for measuring the surrounding environment are designated.
  • the server device 2 collects ambient environment data using the terminal device 1, data measured at a specific position or orientation (direction) may be necessary. Therefore, in the fourth embodiment, the position and orientation for measuring the surrounding environment are specified in the upload request transmitted from the server device 2 to the terminal device 1.
  • the upload request specifying the position and orientation for measuring the surrounding environment in this way is hereinafter referred to as “position / orientation upload request”.
  • FIG. 15 shows a format of a position / orientation upload request.
  • the position / orientation designation upload request is a request for uploading the ambient environment data measured at the designated position or orientation to the server device 2 and is transmitted from the server device 2 to the terminal devices 1 of a plurality of vehicles.
  • the position / orientation designation upload request includes a “basic information part” and a “specific information part”.
  • the basic information part is a part including basic information necessary for a request from the server device 2 to the terminal device 1, and includes “header”, “target vehicle information”, and “target area information”. These pieces of information are the same as the representative upload request shown in FIG.
  • the specific information part of the upload request specifying the position / orientation includes “peripheral environment position”, “measurement start position”, “measurement end position”, “measurement position”, “measurement direction”, “upload time interval”, “peripheral environment type” "including.
  • peripheral environment position”, “measurement start position”, “measurement end position”, “upload time interval”, and “peripheral environment type” are the same as those in the representative upload request shown in FIG. .
  • Measurement position is information indicating a position where the surrounding environment is measured, that is, a position of a sensor mounted on the vehicle when the surrounding environment is measured. Actually, the position of the vehicle may be used instead of the position of the sensor.
  • the measurement position can be specified by XY coordinates, for example. When the road on which the vehicle travels has a plurality of lanes, the measurement position may be designated by a lane such as “travel lane”, “passing lane”, “second lane from the left”, and the like.
  • Measurement direction is information for designating the direction (direction) in which the surrounding environment should be measured. For example, when it is desired to measure the surrounding environment at a specific angle (orientation) from a certain measurement position, the angle or angle range is designated as the measurement direction. Further, when it is desired to designate either an up lane or a down lane at a measurement position on the road, the measurement direction may be designated by a lane such as “up lane” or “down lane”. Furthermore, the direction of measurement on the road may be specified using east, west, south, and north, such as “westbound” or “eastbound”, and the direction of measurement on the ring road may be “inward”, “outward” May be specified.
  • the position / orientation designation upload request process is a process in which the server apparatus 2 transmits a position / orientation designation upload request shown in FIG. 15 to a plurality of terminal apparatuses 1.
  • FIG. 16 is a flowchart of position / orientation designation upload request processing. This process is performed by the control unit 23 of the server device 2 executing a program prepared in advance.
  • the server device 2 determines the surrounding environment to be measured (step S60). That is, the server device 2 determines peripheral environment data to be collected using the terminal device 1 among various information managed on the server device 2 side. Next, the server device 2 determines at least one of the position and orientation of the surrounding environment to be measured (step S61). Then, the server device 2 sets a surrounding environment position, a measurement start position, a measurement end position, an upload time interval, a surrounding environment type, and the like based on the surrounding environment determined in step S60. Further, the server apparatus 2 sets the position determined in step S61 to “measurement position”, sets the direction to “measurement direction”, and generates a position / orientation designation upload request as shown in FIG. S62). Then, the server device 2 transmits the generated position / orientation designation upload request to the terminal device 1 (step S63). Thus, the position / orientation upload request process ends.
  • the terminal device 1 that has received the position / orientation designation upload request measures the surrounding environment in accordance with the designation of the measurement position and / or measurement direction, generates surrounding environment data, and uploads it to the server device 2. Note that the terminal device 1 that cannot measure the surrounding environment according to the designation of the measurement position and the measurement direction does not upload the surrounding environment data.
  • the server device 2 specifies only the necessary data by specifying the position and / or orientation for measuring the surrounding environment in the upload request for the surrounding environment data to the terminal device 1. It can be collected efficiently.
  • the server device 2 when the server device 2 requests the terminal device 1 to upload the surrounding environment data, the reliability of the data obtained by measuring the surrounding environment is designated.
  • the server device 2 uses the terminal device 1 to collect the surrounding environment data, if data with low reliability is uploaded from many terminal devices 1, the processing load on the server device 2 increases, and the server device There is also a possibility that the accuracy of the data managed by 2 is lowered. Therefore, in the fifth embodiment, in the upload request transmitted from the server device 2 to the terminal device 1, the required reliability of data obtained by measuring the surrounding environment is specified.
  • the upload request designating the reliability in this way is hereinafter referred to as “reliability designated upload request”.
  • FIG. 17 shows the format of the reliability specification upload request.
  • the reliability specification upload request is a request for uploading to the server device 2 only the surrounding environment data having the reliability higher than the specified request reliability, and is transmitted from the server device 2 to the terminal devices 1 of a plurality of vehicles. Is done.
  • the reliability designation upload request includes a “basic information part” and a “specific information part”.
  • the basic information part is a part including basic information necessary for a request from the server device 2 to the terminal device 1, and includes “header”, “target vehicle information”, and “target area information”. These pieces of information are the same as the representative upload request shown in FIG.
  • the unique information part of the upload request with reliability specification first includes “peripheral environment position”, “measurement start position”, “measurement end position”, “upload time interval”, and “peripheral environment type”.
  • these pieces of information are the same as the representative upload request shown in FIG.
  • the reliability-specified upload request includes “required reliability”, “required reliability by sensor”, and “required reliability by feature”. It is sufficient that at least one of “required reliability”, “required reliability by sensor”, and “required reliability by feature” is included.
  • the “required reliability” is a lower limit value of the reliability requested by the server device 2 and is represented by, for example, a percentage (%).
  • this required reliability does not ask
  • the required reliability for each sensor is set when the required reliability differs for each sensor.
  • the “required reliability by sensor (sensor 1)” is set to the lower limit value of the reliability when measured by a lidar
  • the “required reliability by sensor (sensor 2)” is measured by an ultrasonic sensor.
  • the lower limit value of the reliability can be set.
  • “Required reliability for each feature” is set when the required reliability differs for each feature.
  • the “required reliability by feature (feature A)” is set to the lower limit value of the reliability when measuring the feature A
  • the “required reliability by feature (feature B)” is The lower limit value of the reliability when measuring the object B can be set.
  • the terminal device 1 calculates the reliability based on the accuracy of each sensor at the time of measuring the surrounding environment, the appropriateness of each sensor with respect to the surrounding environment to be measured, the surrounding noise environment, and the like. For example, when using a lidar as a sensor, the terminal device 1 can calculate the reliability based on the estimation accuracy of the self-position, whether or not occlusion has occurred, and the like.
  • the reliability designation upload request process is a process in which the server apparatus 2 transmits a reliability designation upload request shown in FIG. 17 to a plurality of terminal apparatuses 1.
  • FIG. 18 is a flowchart of the reliability designation upload request process. This process is performed by the control unit 23 of the server device 2 executing a program prepared in advance.
  • the server device 2 determines the surrounding environment to be measured (step S70). That is, the server device 2 determines peripheral environment data to be collected using the terminal device 1 among various information managed on the server device 2 side. Next, the server device 2 determines the required reliability for the surrounding environment to be measured, that is, the lower limit value of the reliability (step S71). At this time, as described above, when the required reliability is different for each sensor or for each feature, the server device 2 determines the required reliability for each sensor or for each feature.
  • the server device 2 sets a surrounding environment position, a measurement start position, a measurement end position, an upload time interval, a surrounding environment type, and the like based on the surrounding environment determined in step S70. Further, the server device 2 sets the request reliability determined in step S71 to “request reliability”, “sensor-specific request reliability”, or “feature-specific request reliability”, as shown in FIG. A reliable upload specification request is generated (step S72). Then, the server device 2 transmits the generated reliability designation upload request to the terminal device 1 (step S73). In this way, the reliability designation upload request process ends.
  • the terminal device 1 that has received the reliability specification upload request measures the surrounding environment, generates the surrounding environment data, and uploads it to the server device 2 when the generated surrounding environment data is equal to or higher than the required reliability. .
  • the terminal device 1 that has not been able to generate the surrounding environment data that satisfies the required reliability does not upload the surrounding environment data.
  • the server device 2 efficiently collects only the data having the required reliability by specifying the required reliability in the upload request of the surrounding environment data to the terminal device 1.
  • the accuracy of the data managed by the server device can be maintained.

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Abstract

According to the present invention, transmission data is transmitted to an information processing device from a terminal device that generates surroundings data for surroundings that have been detected by a detection device that is installed in a mobile body. The data structure of the transmission data includes the surroundings data and by-proxy-transmission data that indicates whether the surroundings data is being transmitted on behalf of another terminal device that can detect the surroundings. Said data structure allows the information processing device to recognize when transmission data has been transmitted by proxy.

Description

データ構造、端末装置、データ通信方法、プログラム及び記憶媒体Data structure, terminal device, data communication method, program, and storage medium
　本発明は、車両等の移動体の周辺情報を取得する技術に関する。 The present invention relates to a technique for acquiring peripheral information of a moving body such as a vehicle.
　従来から、車両に設置されたセンサの出力に基づき地図データを更新する技術が知られている。例えば、特許文献１には、車両等の移動体に設置されたセンサの出力に基づいて部分地図の変化点を検出した場合に、当該変化点に関する変化点情報をサーバ装置に送信する運転支援装置が開示されている。また、非特許文献１には、車両側のセンサが検出したデータをクラウドサーバで収集するためのデータフォーマットに関する仕様が開示されている。 Conventionally, a technique for updating map data based on the output of a sensor installed in a vehicle is known. For example, in Patent Literature 1, when a change point of a partial map is detected based on an output of a sensor installed on a moving body such as a vehicle, the driving support device transmits change point information regarding the change point to a server device. Is disclosed. Non-Patent Document 1 discloses specifications related to a data format for collecting data detected by a vehicle-side sensor with a cloud server.
特開２０１６－１５６９７３号公報Japanese Patent Laid-Open No. 2016-156973
　サーバ装置が車両から各種のデータを収集する場合、サーバ装置が車両に要求するデータの量や内容は、対象となる地域や車両の状況などに応じて変化する。例えば、対象となる地域に多数の車両が存在する場合には、サーバ装置へ送信されるデータ量が多くなり過ぎないように制御する必要がある。また、サーバ装置は、車両側において使用するセンサの種類、データを取得する際の車両の位置や方向、取得したデータの信頼度などについて一定の条件を満たすデータのみを要求する場合がある。さらに、サーバ装置からデータの生成及び送信の要求を受けた車両が、センサの不良などが原因で要求されたデータを生成できない場合には、代わりに他の車両がデータを生成してサーバへ送信することが必要となる。 When the server device collects various types of data from the vehicle, the amount and content of the data that the server device requests from the vehicle vary depending on the target area, the vehicle status, and the like. For example, when there are a large number of vehicles in the target area, it is necessary to perform control so that the amount of data transmitted to the server device does not become excessive. Further, the server device may request only data that satisfies certain conditions with respect to the type of sensor used on the vehicle side, the position and direction of the vehicle when data is acquired, the reliability of the acquired data, and the like. In addition, if a vehicle that has received a data generation and transmission request from the server device cannot generate the requested data due to a sensor failure or the like, another vehicle generates the data and sends it to the server instead. It is necessary to do.
　本発明は、上記のような課題を解決するためになされたものであり、状況に応じてサーバ装置が車両から収集するデータの量や内容を適正に制御可能とすることを目的とする。 The present invention has been made to solve the above-described problems, and it is an object of the present invention to appropriately control the amount and content of data collected from a vehicle by a server device according to the situation.
　請求項１に記載の発明は、移動体に搭載された検出装置が検出した周辺環境に関する周辺環境データを生成する端末装置から、情報処理装置へ送信される送信データのデータ構造であって、前記周辺環境データと、前記周辺環境を検出可能な他の端末装置を代表して当該周辺環境データを送信しているか否かを示す代表送信データと、を含み、代表送信されたことを前記情報処理装置が認識するために用いられる。 The invention according to claim 1 is a data structure of transmission data transmitted from the terminal device that generates the surrounding environment data related to the surrounding environment detected by the detection device mounted on the mobile body to the information processing device, Including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is being transmitted on behalf of another terminal device capable of detecting the surrounding environment, Used for device recognition.
　請求項６に記載の発明は、移動体に搭載される端末装置であって、周辺環境を検出し、検出した周辺環境に関する周辺環境データを生成する第１生成手段と、前記周辺環境データと、前記周辺環境を検出可能な他の端末装置を代表して当該周辺環境データを送信しているか否かを示す代表送信データと、を含む送信データを生成する第２生成手段と、前記送信データを情報処理装置へ送信する送信手段と、を備える。 The invention according to claim 6 is a terminal device mounted on a mobile body, the first generating means for detecting the surrounding environment and generating the surrounding environment data related to the detected surrounding environment, the surrounding environment data, Second transmission means for generating transmission data including representative transmission data indicating whether or not the peripheral environment data is transmitted on behalf of another terminal device capable of detecting the peripheral environment, and the transmission data Transmitting means for transmitting to the information processing apparatus.
　請求項７に記載の発明は、移動体に搭載された端末装置により実行されるデータ通信方法であって、周辺環境を検出し、検出した周辺環境に関する周辺環境データを生成する第１生成工程と、前記周辺環境データと、前記周辺環境を検出可能な他の端末装置を代表して当該周辺環境データを送信しているか否かを示す代表送信データと、を含む送信データを生成する第２生成工程と、前記送信データを情報処理装置へ送信する送信工程と、を備える。 The invention according to claim 7 is a data communication method executed by a terminal device mounted on a mobile body, the first generation step of detecting the surrounding environment and generating the surrounding environment data related to the detected surrounding environment; Second generation for generating transmission data including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment And a transmission step of transmitting the transmission data to the information processing apparatus.
　請求項８に記載の発明は、移動体に搭載され、コンピュータを備える端末装置により実行されるプログラムであって、周辺環境を検出し、検出した周辺環境に関する周辺環境データを生成する第１生成手段、前記周辺環境データと、前記周辺環境を検出可能な他の端末装置を代表して当該周辺環境データを送信しているか否かを示す代表送信データと、を含む送信データを生成する第２生成手段、前記送信データを情報処理装置へ送信する送信手段、として前記コンピュータを機能させる。 The invention according to claim 8 is a program that is mounted on a mobile body and is executed by a terminal device that includes a computer, and that detects a surrounding environment and generates a surrounding environment data related to the detected surrounding environment. Second generation for generating transmission data including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment The computer is caused to function as a means for transmitting the transmission data to the information processing apparatus.
データ収集システムの概略構成を示すブロック図である。It is a block diagram which shows schematic structure of a data collection system. 端末装置の構成を示すブロック図である。It is a block diagram which shows the structure of a terminal device. 端末装置が実行する処理概要を示したブロック図である。It is the block diagram which showed the process outline | summary which a terminal device performs. サーバ装置の構成を示すブロック図である。It is a block diagram which shows the structure of a server apparatus. 代表アップロードリクエストのフォーマットを示す。Indicates the format of a representative upload request. 代表アップロードリクエスト処理のフローチャートである。It is a flowchart of a representative upload request process. 代表アップロードデータのフォーマットを示す。Shows the format of representative upload data. 代表アップロード処理のフローチャートである。It is a flowchart of a representative upload process. 代理アップロードリクエストのフォーマットを示す。Indicates the format of proxy upload request. 代理アップロードリクエスト処理のフローチャートである。It is a flowchart of a proxy upload request process. 代理アップロードデータのフォーマットを示す。Indicates the format of proxy upload data. 代理アップロード処理のフローチャートである。It is a flowchart of a proxy upload process. センサ指定アップロードリクエストのフォーマットを示す。Indicates the format of the sensor specified upload request. センサ指定アップロードリクエスト処理のフローチャートである。It is a flowchart of a sensor designation | designated upload request process. 位置／向き指定アップロードリクエストのフォーマットを示す。Indicates the format of the position / orientation upload request. 位置／向き指定アップロードリクエスト処理のフローチャートである。It is a flowchart of a position / orientation designation upload request process. 信頼度指定アップロードリクエストのフォーマットを示す。Indicates the format of upload request with reliability specified. 信頼度指定アップロードリクエスト処理のフローチャートである。It is a flowchart of a reliability specification upload request process.
　本発明の１つの好適な実施形態は、移動体に搭載された検出装置が検出した周辺環境に関する周辺環境データを生成する端末装置から、情報処理装置へ送信される送信データのデータ構造であって、前記周辺環境データと、前記周辺環境を検出可能な他の端末装置を代表して当該周辺環境データを送信しているか否かを示す代表送信データと、を含み、代表送信されたことを前記情報処理装置が認識するために用いられる。 One preferred embodiment of the present invention is a data structure of transmission data transmitted from a terminal device that generates peripheral environment data related to a surrounding environment detected by a detection device mounted on a mobile body to an information processing device. Including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment. Used for recognition by the information processing apparatus.
　上記の送信データは、移動体に搭載された検出装置が検出した周辺環境に関する周辺環境データを生成する端末装置から、情報処理装置へ送信される。そのデータ構造は、前記周辺環境データと、前記周辺環境を検出可能な他の端末装置を代表して当該周辺環境データを送信しているか否かを示す代表送信データと、を含む。このデータ構造は、代表送信されたことを情報処理装置が認識するために用いられる。 The above transmission data is transmitted from the terminal device that generates the surrounding environment data related to the surrounding environment detected by the detecting device mounted on the moving body to the information processing device. The data structure includes the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment. This data structure is used for the information processing apparatus to recognize that the representative transmission has been performed.
　上記のデータ構造の一態様は、前記代表送信データが他の端末装置を代表していることを示す場合に、当該端末装置が代表している他の端末装置の数を含む。この態様では、情報処理装置は、送信データがいくつの他の端末装置を代表しているかを知ることができる。 One aspect of the above data structure includes the number of other terminal devices represented by the terminal device when the representative transmission data represents another terminal device. In this aspect, the information processing apparatus can know how many other terminal apparatuses the transmission data represents.
　上記のデータ構造の他の一態様では、前記周辺環境データは、同一の場所において、前記検出装置が検出した地物に関する地物データと、前記移動体が記憶している地物についての地物データとの差分を示す差分データである。この態様では、情報処理装置は、既に記憶されている地物データとの差分データを取得することができる。 In another aspect of the above data structure, the surrounding environment data includes feature data relating to features detected by the detection device and features relating to features stored in the moving body at the same location. It is difference data which shows the difference with data. In this aspect, the information processing apparatus can acquire difference data from already stored feature data.
　上記のデータ構造の他の一態様は、前記周辺環境データを生成した際の前記移動体の位置データを含む。この態様では、情報処理装置は、移動体がどの位置で周辺環境データを生成したかを知ることができる。 Another aspect of the data structure includes position data of the moving body when the surrounding environment data is generated. In this aspect, the information processing apparatus can know at which position the moving object has generated the surrounding environment data.
　上記のデータ構造の他の一態様は、前記検出した周辺環境の種別を示す種別データを含む。この態様では、情報処理装置は、検出された周辺環境の種別を知ることができる。 Another aspect of the above data structure includes type data indicating the type of the detected surrounding environment. In this aspect, the information processing apparatus can know the type of the detected surrounding environment.
　本発明の他の好適な実施形態は、移動体に搭載される端末装置であって、周辺環境を検出し、検出した周辺環境に関する周辺環境データを生成する第１生成手段と、前記周辺環境データと、前記周辺環境を検出可能な他の端末装置を代表して当該周辺環境データを送信しているか否かを示す代表送信データと、を含む送信データを生成する第２生成手段と、前記送信データを情報処理装置へ送信する送信手段と、を備える。 Another preferred embodiment of the present invention is a terminal device mounted on a mobile object, the first generating means for detecting the surrounding environment and generating the surrounding environment data related to the detected surrounding environment, and the surrounding environment data And second transmission means for generating transmission data including representative transmission data indicating whether or not the peripheral environment data is transmitted on behalf of another terminal device capable of detecting the peripheral environment, and the transmission Transmitting means for transmitting data to the information processing apparatus.
　上記の端末装置によれば、周辺環境を検出し、検出した周辺環境に関する周辺環境データが生成される。そして、周辺環境データと、周辺環境を検出可能な他の端末装置を代表して当該周辺環境データを送信しているか否かを示す代表送信データと、を含む送信データが生成され、情報処理装置へ送信される。これにより、情報処理装置は、送信データが他の端末装置を代表して送信されていることを知ることができる。 According to the above terminal device, the surrounding environment is detected, and surrounding environment data related to the detected surrounding environment is generated. Then, transmission data including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment is generated, and the information processing device Sent to. Thereby, the information processing apparatus can know that the transmission data is transmitted on behalf of another terminal apparatus.
　本発明の他の好適な実施形態は、移動体に搭載された端末装置により実行されるデータ通信方法であって、周辺環境を検出し、検出した周辺環境に関する周辺環境データを生成する第１生成工程と、前記周辺環境データと、前記周辺環境を検出可能な他の端末装置を代表して当該周辺環境データを送信しているか否かを示す代表送信データと、を含む送信データを生成する第２生成工程と、前記送信データを情報処理装置へ送信する送信工程と、を備える。 Another preferred embodiment of the present invention is a data communication method executed by a terminal device mounted on a mobile body, wherein the first generation detects a surrounding environment and generates surrounding environment data related to the detected surrounding environment. Generating transmission data including a process, the surrounding environment data, and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment. 2 generation process, and the transmission process which transmits the said transmission data to information processing apparatus.
　上記のデータ通信方法によれば、周辺環境を検出し、検出した周辺環境に関する周辺環境データが生成される。そして、周辺環境データと、周辺環境を検出可能な他の端末装置を代表して当該周辺環境データを送信しているか否かを示す代表送信データと、を含む送信データが生成され、情報処理装置へ送信される。これにより、情報処理装置は、送信データが他の端末装置を代表して送信されていることを知ることができる。 According to the above data communication method, the surrounding environment is detected, and surrounding environment data related to the detected surrounding environment is generated. Then, transmission data including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment is generated, and the information processing device Sent to. Thereby, the information processing apparatus can know that the transmission data is transmitted on behalf of another terminal apparatus.
　本発明の他の好適な実施形態は、移動体に搭載され、コンピュータを備える端末装置により実行されるプログラムであって、周辺環境を検出し、検出した周辺環境に関する周辺環境データを生成する第１生成手段、前記周辺環境データと、前記周辺環境を検出可能な他の端末装置を代表して当該周辺環境データを送信しているか否かを示す代表送信データと、を含む送信データを生成する第２生成手段、前記送信データを情報処理装置へ送信する送信手段、として前記コンピュータを機能させる。このプログラムをコンピュータで実行することにより、上記の端末装置を実現することができる。このプログラムは、記憶媒体に記憶して取り扱うことができる。 Another preferred embodiment of the present invention is a program that is mounted on a mobile body and is executed by a terminal device that includes a computer. The first embodiment detects a surrounding environment and generates surrounding environment data related to the detected surrounding environment. Generation means for generating transmission data including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment 2 The computer is caused to function as generation means and transmission means for transmitting the transmission data to the information processing apparatus. The above terminal device can be realized by executing this program on a computer. This program can be stored and handled in a storage medium.
　以下、図面を参照して本発明の好適な実施例について説明する。
　［データ収集システム］
　（全体構成）
　図１は、実施例に係るデータ収集システムの概略構成である。データ収集システムは、移動体である車両と共に移動する端末装置１と、各端末装置１とネットワークを介して通信を行うサーバ装置２とを備える。そして、データ収集システムは、各端末装置１から送信された情報に基づき、サーバ装置２が保有する地図やその他の情報を更新する。なお、以後において、「地図」とは、従来の経路案内用の車載機が参照するデータに加えて、ＡＤＡＳ（Ａｄｖａｎｃｅｄ　Ｄｒｉｖｅｒ　Ａｓｓｉｓｔａｎｃｅ　Ｓｙｓｔｅｍ）や自動運転に用いられるデータも含むものとする。 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
[Data collection system]
(overall structure)
FIG. 1 is a schematic configuration of a data collection system according to an embodiment. The data collection system includes a terminal device 1 that moves together with a vehicle that is a moving body, and a server device 2 that communicates with each terminal device 1 via a network. And a data collection system updates the map and other information which the server apparatus 2 holds based on the information transmitted from each terminal device 1. FIG. In the following, the “map” includes data used for ADAS (Advanced Driver Assistance System) and automatic driving in addition to data referred to by a conventional in-vehicle device for route guidance.
　サーバ装置２は、各車両の端末装置１と通信セッションを確立し、車両の周辺環境に関するデータ（以下、「周辺環境データ」と呼ぶ。）をサーバ装置２へ送信することを要求するリクエストＤｒを端末装置１へ送信する。端末装置１は、要求された周辺環境データを含むアップロードデータＤｕをサーバ装置２に送信する。具体的には、端末装置１は、サーバ装置２と通信セッションを確立した場合に、端末装置１が搭載された車両の属性情報等をアップロードデータＤｕに含めてサーバ装置２へ送信する。また、端末装置１は、カメラやライダ（ＬＩＤＡＲ：Ｌａｓｅｒ　Ｉｌｌｕｍｉｎａｔｅｄ　Ｄｅｔｅｃｔｉｏｎ　ａｎｄ　Ｒａｎｇｉｎｇ、Ｌａｓｅｒ　Ｉｍａｇｉｎｇ　Ｄｅｔｅｃｔｉｏｎ　ａｎｄ　Ｒａｎｇｉｎｇ又はＬｉＤＡＲ：Ｌｉｇｈｔ　Ｄｅｔｅｃｔｉｏｎ　ａｎｄ　Ｒａｎｇｉｎｇ）などから構成されるセンサ部７の出力に基づき周辺環境データを生成し、アップロードデータＤｕに含めてサーバ装置２へ送信する。 The server device 2 establishes a communication session with the terminal device 1 of each vehicle, and sends a request Dr that requests transmission of data related to the surrounding environment of the vehicle (hereinafter referred to as “ambient environment data”) to the server device 2. It transmits to the terminal device 1. The terminal device 1 transmits upload data Du including the requested surrounding environment data to the server device 2. Specifically, when the terminal device 1 establishes a communication session with the server device 2, the terminal device 1 includes the attribute information of the vehicle on which the terminal device 1 is mounted in the upload data Du and transmits the upload data Du to the server device 2. Further, the terminal device 1 generates peripheral environment data based on the output of the sensor unit 7 including a camera and a lidar (LIDAR: Laser Illuminated Detection and Ranging, Laser Imaging Detection and Ranging or LiDAR: Light Detection and Ranging). The data is included in the upload data Du and transmitted to the server device 2.
　サーバ装置２は、各端末装置１からアップロードデータＤｕを受信して記憶する。サーバ装置２は、例えば、収集したアップロードデータＤｕに基づき、地図データの作成基準時点からの変化部分（変化点）を検出し、検出した変化点を反映するための地図データの更新などを行う。 The server device 2 receives and stores the upload data Du from each terminal device 1. The server device 2 detects, for example, a changed portion (change point) from the creation reference time point of the map data based on the collected upload data Du, and updates the map data to reflect the detected change point.
　また、端末装置１は、他の端末装置１との間で車車間通信データＤｖを送受信することにより、車車間通信を行う。なお、端末装置１は、車両に取り付けられた車載機又は車載機の一部であってもよく、車両の一部であってもよい。あるいは、センサ部７を接続することができれば、端末装置１はノート型ＰＣ等の可搬性のある端末機器であってもよい。 Further, the terminal device 1 performs vehicle-to-vehicle communication by transmitting / receiving vehicle-to-vehicle communication data Dv to / from other terminal devices 1. The terminal device 1 may be a vehicle-mounted device attached to the vehicle, a part of the vehicle-mounted device, or a part of the vehicle. Alternatively, if the sensor unit 7 can be connected, the terminal device 1 may be a portable terminal device such as a notebook PC.
　（端末装置の構成）
　図２は、端末装置１の機能的構成を表すブロック図を示す。図２に示すように、端末装置１は、主に通信部１１と、記憶部１２と、入力部１３と、制御部１４と、インターフェース１５と、出力部１６とを有する。端末装置１内の各要素は、バスライン９８を介して相互に接続されている。 (Configuration of terminal device)
FIG. 2 is a block diagram illustrating a functional configuration of the terminal device 1. As illustrated in FIG. 2, the terminal device 1 mainly includes a communication unit 11, a storage unit 12, an input unit 13, a control unit 14, an interface 15, and an output unit 16. Each element in the terminal device 1 is connected to each other via a bus line 98.
　通信部１１は、制御部１４の制御に基づき、アップロードデータＤｕをサーバ装置２へ送信したり、地図ＤＢ４を更新するための地図データをサーバ装置２から受信したりする。また、通信部１１は、車両を制御するための信号を車両に送信する処理、車両の状態に関する信号を車両から受信する処理を行ってもよい。 The communication unit 11 transmits upload data Du to the server device 2 or receives map data for updating the map DB 4 from the server device 2 based on the control of the control unit 14. Moreover, the communication part 11 may perform the process which transmits the signal for controlling a vehicle to a vehicle, and the process which receives the signal regarding the state of a vehicle from a vehicle.
　記憶部１２は、制御部１４が実行するプログラムや、制御部１４が所定の処理を実行する為に必要な情報を記憶する。本実施例では、記憶部１２は、複数の地図ＤＢ４と、センサデータキャッシュ６と、車両属性情報ＩＶとを記憶する。 The storage unit 12 stores a program executed by the control unit 14 and information necessary for the control unit 14 to execute a predetermined process. In the present embodiment, the storage unit 12 stores a plurality of map DBs 4, a sensor data cache 6, and vehicle attribute information IV.
　地図ＤＢ４は、例えば、道路データ、施設データ、及び、道路周辺の地物データなどを含むデータベースである。道路データには、経路探索用の車線ネットワークデータ、道路形状データ、交通法規データなどが含まれる。地物データは、道路標識等の看板や停止線等の道路標示、センターライン等の道路区画線や道路沿いの構造物等の情報を含む。また、地物データは、自車位置推定に用いるための地物の高精度な点群情報などを含んでもよい。その他、地図ＤＢ４には、位置推定に必要な種々のデータが記憶されてもよい。なお、記憶部１２は、データの種類（道路データ、施設データ、地物データ）ごとに分けられた複数の地図ＤＢ４を記憶してもよく、用途（案内用、自動運転用、障害検知用）等に分けられた複数の地図ＤＢ４を記憶してもよい。 The map DB 4 is a database including road data, facility data, and feature data around the road, for example. The road data includes lane network data for route search, road shape data, traffic regulation data, and the like. The feature data includes information such as signs such as road signs, road markings such as stop lines, road lane markings such as center lines, and structures along the road. Further, the feature data may include highly accurate point cloud information of the feature to be used for the vehicle position estimation. In addition, the map DB 4 may store various data necessary for position estimation. In addition, the memory | storage part 12 may memorize | store several map DB4 divided according to the kind of data (road data, facility data, feature data), and a use (for guidance, for automatic driving, for fault detection). You may memorize | store several map DB4 divided | segmented into.
　センサデータキャッシュ６は、センサ部７の出力データ（いわゆる生データ）を一時的に保持するキャッシュメモリである。車両属性情報ＩＶは、車両の種別、車両ＩＤ、車両長さ、車幅、車高などの車両サイズ、車両の燃料タイプなど、端末装置１を搭載した車両の属性に関する情報を示す。 The sensor data cache 6 is a cache memory that temporarily holds output data (so-called raw data) of the sensor unit 7. The vehicle attribute information IV indicates information related to attributes of the vehicle on which the terminal device 1 is mounted, such as a vehicle type, a vehicle ID, a vehicle length, a vehicle width, a vehicle size such as a vehicle height, and a fuel type of the vehicle.
　入力部１３は、ユーザが操作するためのボタン、タッチパネル、リモートコントローラ、音声入力装置等であり、例えば、経路探索のための目的地を指定する入力、自動運転のオン及びオフを指定する入力などを受け付け、生成した入力信号を制御部１４へ供給する。出力部１６は、例えば、制御部１４の制御に基づき出力を行うディスプレイやスピーカ等である。 The input unit 13 is a button operated by the user, a touch panel, a remote controller, a voice input device, and the like. For example, an input for specifying a destination for route search, an input for specifying on / off of automatic driving, and the like And the generated input signal is supplied to the control unit 14. The output unit 16 is, for example, a display or a speaker that performs output based on the control of the control unit 14.
　インターフェース１５は、センサ部７の出力データを制御部１４やセンサデータキャッシュ６に供給するためのインターフェース動作を行う。センサ部７は、ライダ３１やカメラ３２などの車両の周辺環境を認識するための複数の外界センサと、ＧＰＳ受信機３３、ジャイロセンサ３４、ポジションセンサ３５、３軸センサ３６などの内界センサを含む。ライダ３１は、外界に存在する物体までの距離を離散的に測定し、当該物体の表面を３次元の点群として認識し、点群データを生成する。カメラ３２は、車両から撮影した画像データを生成する。ポジションセンサ３５は、各外界センサの位置を検出するために設けられ、３軸センサ３６は、各外界センサの姿勢を検出するために設けられている。なお、センサ部７は、図２に示した外界センサ及び内界センサ以外の任意の外界センサ及び内界センサを有してもよい。例えば、センサ部７は、外界センサとして、超音波センサ、赤外線センサ、マイクなどを含んでもよい。 The interface 15 performs an interface operation for supplying the output data of the sensor unit 7 to the control unit 14 and the sensor data cache 6. The sensor unit 7 includes a plurality of external sensors for recognizing the surrounding environment of the vehicle such as a rider 31 and a camera 32, and internal sensors such as a GPS receiver 33, a gyro sensor 34, a position sensor 35, and a triaxial sensor 36. Including. The lidar 31 discretely measures the distance to an object existing in the outside world, recognizes the surface of the object as a three-dimensional point group, and generates point group data. The camera 32 generates image data taken from the vehicle. The position sensor 35 is provided for detecting the position of each external sensor, and the triaxial sensor 36 is provided for detecting the posture of each external sensor. The sensor unit 7 may include an arbitrary external sensor and an internal sensor other than the external sensor and the internal sensor shown in FIG. For example, the sensor unit 7 may include an ultrasonic sensor, an infrared sensor, a microphone, and the like as an external sensor.
　制御部１４は、１または複数のプラットフォーム上で所定のプログラムを実行するＣＰＵなどを含み、端末装置１の全体を制御する。制御部１４は、機能的には、位置推定部１７と、オブジェクト検出部１８と、アップロードデータ生成部１９とを含む。図３は、端末装置１の位置推定部１７、オブジェクト検出部１８、及びアップロードデータ生成部１９の処理概要を示したブロック図である。 The control unit 14 includes a CPU that executes a predetermined program on one or a plurality of platforms, and controls the entire terminal device 1. The control unit 14 functionally includes a position estimation unit 17, an object detection unit 18, and an upload data generation unit 19. FIG. 3 is a block diagram illustrating an outline of processing of the position estimation unit 17, the object detection unit 18, and the upload data generation unit 19 of the terminal device 1.
　位置推定部１７は、センサデータキャッシュ６に保持されているセンサ部７の出力データ及び地図ＤＢ４に基づき、自車位置（車両の姿勢も含む）を推定する。位置推定部１７は、種々の位置推定方法を実行可能となっている。位置推定部１７は、例えば、ＧＰＳ受信機３３及びジャイロセンサ３４等の自立測位センサの出力に基づくデッドレコニング（自律航法）による自車位置推定方法、自律航法に地図ＤＢ４の道路データなどをさらに照合する処理（マップマッチング）を行う自車位置推定方法、周囲に存在する所定のオブジェクト（ランドマーク）を基準としてライダ３１やカメラ３２などの外界センサの出力データと地図ＤＢ４の地物情報が示すランドマークの位置情報とに基づく自車位置推定方法などを実行する。そして、位置推定部１７は、現在実行可能な位置推定方法の中から最も高い推定精度となる位置推定方法を実行し、実行した位置推定方法に基づき得られた自車位置等を示した自車位置情報を、アップロードデータ生成部１９へ供給する。位置推定部１７は、実行した位置推定方法を特定する情報を自車位置情報に含めてアップロードデータ生成部１９へ供給する。 The position estimation unit 17 estimates the own vehicle position (including the attitude of the vehicle) based on the output data of the sensor unit 7 held in the sensor data cache 6 and the map DB 4. The position estimation unit 17 can execute various position estimation methods. The position estimator 17 further collates the road data in the map DB 4 with autonomous navigation, a vehicle position estimation method based on dead reckoning (autonomous navigation) based on outputs of autonomous positioning sensors such as the GPS receiver 33 and the gyro sensor 34, and the like. Vehicle position estimation method for performing processing (map matching), output data of external sensors such as the lidar 31 and the camera 32 on the basis of a predetermined object (landmark) existing around, and the land indicated by the feature information of the map DB 4 A vehicle position estimation method based on the mark position information is executed. Then, the position estimation unit 17 executes the position estimation method that provides the highest estimation accuracy among the currently executable position estimation methods, and indicates the vehicle position obtained based on the executed position estimation method. The position information is supplied to the upload data generation unit 19. The position estimation unit 17 includes information for specifying the executed position estimation method in the vehicle position information and supplies the information to the upload data generation unit 19.
　オブジェクト検出部１８は、センサ部７が出力する点群情報、画像データ、音声データ等に基づき、所定のオブジェクトを検出する。この場合、例えば、オブジェクト検出部１８は、位置推定部１７が推定した自車位置に基づき、センサ部７により検出したオブジェクトに対応する地物データを地図ＤＢ４から抽出する。そして、オブジェクト検出部１８は、センサ部７により検出したオブジェクトの位置及び形状等と、地図ＤＢ４から抽出した地物データが示すオブジェクトの位置及び形状等とに違いがある場合、又は、地図ＤＢ４に該当する地物データが存在しない場合などに、センサ部７により検出したオブジェクトに関する情報（「オブジェクトデータ」とも呼ぶ。）を、アップロードデータ生成部１９へ供給する。 The object detection unit 18 detects a predetermined object based on point cloud information, image data, audio data, and the like output from the sensor unit 7. In this case, for example, the object detection unit 18 extracts feature data corresponding to the object detected by the sensor unit 7 from the map DB 4 based on the vehicle position estimated by the position estimation unit 17. Then, the object detection unit 18 determines whether there is a difference between the position and shape of the object detected by the sensor unit 7 and the position and shape of the object indicated by the feature data extracted from the map DB 4 or When the corresponding feature data does not exist, information related to the object detected by the sensor unit 7 (also referred to as “object data”) is supplied to the upload data generation unit 19.
　なお、オブジェクト検出部１８は、センサ部７により検出したオブジェクトと地図ＤＢ４の地物情報が示すオブジェクトとに形状や位置等に違いがあるか否かに関わらず、特定のオブジェクトを検出した場合に、当該オブジェクトに関するオブジェクトデータをアップロードデータ生成部１９へ供給してもよい。例えば、オブジェクト検出部１８は、センサ部７の出力に基づき、道路標識の内容、形状、位置等を認識した場合、又は、車線境界（即ち区画線等）の位置、形状等を認識した場合に、これらの認識結果をオブジェクトデータとしてアップロードデータ生成部１９へ供給してもよい。 The object detection unit 18 detects a specific object regardless of whether the object detected by the sensor unit 7 and the object indicated by the feature information in the map DB 4 are different in shape, position, or the like. Object data related to the object may be supplied to the upload data generation unit 19. For example, when the object detection unit 18 recognizes the content, shape, position, or the like of a road sign based on the output of the sensor unit 7, or when the position, shape, etc. of a lane boundary (ie, a lane line) is recognized. These recognition results may be supplied to the upload data generation unit 19 as object data.
　アップロードデータ生成部１９は、位置推定部１７から供給される自車位置情報と、オブジェクト検出部１８から供給されるオブジェクトデータと、センサデータキャッシュ６から供給されるセンサ部６の出力データ（いわゆる生データ）とに基づき、アップロードデータＤｕを生成する。そして、アップロードデータ生成部１９は、生成したアップロードデータＤｕを、通信部１１によりサーバ装置２へ送信する。例えば、アップロードデータ生成部１９は、サーバ装置２との通信セッションを確立した場合に、車両属性情報ＩＶを含むアップロードデータＤｕを生成し、生成したアップロードデータＤｕを通信部１１によりサーバ装置２へ送信する。 The upload data generation unit 19 includes vehicle position information supplied from the position estimation unit 17, object data supplied from the object detection unit 18, and output data (so-called raw data) of the sensor unit 6 supplied from the sensor data cache 6. Data) and upload data Du is generated. Then, the upload data generation unit 19 transmits the generated upload data Du to the server device 2 through the communication unit 11. For example, when the communication session with the server device 2 is established, the upload data generation unit 19 generates upload data Du including the vehicle attribute information IV, and transmits the generated upload data Du to the server device 2 through the communication unit 11. To do.
　（サーバ装置）
　図４は、サーバ装置２の機能的構成を示すブロック図を示す。図４に示すように、サーバ装置２は、主に通信部２１と、記憶部２２と、制御部２３とを有する。サーバ装置２内の各要素は、バスライン９９を介して相互に接続されている。 (Server device)
FIG. 4 is a block diagram showing a functional configuration of the server device 2. As illustrated in FIG. 4, the server device 2 mainly includes a communication unit 21, a storage unit 22, and a control unit 23. Each element in the server device 2 is connected to each other via a bus line 99.
　通信部２１は、制御部２３の制御に基づき、各端末装置１からアップロードデータＤｕを受信したり、地図ＤＢ４を更新するための地図データを各端末装置１へ送信したりする。 The communication unit 21 receives the upload data Du from each terminal device 1 or transmits map data for updating the map DB 4 to each terminal device 1 based on the control of the control unit 23.
　記憶部２２は、制御部２３が実行するプログラムや、制御部２３が所定の処理を実行する為に必要な情報を記憶する。本実施例では、記憶部２２は、配信地図ＤＢ５を記憶する。 The storage unit 22 stores a program executed by the control unit 23 and information necessary for the control unit 23 to execute a predetermined process. In the present embodiment, the storage unit 22 stores the distribution map DB 5.
　配信地図ＤＢ５は、各端末装置１に配信するための地図データであり、各端末装置１から受信するアップロードデータＤｕに基づき更新が行われる。配信地図ＤＢ５は、地図ＤＢ４と同様に、道路データ、施設データ、道路周辺の地物データなど、自動運転やＡＤＡＳなどで使用される種々のデータを記憶している。 The distribution map DB 5 is map data for distribution to each terminal device 1 and is updated based on the upload data Du received from each terminal device 1. Similar to the map DB 4, the distribution map DB 5 stores various data used in automatic driving, ADAS, etc., such as road data, facility data, and feature data around the road.
　制御部２３は、所定のプログラムを実行するＣＰＵなどを含み、サーバ装置２の全体を制御する。本実施例では、制御部２３は、通信部２１によりアップロードデータＤｕを端末装置１から受信した場合に、アップロードデータＤｕに含まれる周辺環境データに基づいて配信地図ＤＢ内の地図データを更新する。 The control unit 23 includes a CPU that executes a predetermined program, and controls the entire server device 2. In the present embodiment, when the communication unit 21 receives the upload data Du from the terminal device 1, the control unit 23 updates the map data in the distribution map DB based on the surrounding environment data included in the upload data Du.
　上記の構成において、車両は本発明の移動体の一例であり、センサ部７は本発明の検出装置の一例であり、サーバ装置２は本発明の情報処理装置の一例である。 In the above configuration, the vehicle is an example of the moving body of the present invention, the sensor unit 7 is an example of the detection apparatus of the present invention, and the server apparatus 2 is an example of the information processing apparatus of the present invention.
　［周辺環境データの収集］
　以下、データ収集システムによる周辺環境データの収集方法の実施例について説明する。
　（第１実施例）
　第１実施例は、サーバ装置２から周辺環境データのアップロードを要求された複数の車両の端末装置１が協調して周辺環境データをアップロードするものである。なお、「協調する」とは、データのアップロードを要求された複数の端末装置１のうちのいずれかが、複数の端末装置１の代表として周辺環境データをサーバ装置２へ送信することを言う。 [Collecting environmental data]
Hereinafter, an embodiment of a method for collecting ambient environment data by the data collection system will be described.
(First embodiment)
In the first embodiment, the terminal devices 1 of a plurality of vehicles requested to upload the surrounding environment data from the server device 2 cooperate to upload the surrounding environment data. Note that “cooperate” means that any one of the plurality of terminal devices 1 requested to upload data transmits peripheral environment data to the server device 2 as a representative of the plurality of terminal devices 1.
　サーバ装置２が端末装置１を利用して周辺環境データを収集する場合、車両の走行密度が高いエリアにおいては、サーバ装置２は全ての車両の端末装置１からデータを取得することは必要ではない。即ち、同じ周辺環境データが多数の端末装置１から送信されても意味はなく、むしろサーバ装置２側での処理の負担が大きくなる。そこで、サーバ装置２は、端末装置１に周辺環境データのアップロードをリクエストする際、複数の端末装置１間で協調し、複数の端末装置１を代表する１つの端末装置１（以下、「代表端末装置１」とも呼ぶ。）が周辺環境データをサーバ装置２へアップロードすることを指示、又は、許可することとする。その一方で、特定の周辺環境データについては、できる限り多数のデータを収集したいことがあるため、協調を禁止し、全ての端末装置１に周辺環境データのアップロードを要求することもできるようにする。このため、サーバ装置２は、代表端末装置１による周辺環境データのアップロード（以下、「代表アップロード」と呼ぶ。）を指示、許可又は禁止する情報を含めたリクエスト（以下、「代表アップロードリクエスト」と呼ぶ。）を端末装置１へ送信する。 When the server device 2 collects the surrounding environment data using the terminal device 1, it is not necessary for the server device 2 to acquire data from the terminal devices 1 of all vehicles in an area where the traveling density of the vehicle is high. . That is, it does not make sense to transmit the same surrounding environment data from a large number of terminal devices 1, but rather the processing load on the server device 2 side increases. Therefore, when the server device 2 requests the terminal device 1 to upload the surrounding environment data, the server device 2 cooperates between the plurality of terminal devices 1 and represents one terminal device 1 that represents the plurality of terminal devices 1 (hereinafter referred to as “representative terminal”). Device 1 ”) also instructs or permits uploading of the surrounding environment data to the server device 2. On the other hand, with regard to specific surrounding environment data, since it may be desired to collect as many data as possible, cooperation is prohibited and all terminal devices 1 can be requested to upload surrounding environment data. . For this reason, the server apparatus 2 requests (hereinafter referred to as “representative upload request”) that includes information indicating, allowing, or prohibiting the uploading of the surrounding environment data (hereinafter referred to as “representative upload”) by the representative terminal apparatus 1. To the terminal device 1.
　図５は、代表アップロードリクエストのフォーマットを示す。代表アップロードリクエストは、複数の端末装置１のうちの１つの端末装置１が代表して周辺環境データをアップロードすることを求めるリクエストであり、サーバ装置２から複数の車両の端末装置１に送信される。 Fig. 5 shows the format of a representative upload request. The representative upload request is a request for one of the plurality of terminal devices 1 to upload the surrounding environment data on behalf of the terminal device 1, and is transmitted from the server device 2 to the terminal devices 1 of the plurality of vehicles. .
　図５に示すように、代表アップロードリクエストは、「基本情報部」と、「特有情報部」とを含む。基本情報部は、サーバ装置２から端末装置１へのリクエストにおいて必要な基本的な情報を含む部分であり、「ヘッダ」、「対象車両情報」、「対象エリア情報」を含む。「ヘッダ」は、サーバ装置２と端末装置１との間で行われる通信で使用されるデータフォーマットのバージョンと、そのリクエストが送信された時刻を示すタイムスタンプとを含む。「対象車両情報」は、リクエストの送信先の車両を特定する情報であり、例えば車両ＩＤなどである。「対象エリア情報」は、そのリクエストの送信対象エリアを特定する情報であり、例えば地図データにおけるリンクＩＤやエリアＩＤなどである。よって、サーバ装置２から端末装置１へ送信されるリクエストは、対象エリア情報が示す対象エリアに存在し、対象車両情報により特定される車両の端末装置１へ送信されることになる。 As shown in FIG. 5, the representative upload request includes a “basic information part” and a “specific information part”. The basic information part is a part including basic information necessary for a request from the server device 2 to the terminal device 1, and includes “header”, “target vehicle information”, and “target area information”. The “header” includes a version of a data format used in communication performed between the server device 2 and the terminal device 1, and a time stamp indicating the time when the request is transmitted. “Target vehicle information” is information for identifying a vehicle to which a request is transmitted, and is, for example, a vehicle ID. “Target area information” is information for specifying the transmission target area of the request, such as a link ID or an area ID in map data. Therefore, the request transmitted from the server device 2 to the terminal device 1 exists in the target area indicated by the target area information, and is transmitted to the terminal device 1 of the vehicle specified by the target vehicle information.
　代表アップロードリクエストの特有情報部は、「代表アップロードフラグ」、「代表台数」、「周辺環境位置」、「計測開始位置」、「計測終了位置」、「アップロード時間間隔」、「周辺環境種別」、「センサ種別」を含む。 The specific information part of the representative upload request includes “representative upload flag”, “representative number”, “peripheral environment position”, “measurement start position”, “measurement end position”, “upload time interval”, “peripheral environment type”, Includes “sensor type”.
　「代表アップロードフラグ」は、代表アップロードリクエストを受信した複数の端末装置１が協調して周辺環境データをアップロードするか否かを示すフラグである。本実施例では、代表アップロードフラグ「１」は、複数の端末装置１が協調し、代表となった端末装置１が周辺環境データをサーバ装置２へアップロードすることが要求されていることを示す。代表アップロードフラグ「０」は、複数の端末装置１が協調する必要はなく、各端末装置１が個別に周辺環境データをサーバ装置２へアップロードすることが要求されていることを示す。代表アップロードフラグ「２」は、複数の端末装置１が協調してもよいことを示す。この場合、協調は許可されているが義務ではない。よって、複数の端末装置１が協調し、代表端末装置１が周辺環境データをサーバ装置２にアップロードしてもよく、各端末装置１が個別に周辺環境データをサーバ装置２へアップロードしてもよい。 “Representative upload flag” is a flag indicating whether or not a plurality of terminal devices 1 that have received a representative upload request cooperate to upload peripheral environment data. In the present embodiment, the representative upload flag “1” indicates that a plurality of terminal devices 1 cooperate to request that the representative terminal device 1 uploads the surrounding environment data to the server device 2. The representative upload flag “0” indicates that the plurality of terminal devices 1 do not need to cooperate and each terminal device 1 is requested to individually upload the surrounding environment data to the server device 2. The representative upload flag “2” indicates that a plurality of terminal devices 1 may cooperate. In this case, cooperation is allowed but not mandatory. Therefore, a plurality of terminal devices 1 may cooperate, the representative terminal device 1 may upload the surrounding environment data to the server device 2, and each terminal device 1 may individually upload the surrounding environment data to the server device 2. .
　「代表台数」は、複数の端末装置１が協調する場合に、１つの代表端末装置１が他の何台の端末装置１を代表しているかを示す。例えば、代表台数が「１０」である場合、代表アップロードリクエストを受信した１０台の端末装置１が協調して１つの代表端末装置１を決定し、その代表端末装置１が周辺環境データをサーバ装置２へアップロードすることになる。 The “representative number” indicates how many other terminal devices 1 a single representative terminal device 1 represents when a plurality of terminal devices 1 cooperate. For example, when the representative number is “10”, the ten terminal devices 1 that have received the representative upload request cooperate to determine one representative terminal device 1, and the representative terminal device 1 transmits the surrounding environment data to the server device. Will be uploaded to 2.
　「周辺環境位置」は、サーバ装置２がデータを要求する周辺環境の位置を示す情報であり、周辺環境の位置又は周辺環境のＩＤを含む。例えば、サーバ装置２がある特定の建物や標識などの地物に関する周辺環境データを要求する場合、周辺環境位置は、その地物の位置座標やその地物に付与されているＩＤとなる。 “Ambient environment position” is information indicating the position of the surrounding environment from which the server device 2 requests data, and includes the position of the surrounding environment or the ID of the surrounding environment. For example, when the server device 2 requests the surrounding environment data related to a certain feature such as a specific building or sign, the surrounding environment position is a position coordinate of the feature or an ID given to the feature.
　「計測開始位置」及び「計測終了位置」は、端末装置１が周辺環境の計測を行うべき範囲を指定する情報である。具体的に、計測開始位置は端末装置１が周辺環境の計測を開始すべき位置を示し、計測終了位置は端末装置１が周辺環境の計測を終了すべき位置を示す。例えば、サーバ装置２がある道路の特定区間における渋滞や事故についての周辺環境データを要求する場合、計測開始位置及び計測終了位置にはその区間の開始位置及び終了位置がそれぞれ設定される。 “Measurement start position” and “measurement end position” are information for designating a range in which the terminal device 1 should measure the surrounding environment. Specifically, the measurement start position indicates a position where the terminal device 1 should start measurement of the surrounding environment, and the measurement end position indicates a position where the terminal device 1 should end the measurement of the surrounding environment. For example, when requesting the surrounding environment data about a traffic jam or an accident in a specific section of a road where the server device 2 is located, the start position and end position of the section are set as the measurement start position and measurement end position, respectively.
　なお、周辺環境位置と、計測開始位置及び計測終了位置とは、サーバ装置２が要求する周辺環境データに応じて、いずれか一方が設定される場合と、両方が設定される場合とがある。例えば、サーバ装置２は、前述のようにある特定の地物の周辺環境データを要求する場合、周辺環境位置のみを設定し、計測開始位置及び計測終了位置を設定しなくてもよい。また、サーバ装置２は、ある特定区間における渋滞などの周辺環境データを要求する場合、周辺環境位置を設定せず、計測開始位置及び計測終了位置のみを設定してもよい。また、サーバ装置２は、ある特定区間に存在するある特定の地物（例えば、ある特定区間に存在する特定の標識）についての周辺環境データを要求する場合、周辺環境位置と計測開始位置及び計測終了位置との両方を設定してもよい。 It should be noted that one of the surrounding environment position, the measurement start position, and the measurement end position is set according to the surrounding environment data requested by the server device 2 or both are set. For example, when the server device 2 requests the surrounding environment data of a specific feature as described above, it is not necessary to set only the surrounding environment position and set the measurement start position and the measurement end position. Further, when requesting surrounding environment data such as traffic jam in a specific section, the server device 2 may set only the measurement start position and the measurement end position without setting the surrounding environment position. In addition, when the server device 2 requests the surrounding environment data for a certain feature existing in a certain section (for example, a specific sign existing in a certain section), the surrounding environment position, the measurement start position, and the measurement Both the end position and the end position may be set.
　「アップロード時間間隔」は、端末装置１がサーバ装置２へアップロードデータを送信する間隔を指定する情報である。「周辺環境種別」は、サーバ装置２がデータを要求する周辺環境の種別を示す情報であり、具体的には、地物、地物の差分、工事、渋滞、事故、落下物、道路の陥没や凍結、積雪、路面状態などを含む。また、サーバ装置２がデータを要求する周辺環境がこれらのいずれにも分類されない場合には周辺環境種別は「その他」が設定され、その周辺環境が特定の種別に分類されない場合には周辺環境種別は「無し」に設定される。なお、「地物の差分」とは、現在における地図データに含まれる地物データと、端末装置１が測定した地物データとの差分値を指す。「センサ種別」は、端末装置１が周辺環境の計測に使用すべきセンサの種類を指定する情報であり、例えば、ライダ、超音波センサ、レーダなどが含まれる。 “Upload time interval” is information for specifying an interval at which the terminal device 1 transmits upload data to the server device 2. “Ambient environment type” is information indicating the type of the surrounding environment for which the server device 2 requests data. Specifically, the feature, feature difference, construction, traffic jam, accident, fallen object, road collapse Including freezing, snow cover, road surface condition, etc. Further, when the surrounding environment for which the server apparatus 2 requests data is not classified into any of these, the surrounding environment type is set to “other”, and when the surrounding environment is not classified into a specific type, the surrounding environment type is set. Is set to “none”. The “feature difference” refers to a difference value between the feature data included in the current map data and the feature data measured by the terminal device 1. “Sensor type” is information that specifies the type of sensor that the terminal device 1 should use for measuring the surrounding environment, and includes, for example, a lidar, an ultrasonic sensor, a radar, and the like.
　次に、代表アップロードリクエスト処理について説明する。代表アップロードリクエスト処理は、サーバ装置２が複数の端末装置１に対して、図５に示す代表アップロードリクエストを送信する処理である。図６は、代表アップロードリクエスト処理のフローチャートである。この処理は、サーバ装置２の制御部２３が予め用意されたプログラムを実行することにより行われる。 Next, representative upload request processing will be described. The representative upload request process is a process in which the server device 2 transmits a representative upload request shown in FIG. 5 to the plurality of terminal devices 1. FIG. 6 is a flowchart of representative upload request processing. This process is performed by the control unit 23 of the server device 2 executing a program prepared in advance.
　まず、サーバ装置２は、計測すべき周辺環境を決定する（ステップＳ２０）。即ち、サーバ装置２は、サーバ装置２側で管理している各種の情報のうち、端末装置１を利用して収集したい周辺環境データを決定する。例えば、ある特定の地域において建物や標識の整備が行われた場合、サーバ装置２は、その地域における地物や標識などに関する周辺環境データを収集すると決定する。 First, the server device 2 determines the surrounding environment to be measured (step S20). That is, the server device 2 determines peripheral environment data to be collected using the terminal device 1 among various information managed on the server device 2 side. For example, when a building or a sign is maintained in a specific area, the server device 2 determines to collect surrounding environment data related to the feature or sign in the area.
　次に、サーバ装置２は、複数の端末装置１が協調して周辺環境データをアップロードすべきか否かを決定し、代表アップロードフラグを設定する（ステップＳ１１）。例えば、前述のように、車両の走行密度が高いエリアでは、サーバ装置２は端末装置１に代表アップロードを指示することとして代表アップロードフラグを「１」に設定するか、代表アップロードを許可することとして代表アップロードフラグを「２」に設定する。また、代表アップロードを指示又は許可する場合には、サーバ装置２は、代表台数も決定する。一方、車両の走行密度が高くないエリアにおいて、又は、できる限り多数のデータを収集したい場合には、サーバ装置２は代表アップロードを禁止することとして代表アップロードフラグを「０」に設定する。 Next, the server device 2 determines whether or not the plurality of terminal devices 1 should cooperate with each other to upload the surrounding environment data, and sets a representative upload flag (step S11). For example, as described above, in an area where the travel density of the vehicle is high, the server device 2 sets the representative upload flag to “1” as an instruction for the representative upload to the terminal device 1 or permits the representative upload. The representative upload flag is set to “2”. When instructing or permitting the representative upload, the server device 2 also determines the representative number. On the other hand, in an area where the running density of the vehicle is not high or when it is desired to collect as many data as possible, the server device 2 sets the representative upload flag to “0” as prohibiting the representative upload.
　次に、サーバ装置２は、設定された代表アップロードフラグ及び代表台数を含む代表アップロードリクエストを生成し（ステップＳ１２）、複数の端末装置１へ送信する（ステップＳ１３）。こうして代表アップロードリクエスト処理は終了する。 Next, the server device 2 generates a representative upload request including the set representative upload flag and the representative number (step S12), and transmits it to the plurality of terminal devices 1 (step S13). Thus, the representative upload request process ends.
　さて、代表アップロードを指示又は許可する代表アップロードリクエストを受信した複数の端末装置１は、車車間通信などを利用して協議し、代表端末装置１を決定する。この際、複数の端末装置１は、代表アップロードリクエストに含まれる代表台数毎に１つの代表端末装置１を決定する。決定された代表端末装置１は、他の端末装置１を代表して、周辺環境データをサーバ装置２へアップロードする。代表アップロードフラグを含むアップロードデータを、以下「代表アップロードデータ」と呼ぶ。 Now, the plurality of terminal devices 1 that have received a representative upload request for instructing or permitting a representative upload negotiate using vehicle-to-vehicle communication or the like, and determine the representative terminal device 1. At this time, the plurality of terminal devices 1 determine one representative terminal device 1 for each representative number included in the representative upload request. The determined representative terminal device 1 uploads the surrounding environment data to the server device 2 on behalf of the other terminal device 1. The upload data including the representative upload flag is hereinafter referred to as “representative upload data”.
　図７は、代表アップロードデータのフォーマットを示す。図７に示すように、代表アップロードデータは、「基本情報部」と、「特有情報部」とを含む。基本情報部は、端末装置１からサーバ装置２へのアップロードデータにおいて必要な基本的な情報を含む部分であり、「ヘッダ」、「車両メタデータ」、「車両位置」を含む。「ヘッダ」は、サーバ装置２と端末装置１との間で行われる通信で使用されるデータフォーマットのバージョンと、そのアップロードデータが送信された時刻を示すタイムスタンプとを含む。「車両メタデータ」は、その端末装置１が搭載された車両に関する情報であり、車両ＩＤ、車両サイズ、その車両に搭載されたセンサの種別などを含む。「車両位置」は、その端末装置１が周辺環境を計測したときの車両の位置を示す情報であり、例えば位置座標である。 Fig. 7 shows the format of representative upload data. As shown in FIG. 7, the representative upload data includes a “basic information part” and a “specific information part”. The basic information part is a part including basic information necessary for upload data from the terminal device 1 to the server device 2 and includes “header”, “vehicle metadata”, and “vehicle position”. The “header” includes a version of a data format used in communication performed between the server apparatus 2 and the terminal apparatus 1 and a time stamp indicating the time when the upload data is transmitted. “Vehicle metadata” is information relating to a vehicle on which the terminal device 1 is mounted, and includes a vehicle ID, a vehicle size, a type of sensor mounted on the vehicle, and the like. “Vehicle position” is information indicating the position of the vehicle when the terminal device 1 measures the surrounding environment, for example, position coordinates.
　代表アップロードデータの特有情報部は、「代表アップロードフラグ」、「代表台数」、「周辺環境位置」、「周辺環境種別」、「周辺環境データ」を含む。「代表アップロードフラグ」は、そのアップロードデータが、複数の端末装置１を代表して送信されているか否か、即ち、代表アップロードされている否かを示すフラグである。代表アップロードフラグは、代表アップロードされている場合は「１」に設定され、代表アップロードされていない場合には「０」に設定される。「代表台数」は、代表アップロードされている場合、その代表端末装置１が何台の他の端末装置１を代表しているかを示す。 The unique information part of representative upload data includes “representative upload flag”, “representative number”, “peripheral environment position”, “peripheral environment type”, and “peripheral environment data”. The “representative upload flag” is a flag indicating whether or not the upload data is transmitted on behalf of the plurality of terminal devices 1, that is, whether or not the representative upload is performed. The representative upload flag is set to “1” when the representative upload is performed, and is set to “0” when the representative upload is not performed. The “representative number” indicates how many other terminal devices 1 the representative terminal device 1 represents when the representative upload is performed.
　「周辺環境位置」は、端末装置１がサーバ装置２に送信する周辺環境データの基になる周辺環境の位置を示す情報であり、周辺環境の位置又は周辺環境のＩＤなどを含む。例えば、端末装置１がある特定の建物や標識などの地物に関する周辺環境データを送信する場合、周辺環境位置は、その地物の位置座標やその地物に付与されているＩＤとなる。 The “peripheral environment position” is information indicating the position of the surrounding environment that is the basis of the surrounding environment data transmitted from the terminal device 1 to the server device 2, and includes the position of the surrounding environment or the ID of the surrounding environment. For example, when the terminal device 1 transmits surrounding environment data related to a certain feature such as a specific building or a sign, the surrounding environment position is a position coordinate of the feature or an ID given to the feature.
　「周辺環境種別」は、端末装置１がサーバ装置２へ送信する周辺環境データの基になる周辺環境の種別を示す情報であり、具体的には、地物、地物の差分、工事、渋滞、事故、落下物、道路の陥没や凍結、積雪、路面状態などを含む。また、周辺環境がこれらのいずれにも分類されない場合には周辺環境種別は「その他」に設定され、周辺環境が特定の種別に限定されない場合には周辺環境種別は「無し」に設定される。「周辺環境データ」は、計測により取得された周辺環境データ自体であり、具体的には、計測した生データ、過去のデータとの差分データ、差分データがあることを示すフラグなどのいずれかを含む。 “Ambient environment type” is information indicating the type of the surrounding environment that is the basis of the surrounding environment data transmitted from the terminal device 1 to the server device 2. Specifically, the feature, feature difference, construction, traffic jam , Accidents, fallen objects, road depressions and freezing, snow cover, road surface conditions, etc. When the surrounding environment is not classified into any of these, the surrounding environment type is set to “other”, and when the surrounding environment is not limited to a specific type, the surrounding environment type is set to “none”. “Ambient environment data” is the surrounding environment data itself acquired by measurement. Specifically, any of the measured raw data, difference data with past data, a flag indicating that there is difference data, etc. Including.
　なお、上記の代表アップロードデータにおいて、代表アップロードフラグは本発明の代表送信データの一例であり、周辺環境種別は本発明の種別データの一例である。 In the above representative upload data, the representative upload flag is an example of the representative transmission data of the present invention, and the surrounding environment type is an example of the type data of the present invention.
　次に、代表アップロード処理について説明する。代表アップロード処理は、代表端末装置１がサーバ装置２に対して、図７に示す代表アップロードデータを送信する処理である。図８は、代表アップロード処理のフローチャートである。この処理は、端末装置１の制御部１４が予め用意されたプログラムを実行することにより行われる。 Next, the representative upload process will be described. The representative upload process is a process in which the representative terminal device 1 transmits the representative upload data shown in FIG. FIG. 8 is a flowchart of the representative upload process. This process is performed by the control unit 14 of the terminal device 1 executing a program prepared in advance.
　まず、端末装置１は、サーバ装置２から代表アップロードリクエストを受信したか否かを判定する（ステップＳ２０）。受信していない場合（ステップＳ２０：Ｎｏ）、処理は終了する。一方、代表アップロードリクエストを受信した場合（ステップＳ２０：Ｙｅｓ）、端末装置１は、複数の端末装置１と車車間通信などにより協議した結果、自分が代表端末装置１になったか否かを判定する（ステップＳ２１）。代表端末装置１になっていない場合（ステップＳ２１：Ｎｏ）、処理は終了する。 First, the terminal device 1 determines whether or not a representative upload request has been received from the server device 2 (step S20). If not received (step S20: No), the process ends. On the other hand, when the representative upload request is received (step S20: Yes), the terminal device 1 determines whether or not the terminal device 1 has become the representative terminal device 1 as a result of discussions with a plurality of terminal devices 1 through inter-vehicle communication or the like. (Step S21). If it is not the representative terminal device 1 (step S21: No), the process ends.
　一方、代表端末装置１になった場合（ステップＳ２１：Ｙｅｓ）、端末装置１は、車両位置を検出するとともに、センサなどを用いて周辺環境を計測する（ステップＳ２２）。これにより、代表アップロードデータに含められる車両位置、周辺環境位置、周辺環境種別、周辺環境データなどが生成される。次に、端末装置１は、代表アップロードフラグを「１」に設定し、自分が代表している他の端末装置１の数を代表台数に設定し、ステップＳ２２で生成した各データを含む代表アップロードデータを生成する（ステップＳ２３）。そして、端末装置１は、生成した代表アップロードデータをサーバ装置２へ送信する（ステップＳ２４）。こうして、代表アップロード処理は終了する。 On the other hand, when it becomes the representative terminal device 1 (step S21: Yes), the terminal device 1 detects the vehicle position and measures the surrounding environment using a sensor or the like (step S22). Thereby, the vehicle position, the surrounding environment position, the surrounding environment type, the surrounding environment data, and the like included in the representative upload data are generated. Next, the terminal device 1 sets the representative upload flag to “1”, sets the number of other terminal devices 1 that it represents to the representative number, and includes the representative upload including each data generated in step S22. Data is generated (step S23). Then, the terminal device 1 transmits the generated representative upload data to the server device 2 (step S24). Thus, the representative upload process ends.
　以上のように、第１実施例によれば、サーバ装置２は、代表アップロードフラグを含む代表アップロードリクエストを端末装置１に送信することにより、対象となるエリアの環境や収集したい周辺環境データに応じて、複数の端末装置１からのアップロードデータ量を制御することができる。これにより、必要な周辺環境データを効率的に収集することができる。また、代表端末装置１は、自分が代表端末装置１であることを示す代表アップロードフラグを含む代表アップロードデータをサーバ装置２へ送信するので、サーバ装置２は、端末装置１から受信したアップロードデータが他の端末装置１を代表していることを容易に知ることができる。 As described above, according to the first embodiment, the server device 2 transmits a representative upload request including a representative upload flag to the terminal device 1 to respond to the environment of the target area and the surrounding environment data to be collected. Thus, the amount of upload data from the plurality of terminal devices 1 can be controlled. Thereby, necessary surrounding environment data can be efficiently collected. Further, since the representative terminal device 1 transmits representative upload data including a representative upload flag indicating that it is the representative terminal device 1 to the server device 2, the server device 2 receives the upload data received from the terminal device 1. It can be easily known that the other terminal device 1 is represented.
　（第２実施例）
　第２実施例は、サーバ装置２から周辺環境データのアップロードを要求された端末装置１が、センサの不良などの理由により周辺環境データを生成することができない場合に、他の端末装置１が代理して周辺環境データをサーバ装置２へアップロードするものである。 (Second embodiment)
In the second embodiment, when the terminal device 1 requested to upload the surrounding environment data from the server device 2 cannot generate the surrounding environment data due to a sensor failure or the like, the other terminal device 1 acts as a proxy. Then, the surrounding environment data is uploaded to the server device 2.
　サーバ装置２から周辺環境データのアップロードを要求された場合でも、端末装置１は、センサの状態次第では要求された周辺環境データを生成できない場合がある。例えば、端末装置１が搭載されている車両のセンサが故障しているなど、センサが不良状態である場合には、周辺環境の計測ができず、周辺環境データを生成できない。また、センサが故障しているわけではないが、サーバ装置２から要求された周辺環境データを生成するために必要な種類のセンサを車両が所持していない場合や、所持しているセンサがサーバ装置２から要求されたスペックやソフトウェアバージョンなどを満たさない場合には、要求された周辺環境データを生成することができない。例えば、サーバ装置２が要求する周辺環境データを生成するには車両側にライダが必要である場合、ライダを所持していない車両に搭載されている端末装置１は要求された周辺環境データを生成することができない。 Even when the server device 2 requests uploading of the surrounding environment data, the terminal device 1 may not be able to generate the requested surrounding environment data depending on the state of the sensor. For example, when the sensor of the vehicle on which the terminal device 1 is mounted is out of order, the surrounding environment cannot be measured and the surrounding environment data cannot be generated. Further, although the sensor is not malfunctioning, the vehicle does not have the type of sensor necessary for generating the ambient environment data requested from the server device 2, or the sensor that is possessed is the server. If the specifications and software version requested by the apparatus 2 are not satisfied, the requested surrounding environment data cannot be generated. For example, when a rider is required on the vehicle side to generate the surrounding environment data requested by the server device 2, the terminal device 1 mounted on the vehicle that does not have the rider generates the requested surrounding environment data. Can not do it.
　このような場合、周辺環境データを生成できない端末装置１（以下、「代理依頼端末装置１」とも呼ぶ。）は、要求された周辺環境データを適切に生成できる他の端末装置１（以下、「代理送信端末装置１」と呼ぶ。）に周辺環境データのアップロードを依頼する。代理依頼端末装置１から依頼を受けた代理送信端末装置１は、代理依頼端末装置１の代わりに周辺環境を計測して周辺環境データを生成し、サーバ装置２へアップロードする（以下、これを「代理アップロード」と呼ぶ。）。この際、代理送信端末装置１は、自分が代理依頼端末装置１を代理して周辺環境データをアップロードしていることを示す情報をアップロードデータに付加してサーバ装置２へ送信する。これにより、アップロードデータを受信したサーバ装置２は、そのアップロードデータが、代理送信端末装置１により送信されていることを容易に知ることができる。 In such a case, the terminal device 1 that cannot generate the surrounding environment data (hereinafter, also referred to as “proxy requesting terminal device 1”) has another terminal device 1 that can appropriately generate the requested surrounding environment data (hereinafter, “ Requests upload of the surrounding environment data to the proxy transmission terminal device 1 ”). The proxy transmission terminal device 1 that has received the request from the proxy request terminal device 1 measures the peripheral environment instead of the proxy request terminal device 1, generates the peripheral environment data, and uploads it to the server device 2 (hereinafter referred to as “ Called proxy upload.) At this time, the proxy transmission terminal device 1 adds information indicating that it is uploading the surrounding environment data on behalf of the proxy requesting terminal device 1 to the upload data and transmits it to the server device 2. As a result, the server device 2 that has received the upload data can easily know that the upload data is being transmitted by the proxy transmission terminal device 1.
　まず、代理依頼端末装置１から代理送信端末装置１に代理アップロードを依頼する方法について説明する。図９は、代理アップロードリクエストのフォーマットを示す。代理アップロードリクエストは、サーバ装置２から周辺環境データのアップロードリクエストを受けた端末装置１が、車車間通信により、他の端末装置１に代理アップロードを依頼するリクエストである。代理アップロードリクエストは、代理依頼端末装置１から代理送信端末装置１へ送信される。 First, a method for requesting proxy upload from the proxy request terminal device 1 to the proxy transmission terminal device 1 will be described. FIG. 9 shows the format of the proxy upload request. The proxy upload request is a request in which the terminal device 1 that has received the upload request for the surrounding environment data from the server device 2 requests the other terminal device 1 to perform a proxy upload by inter-vehicle communication. The proxy upload request is transmitted from the proxy request terminal device 1 to the proxy transmission terminal device 1.
　図９に示すように、代理アップロードリクエストは、「基本情報部」と、「特有情報部」とを含む。基本情報部は、車車間通信による、ある端末装置１から他の端末装置１へのリクエストにおいて必要な基本的な情報を含む部分であり、「ヘッダ」、「車両メタデータ」を含む。「ヘッダ」は、車車間通信において使用されるデータフォーマットのバージョンと、そのリクエストが送信された時刻を示すタイムスタンプとを含む。「車両メタデータ」は、その端末装置１が搭載された車両に関する情報であり、車両ＩＤ、車両サイズ、その車両に搭載されたセンサの種別などを含む。 As shown in FIG. 9, the proxy upload request includes a “basic information part” and a “specific information part”. The basic information part is a part including basic information necessary for a request from one terminal device 1 to another terminal device 1 by inter-vehicle communication, and includes “header” and “vehicle metadata”. The “header” includes a version of a data format used in the inter-vehicle communication and a time stamp indicating the time when the request is transmitted. “Vehicle metadata” is information relating to a vehicle on which the terminal device 1 is mounted, and includes a vehicle ID, a vehicle size, a type of sensor mounted on the vehicle, and the like.
　代理アップロードリクエストの特有情報部は、「代理アップロードフラグ」、「代理理由」、「センサ種別」、「周辺環境位置」、「周辺環境種別」を含む。「代理アップロードフラグ」は、サーバ装置２から周辺環境データのアップロードリクエストを受信した端末装置１が、他の端末装置１に代理アップロードを依頼するか否かを示す情報である。代理アップロードフラグは、他の端末装置１に代理アップロードを依頼する場合に「１」に設定され、代理アップロードを依頼しない場合に「０」に設定される。即ち、代理依頼端末装置１が代理送信端末装置１に送信する代理アップロードリクエストにおいては、代理アップロードフラグは「１」に設定される。 The special information part of the proxy upload request includes “proxy upload flag”, “proxy reason”, “sensor type”, “peripheral environment position”, and “peripheral environment type”. The “proxy upload flag” is information indicating whether or not the terminal device 1 that has received the upload request for the surrounding environment data from the server device 2 requests another terminal device 1 to perform proxy upload. The proxy upload flag is set to “1” when requesting proxy upload to another terminal device 1, and is set to “0” when proxy upload is not requested. That is, in the proxy upload request transmitted from the proxy request terminal device 1 to the proxy transmission terminal device 1, the proxy upload flag is set to “1”.
　「代理理由」は、代理アップロードを依頼する理由を示す情報である。例えば、センサが故障している場合には、代理アップロードフラグは「１」に設定される。サーバ装置２から要求された周辺環境データを生成するために必要なセンサを車両が搭載していない場合には、代理アップロードフラグは「２」に設定される。また、センサによるデータ取得エラーが発生し、周辺環境データを生成できない場合には、代理アップロードフラグは「３」に設定される。「センサ種別」は、要求された周辺環境データの計測に必要なセンサを特定する情報であり、例えば、ライダ、超音波センサ、レーダなどである。 “Reason Reason” is information indicating the reason for requesting proxy upload. For example, when the sensor is out of order, the proxy upload flag is set to “1”. When the vehicle does not have a sensor necessary for generating the ambient environment data requested from the server device 2, the proxy upload flag is set to “2”. When a data acquisition error by the sensor occurs and the surrounding environment data cannot be generated, the proxy upload flag is set to “3”. The “sensor type” is information for specifying a sensor necessary for measuring the requested ambient environment data, and is, for example, a lidar, an ultrasonic sensor, a radar, or the like.
　「周辺環境位置」は、サーバ装置２が代理依頼端末装置１に対して要求した周辺環境データの位置を示す情報であり、周辺環境の位置又は周辺環境のＩＤなどを含む。「周辺環境種別」は、サーバ装置２が代理依頼端末装置１に対して要求した周辺環境データの種別を示す情報である。このように、代理依頼端末装置１は、「センサ種別、「周辺環境位置」、「周辺環境種別」を代理アップロードリクエストに含めて代理送信端末装置１へ送信することにより、計測すべき周辺環境の位置及び種別、並びに、使用すべきセンサ種別を代理送信端末装置１に伝える。なお、サーバ装置２から受信した周辺環境データのアップロードリクエストが、図５に示す代表アップロードリクエストのように計測開始位置及び計測終了位置によって計測すべき周辺環境を指定するものである場合、代理アップロードリクエストには、周辺環境位置の代わりに測定開始位置及び測定終了位置を含めても良い。 “Ambient environment position” is information indicating the position of the surrounding environment data requested by the server apparatus 2 to the proxy requesting terminal apparatus 1 and includes the position of the surrounding environment or the ID of the surrounding environment. The “peripheral environment type” is information indicating the type of peripheral environment data requested by the server device 2 to the proxy request terminal device 1. As described above, the proxy request terminal device 1 includes the “sensor type,“ peripheral environment position ”, and“ peripheral environment type ”in the proxy upload request and transmits them to the proxy transmission terminal device 1, thereby determining the surrounding environment to be measured. The position and type, and the sensor type to be used are transmitted to the proxy transmission terminal device 1. If the surrounding environment data upload request received from the server device 2 specifies the surrounding environment to be measured by the measurement start position and the measurement end position as in the representative upload request shown in FIG. May include a measurement start position and a measurement end position instead of the surrounding environment position.
　次に、代理アップロードリクエスト処理について説明する。代理アップロードリクエスト処理は、端末装置１が他の端末装置１に対して、図９に示す代理アップロードリクエストを送信する処理である。図１０は、代理アップロードリクエスト処理のフローチャートである。この処理は、端末装置１の制御部１４が予め用意されたプログラムを実行することにより行われる。 Next, proxy upload request processing will be described. The proxy upload request process is a process in which the terminal device 1 transmits the proxy upload request shown in FIG. 9 to the other terminal device 1. FIG. 10 is a flowchart of proxy upload request processing. This process is performed by the control unit 14 of the terminal device 1 executing a program prepared in advance.
　まず、端末装置１は、サーバ装置１から周辺環境データのアップロードリクエストを受信したか否かを判定する（ステップＳ３０）。受信していない場合（ステップＳ３０：Ｎｏ）、処理は終了する。一方、周辺環境データのアップロードリクエストを受信した場合（ステップＳ３０：Ｙｅｓ）、端末装置１は、自己の車両のセンサ状況に基づいて、要求された周辺環境の計測が可能か否かを判定する（ステップＳ３１）。具体的には、端末装置１は、要求された周辺環境データを生成するために必要なセンサを所持しているか、それが現在正常に動作しているか、などを判定する。 First, the terminal device 1 determines whether or not a request for uploading ambient environment data has been received from the server device 1 (step S30). If not received (step S30: No), the process ends. On the other hand, when the surrounding environment data upload request is received (step S30: Yes), the terminal device 1 determines whether or not the requested surrounding environment can be measured based on the sensor status of its own vehicle ( Step S31). Specifically, the terminal device 1 determines whether or not it has a sensor necessary for generating the requested ambient environment data, and whether or not it currently operates normally.
　要求された周辺環境の計測が可能な場合（ステップＳ３１：Ｙｅｓ）、端末装置１は、他の端末装置１に代理アップロードを依頼する必要が無いため、代理アップロードリクエスト処理は終了する。この場合、端末装置１は、自分で周辺環境を計測して周辺環境データを生成し、サーバ装置２へアップロードすることになる。 When it is possible to measure the requested surrounding environment (step S31: Yes), the terminal device 1 does not need to request proxy upload to another terminal device 1, and thus the proxy upload request process ends. In this case, the terminal device 1 itself measures the surrounding environment, generates the surrounding environment data, and uploads it to the server device 2.
　一方、要求された周辺環境の計測が可能でない場合（ステップＳ３１：Ｎｏ）、端末装置１は、代理依頼端末装置１として、図９に示すフォーマットに従って代理アップロードリクエストを生成する（ステップＳ３２）。具体的には、代理依頼端末装置１は、代理アップロードフラグを「１」に設定し、周辺環境を生成できない理由を代理理由に設定し、サーバ装置２からの周辺環境データのアップロードリクエストに基づいてセンサ種別、周辺環境位置及び周辺環境種別を設定して、代理アップロードリクエストを生成する。そして、代理依頼端末装置１は、生成した代理アップロードリクエストを他の端末装置１へ送信する（ステップＳ３３）。こうして、代理アップロードリクエスト処理は終了する。 On the other hand, when measurement of the requested surrounding environment is not possible (step S31: No), the terminal device 1 generates a proxy upload request according to the format shown in FIG. 9 as the proxy request terminal device 1 (step S32). Specifically, the proxy request terminal device 1 sets the proxy upload flag to “1”, sets the reason why the peripheral environment cannot be generated as the proxy reason, and based on the peripheral environment data upload request from the server device 2. A proxy upload request is generated by setting a sensor type, a surrounding environment position, and a surrounding environment type. Then, the proxy request terminal device 1 transmits the generated proxy upload request to another terminal device 1 (step S33). Thus, the proxy upload request process ends.
　代理依頼端末装置１から代理アップロード依頼を受けた端末装置１は、代理送信端末装置１として、代理依頼端末装置１の代わりに周辺環境データをサーバ装置２へ送信する。こうして代理送信端末装置１からサーバ装置２へ送信されるアップロードデータを代理アップロードデータと呼ぶ。 The terminal device 1 that has received the proxy upload request from the proxy request terminal device 1 transmits the surrounding environment data to the server device 2 instead of the proxy request terminal device 1 as the proxy transmission terminal device 1. The upload data transmitted from the proxy transmission terminal device 1 to the server device 2 in this way is referred to as proxy upload data.
　図１１は、代理アップロードデータのフォーマットを示す。図１１に示すように、代理アップロードデータは、「基本情報部」と、「特有情報部」とを含む。基本情報部は、端末装置１からサーバ装置２へのアップロードデータにおいて必要な基本的な情報を含む部分であり、「ヘッダ」、「車両メタデータ」、「車両位置」を含む。これらのデータは、図７に示す代表アップロードデータと同様であるので、ここでは説明を省略する。 Fig. 11 shows the format of proxy upload data. As shown in FIG. 11, the proxy upload data includes a “basic information part” and a “specific information part”. The basic information part is a part including basic information necessary for upload data from the terminal device 1 to the server device 2 and includes “header”, “vehicle metadata”, and “vehicle position”. Since these data are the same as the representative upload data shown in FIG. 7, description thereof is omitted here.
　代理アップロードデータの特有情報部は、「代理アップロードフラグ」、「代理理由」、「代理依頼車両」、「周辺環境位置」、「周辺環境種別」、「周辺環境データ」を含む。「代理アップロードフラグ」は、そのアップロードデータが、他の端末装置１を代理して送信されているか否か、即ち、代理アップロードされている否かを示すフラグである。代理アップロードフラグは、代理アップロードされている場合は「１」に設定され、代理アップロードされていない場合には「０」に設定される。「代理理由」は、代理依頼端末装置１が代理アップロードを依頼した理由であり、代理依頼端末装置１から受信した代理アップロードリクエストに含まれる代理理由がそのまま含められる。 The special information section of proxy upload data includes “proxy upload flag”, “proxy reason”, “proxy request vehicle”, “peripheral environment position”, “peripheral environment type”, and “peripheral environment data”. The “proxy upload flag” is a flag indicating whether or not the upload data is transmitted on behalf of another terminal device 1, that is, whether or not proxy upload is being performed. The proxy upload flag is set to “1” when proxy upload is performed, and is set to “0” when proxy upload is not performed. The “proxy reason” is a reason why the proxy request terminal apparatus 1 requests proxy upload, and the proxy reason included in the proxy upload request received from the proxy request terminal apparatus 1 is included as it is.
　「代理依頼車両」は、代理依頼端末装置１を搭載している車両を識別する情報であり、例えば、代理依頼端末装置１を搭載している車両の車両ＩＤである。これは、代理依頼車両をサーバ装置２に伝えるために代理アップロードデータに含められる。なお、代理依頼車両の識別データの代わりに、代理依頼端末装置１の識別データ（例えば、端末装置１のＩＤ）などを用いてもよい。 The “proxy request vehicle” is information for identifying the vehicle on which the proxy request terminal device 1 is mounted, for example, the vehicle ID of the vehicle on which the proxy request terminal device 1 is mounted. This is included in the proxy upload data in order to inform the server device 2 of the proxy request vehicle. Instead of the identification request vehicle identification data, the identification data of the proxy request terminal device 1 (for example, the ID of the terminal device 1) may be used.
　「周辺環境位置」及び「周辺環境種別」は、代理送信端末装置１が計測した周辺環境の位置及び種別であり、代理依頼端末装置１から受信した代理アップロードリクエストに含まれるものと基本的に同一である。また、「周辺環境データ」は、計測により取得された周辺環境データ自体である。 The “peripheral environment position” and “peripheral environment type” are the position and type of the peripheral environment measured by the proxy transmission terminal device 1 and are basically the same as those included in the proxy upload request received from the proxy request terminal device 1. It is. The “ambient environment data” is the ambient environment data itself acquired by measurement.
　次に、代理アップロード処理について説明する。代理アップロード処理は、代理送信端末装置１がサーバ装置２に対して、図１１に示す代理アップロードデータを送信する処理である。図１２は、代理アップロード処理のフローチャートである。この処理は、端末装置１の制御部１４が予め用意されたプログラムを実行することにより行われる。 Next, the proxy upload process will be described. The proxy upload process is a process in which the proxy transmission terminal device 1 transmits the proxy upload data illustrated in FIG. 11 to the server device 2. FIG. 12 is a flowchart of proxy upload processing. This process is performed by the control unit 14 of the terminal device 1 executing a program prepared in advance.
　まず、端末装置１は、他車両の端末装置１から代理アップロードリクエストを受信したか否かを判定する（ステップＳ４０）。代理アップロードリクエストを受信していない場合（ステップＳ４０：Ｎｏ）、処理は終了する。一方、代理アップロードリクエストを受信した場合（ステップＳ４０：Ｙｅｓ）、その端末装置１は代理送信端末装置１となり、車両位置を検出するとともに、センサなどを用いて周辺環境を計測する（ステップＳ４１）。この際、代理送信端末装置１は、代理アップロードリクエストに含まれる周辺環境位置及び周辺環境種別に基づいて計測する周辺環境を特定し、代理アップロードリクエストに含まれるセンサ種別が示すセンサを用いて周辺環境を計測する。これにより、代理アップロードデータに含められる車両位置、周辺環境位置、周辺環境種別、周辺環境データなどが生成される。 First, the terminal device 1 determines whether or not a proxy upload request has been received from the terminal device 1 of another vehicle (step S40). If the proxy upload request has not been received (step S40: No), the process ends. On the other hand, when the proxy upload request is received (step S40: Yes), the terminal device 1 becomes the proxy transmission terminal device 1, detects the vehicle position, and measures the surrounding environment using a sensor or the like (step S41). At this time, the proxy transmission terminal device 1 identifies the peripheral environment to be measured based on the peripheral environment position and the peripheral environment type included in the proxy upload request, and uses the sensor indicated by the sensor type included in the proxy upload request. Measure. Thereby, the vehicle position, the surrounding environment position, the surrounding environment type, the surrounding environment data, and the like that are included in the proxy upload data are generated.
　次に、代理送信端末装置１は、代表アップロードフラグを「１」に設定し、代理依頼端末装置１が搭載されている車両ＩＤを代理依頼車両に設定する。そして、代理送信端末１は、それらのデータと、ステップＳ４１で生成した各データを含む代理アップロードデータを生成し（ステップＳ４２）、サーバ装置２へ送信する。こうして、代理アップロード処理は終了する。 Next, the proxy transmission terminal device 1 sets the representative upload flag to “1”, and sets the vehicle ID on which the proxy request terminal device 1 is mounted to the proxy request vehicle. Then, the proxy transmission terminal 1 generates proxy upload data including those data and each data generated in step S41 (step S42), and transmits it to the server device 2. Thus, the proxy upload process ends.
　以上のように、第２実施例によれば、センサの不良などによりサーバ装置２から要求された周辺環境データを生成することができない端末装置１は、他の端末装置１に対して代理アップロードを依頼することができる。また、代理アップロードを依頼された代理送信端末装置１は、代理依頼端末装置１の代わりに必要な周辺環境データを生成し、サーバ装置２へアップロードすることができる。よって、センサ不良などの状況にある端末装置１が存在している場合でも、サーバ装置２は必要な周辺環境データを収集することが可能となる。 As described above, according to the second embodiment, the terminal device 1 that cannot generate the ambient environment data requested from the server device 2 due to a sensor failure or the like performs proxy upload to other terminal devices 1. Can be requested. Further, the proxy transmission terminal device 1 requested to perform proxy upload can generate necessary peripheral environment data instead of the proxy request terminal device 1 and upload it to the server device 2. Therefore, even when there is a terminal device 1 in a state such as a sensor failure, the server device 2 can collect necessary surrounding environment data.
　（第３実施例）
　第３実施例は、サーバ装置２が端末装置１に対して周辺環境データのアップロードを要求する際、周辺環境の計測に使用するセンサを指定するものである。サーバ装置２が端末装置１を利用して周辺環境データを収集する際、計測に利用するセンサを指定する場合がある。例えば、ある地物についてはライダで計測したデータが必要であり、他の地物については超音波センサで計測したデータが必要である、というような場合がある。また、サーバ装置２の配信地図ＤＢ５には、地図データがセンサ別に記憶されていることがあり、サーバ装置２は、ある地物について特定のセンサで計測したデータを収集したい、というような場合がある。そこで、第３実施例では、サーバ装置２から端末装置１に送信するアップロードリクエストにおいて、計測に使用するセンサを指定することとする。このようにセンサを指定したアップロードリクエストを、以下「センサ指定アップロードリクエスト」と呼ぶ。 (Third embodiment)
In the third embodiment, when the server device 2 requests the terminal device 1 to upload the surrounding environment data, the sensor used for measuring the surrounding environment is designated. When the server device 2 uses the terminal device 1 to collect the surrounding environment data, a sensor used for measurement may be specified. For example, there is a case where data measured by a lidar is necessary for a certain feature, and data measured by an ultrasonic sensor is necessary for another feature. Further, there are cases where map data is stored for each sensor in the distribution map DB 5 of the server device 2 and the server device 2 wants to collect data measured by a specific sensor for a certain feature. is there. Therefore, in the third embodiment, a sensor to be used for measurement is designated in an upload request transmitted from the server device 2 to the terminal device 1. The upload request designating the sensor in this way is hereinafter referred to as “sensor designated upload request”.
　図１３は、センサ指定アップロードリクエストのデータフォーマットを示す。センサ指定アップロードリクエストは、指定したセンサを用いて計測した周辺環境データをサーバ装置２にアップロードすることを要求するリクエストであり、サーバ装置２から複数の車両の端末装置１に送信される。 FIG. 13 shows the data format of the sensor-specified upload request. The sensor designated upload request is a request for uploading the ambient environment data measured using the designated sensor to the server device 2 and is transmitted from the server device 2 to the terminal devices 1 of a plurality of vehicles.
　図１３に示すように、センサ指定アップロードリクエストは、「基本情報部」と、「特有情報部」とを含む。基本情報部は、サーバ装置２から端末装置１へのリクエストにおいて必要な基本的な情報を含む部分であり、「ヘッダ」、「対象車両情報」、「対象エリア情報」を含む。なお、これらの情報は、図５に示す代表アップロードリクエストと同様であるため説明を省略する。 As shown in FIG. 13, the sensor designation upload request includes a “basic information part” and a “specific information part”. The basic information part is a part including basic information necessary for a request from the server device 2 to the terminal device 1, and includes “header”, “target vehicle information”, and “target area information”. These pieces of information are the same as the representative upload request shown in FIG.
　センサ指定アップロードリクエストの特有情報部は、「周辺環境位置」、「計測開始位置」、「計測終了位置」、「アップロード時間間隔」、「周辺環境種別」、「センサ指定」を含む。ここで、「周辺環境位置」、「計測開始位置」、「計測終了位置」、「アップロード時間間隔」、「周辺環境種別」は、図５に示す代表アップロードリクエストと同様であるため説明を省略する。 The unique information part of the sensor designation upload request includes “peripheral environment position”, “measurement start position”, “measurement end position”, “upload time interval”, “peripheral environment type”, and “sensor designation”. Here, since “peripheral environment position”, “measurement start position”, “measurement end position”, “upload time interval”, and “peripheral environment type” are the same as those in the representative upload request shown in FIG. .
　「センサ指定」は、周辺環境の計測に使用するセンサの種別を指定する情報であり、１つのセンサが指定される場合と、複数のセンサが指定される場合とがある。図１３は、複数のセンサが指定される場合の例を示している。 “Sensor designation” is information for designating the type of sensor used for measurement of the surrounding environment, and there are cases where one sensor is designated and plural sensors are designated. FIG. 13 shows an example when a plurality of sensors are designated.
　１つのセンサが指定される場合、「センサ指定」には優先度を示す情報は含まれず、計測に使用すべき１つのセンサが指定される。例えばライダにより計測したデータのみが必要な場合、サーバ装置２は「センサ指定」にライダを設定する。 When one sensor is designated, “sensor designation” does not include information indicating priority, and one sensor to be used for measurement is designated. For example, when only the data measured by the lidar is necessary, the server apparatus 2 sets the lidar to “sensor designation”.
　一方、図１３の例のように複数のセンサが指定される場合には、併せて優先度が指定される。即ち、「センサ指定（第１優先度）」として指定されるセンサが第１優先度を有し、「センサ指定（第２優先度）」として指定されるセンサが第２優先度を有する。例えば、第１優先度としてライダにより計測したデータが必要であり、第２優先度として超音波センサにより計測したデータが必要な場合、サーバ装置２は、「センサ指定（第１優先度）」にライダを設定し、「センサ指定（第２優先度）」に超音波センサを設定する。なお、複数のセンサのデータが欲しい場合には、優先度を設定しなくてもよい。 On the other hand, when a plurality of sensors are designated as in the example of FIG. 13, priority is designated together. That is, the sensor designated as “sensor designation (first priority)” has the first priority, and the sensor designated as “sensor designation (second priority)” has the second priority. For example, when the data measured by the lidar is necessary as the first priority and the data measured by the ultrasonic sensor is necessary as the second priority, the server device 2 sets “sensor designation (first priority)”. A lidar is set, and an ultrasonic sensor is set to “sensor designation (second priority)”. In addition, when data of a plurality of sensors is desired, the priority need not be set.
　次に、センサ指定アップロードリクエスト処理について説明する。センサ指定アップロードリクエスト処理は、サーバ装置２が複数の端末装置１に対して、図１３に示すセンサ指定アップロードリクエストを送信する処理である。図１４は、センサ指定アップロードリクエスト処理のフローチャートである。この処理は、サーバ装置２の制御部２３が予め用意されたプログラムを実行することにより行われる。 Next, sensor specified upload request processing will be described. The sensor designation upload request process is a process in which the server apparatus 2 transmits a sensor designation upload request shown in FIG. 13 to a plurality of terminal apparatuses 1. FIG. 14 is a flowchart of the sensor designation upload request process. This process is performed by the control unit 23 of the server device 2 executing a program prepared in advance.
　まず、サーバ装置２は、計測すべき周辺環境を決定する（ステップＳ５０）。即ち、サーバ装置２は、サーバ装置２側で管理している各種の情報のうち、端末装置１を利用して収集したい周辺環境データを決定する。次に、サーバ装置２は、その周辺環境の計測において使用すべきセンサを決定する（ステップＳ５１）。そして、サーバ装置２は、ステップＳ５０で決定した周辺環境に基づいて、周辺環境位置、計測開始位置、計測終了位置、アップロード時間間隔、周辺環境種別などを設定し、ステップＳ５１で決定したセンサを「センサ指定」に設定して、図１３に示すようなセンサ指定アップロードリクエストを生成する（ステップＳ５２）。そして、サーバ装置２は、生成したセンサ指定アップロードリクエストを端末装置１へ送信する（ステップＳ５３）。こうしてセンサ指定アップロードリクエスト処理は終了する。 First, the server device 2 determines the surrounding environment to be measured (step S50). That is, the server device 2 determines peripheral environment data to be collected using the terminal device 1 among various information managed on the server device 2 side. Next, the server device 2 determines a sensor to be used in the measurement of the surrounding environment (step S51). Then, the server device 2 sets a peripheral environment position, a measurement start position, a measurement end position, an upload time interval, a peripheral environment type, and the like based on the peripheral environment determined in step S50. The “sensor designation” is set, and a sensor designation upload request as shown in FIG. 13 is generated (step S52). And the server apparatus 2 transmits the produced | generated sensor designation | designated upload request to the terminal device 1 (step S53). Thus, the sensor designation upload request process ends.
　なお、センサ指定アップロードリクエストを受信した端末装置１は、指定されているセンサを用いて周辺環境を計測し、周辺環境データを生成してサーバ装置２へアップロードする。一方、指定されたセンサを所持しない車両の端末装置１は、周辺環境データのアップロードは行わないこととなる。 The terminal device 1 that has received the sensor designation upload request measures the surrounding environment using the designated sensor, generates surrounding environment data, and uploads it to the server device 2. On the other hand, the terminal device 1 of the vehicle that does not have the designated sensor does not upload the surrounding environment data.
　このように、第３実施例によれば、サーバ装置２は、端末装置１へ対する周辺環境データのアップロードリクエストにおいて計測に使用するセンサを指定することにより、必要なデータのみを効率的に収集することができる。 As described above, according to the third embodiment, the server device 2 efficiently collects only necessary data by designating the sensor used for measurement in the surrounding environment data upload request to the terminal device 1. be able to.
　（第４実施例）
　第４実施例は、サーバ装置２が端末装置１に対して周辺環境データのアップロードを要求する際、周辺環境を計測する位置や向きを指定するものである。サーバ装置２が端末装置１を利用して周辺環境データを収集する際、特定の位置や向き（方向）で計測したデータが必要な場合がある。そこで、第４実施例では、サーバ装置２から端末装置１に送信するアップロードリクエストにおいて、周辺環境を計測する位置や向きを指定することとする。このように周辺環境を計測する位置や向きを指定したアップロードリクエストを、以下「位置／向き指定アップロードリクエスト」と呼ぶ。 (Fourth embodiment)
In the fourth embodiment, when the server device 2 requests the terminal device 1 to upload the surrounding environment data, the position and direction for measuring the surrounding environment are designated. When the server device 2 collects ambient environment data using the terminal device 1, data measured at a specific position or orientation (direction) may be necessary. Therefore, in the fourth embodiment, the position and orientation for measuring the surrounding environment are specified in the upload request transmitted from the server device 2 to the terminal device 1. The upload request specifying the position and orientation for measuring the surrounding environment in this way is hereinafter referred to as “position / orientation upload request”.
　図１５は、位置／向き指定アップロードリクエストのフォーマットを示す。位置／向き指定アップロードリクエストは、指定した位置又は向きで計測した周辺環境データをサーバ装置２にアップロードすることを要求するリクエストであり、サーバ装置２から複数の車両の端末装置１に送信される。 FIG. 15 shows a format of a position / orientation upload request. The position / orientation designation upload request is a request for uploading the ambient environment data measured at the designated position or orientation to the server device 2 and is transmitted from the server device 2 to the terminal devices 1 of a plurality of vehicles.
　図１５に示すように、位置／向き指定アップロードリクエストは、「基本情報部」と、「特有情報部」とを含む。基本情報部は、サーバ装置２から端末装置１へのリクエストにおいて必要な基本的な情報を含む部分であり、「ヘッダ」、「対象車両情報」、「対象エリア情報」を含む。なお、これらの情報は、図５に示す代表アップロードリクエストと同様であるため説明を省略する。 As shown in FIG. 15, the position / orientation designation upload request includes a “basic information part” and a “specific information part”. The basic information part is a part including basic information necessary for a request from the server device 2 to the terminal device 1, and includes “header”, “target vehicle information”, and “target area information”. These pieces of information are the same as the representative upload request shown in FIG.
　位置／向き指定アップロードリクエストの特有情報部は、「周辺環境位置」、「計測開始位置」、「計測終了位置」、「計測位置」、「計測向き」、「アップロード時間間隔」、「周辺環境種別」を含む。ここで、「周辺環境位置」、「計測開始位置」、「計測終了位置」、「アップロード時間間隔」、「周辺環境種別」は、図５に示す代表アップロードリクエストと同様であるため説明を省略する。 The specific information part of the upload request specifying the position / orientation includes “peripheral environment position”, “measurement start position”, “measurement end position”, “measurement position”, “measurement direction”, “upload time interval”, “peripheral environment type” "including. Here, since “peripheral environment position”, “measurement start position”, “measurement end position”, “upload time interval”, and “peripheral environment type” are the same as those in the representative upload request shown in FIG. .
　「計測位置」は、周辺環境を計測する位置、即ち、周辺環境を計測する際の車両に搭載されたセンサの位置を示す情報である。なお、実際には、センサの位置の代わりに、車両の位置を使用してもよい。計測位置は、例えばＸＹ座標で指定することができる。また、車両が走行する道路が複数の車線を有する場合には、計測位置を「走行車線」、「追い越し車線」、「左から２番目の車線」などのように車線で指定してもよい。 “Measurement position” is information indicating a position where the surrounding environment is measured, that is, a position of a sensor mounted on the vehicle when the surrounding environment is measured. Actually, the position of the vehicle may be used instead of the position of the sensor. The measurement position can be specified by XY coordinates, for example. When the road on which the vehicle travels has a plurality of lanes, the measurement position may be designated by a lane such as “travel lane”, “passing lane”, “second lane from the left”, and the like.
　「計測向き」は、周辺環境を計測すべき向き（方向）を指定する情報である。例えば、ある計測位置から特定の角度（方位）にある周辺環境を計測したい場合には、計測向きとしてその角度又は角度範囲が指定される。また、道路上の計測位置において、上り車線や下り車線のいずれかを指定したい場合には、計測向きを「上り車線」、「下り車線」などのように車線で指定してもよい。さらには、道路における計測向きを「西行き」、「東行き」などのように東西南北を用いて指定してもよいし、環状道路における計測向きを「内回り」、「外回り」などのように指定してもよい。 “Measurement direction” is information for designating the direction (direction) in which the surrounding environment should be measured. For example, when it is desired to measure the surrounding environment at a specific angle (orientation) from a certain measurement position, the angle or angle range is designated as the measurement direction. Further, when it is desired to designate either an up lane or a down lane at a measurement position on the road, the measurement direction may be designated by a lane such as “up lane” or “down lane”. Furthermore, the direction of measurement on the road may be specified using east, west, south, and north, such as “westbound” or “eastbound”, and the direction of measurement on the ring road may be “inward”, “outward” May be specified.
　次に、位置／向き指定アップロードリクエスト処理について説明する。位置／向き指定アップロードリクエスト処理は、サーバ装置２が複数の端末装置１に対して、図１５に示す位置／向き指定アップロードリクエストを送信する処理である。図１６は、位置／向き指定アップロードリクエスト処理のフローチャートである。この処理は、サーバ装置２の制御部２３が予め用意されたプログラムを実行することにより行われる。 Next, position / orientation specification upload request processing will be described. The position / orientation designation upload request process is a process in which the server apparatus 2 transmits a position / orientation designation upload request shown in FIG. 15 to a plurality of terminal apparatuses 1. FIG. 16 is a flowchart of position / orientation designation upload request processing. This process is performed by the control unit 23 of the server device 2 executing a program prepared in advance.
　まず、サーバ装置２は、計測すべき周辺環境を決定する（ステップＳ６０）。即ち、サーバ装置２は、サーバ装置２側で管理している各種の情報のうち、端末装置１を利用して収集したい周辺環境データを決定する。次に、サーバ装置２は、計測すべき周辺環境の位置及び向きの少なくとも一方を決定する（ステップＳ６１）。そして、サーバ装置２は、ステップＳ６０で決定した周辺環境に基づいて、周辺環境位置、計測開始位置、計測終了位置、アップロード時間間隔、周辺環境種別などを設定する。また、サーバ装置２は、ステップＳ６１で決定した位置を「計測位置」に設定し、向きを「計測向き」に設定して、図１５に示すような位置／向き指定アップロードリクエストを生成する（ステップＳ６２）。そして、サーバ装置２は、生成した位置／向き指定アップロードリクエストを端末装置１へ送信する（ステップＳ６３）。こうして位置／向き指定アップロードリクエスト処理は終了する。 First, the server device 2 determines the surrounding environment to be measured (step S60). That is, the server device 2 determines peripheral environment data to be collected using the terminal device 1 among various information managed on the server device 2 side. Next, the server device 2 determines at least one of the position and orientation of the surrounding environment to be measured (step S61). Then, the server device 2 sets a surrounding environment position, a measurement start position, a measurement end position, an upload time interval, a surrounding environment type, and the like based on the surrounding environment determined in step S60. Further, the server apparatus 2 sets the position determined in step S61 to “measurement position”, sets the direction to “measurement direction”, and generates a position / orientation designation upload request as shown in FIG. S62). Then, the server device 2 transmits the generated position / orientation designation upload request to the terminal device 1 (step S63). Thus, the position / orientation upload request process ends.
　なお、位置／向き指定アップロードリクエストを受信した端末装置１は、計測位置及び／又は計測向きの指定に従って周辺環境を計測し、周辺環境データを生成してサーバ装置２へアップロードする。なお、計測位置や計測向きの指定に従って周辺環境を計測できない端末装置１は、周辺環境データのアップロードは行わない。 The terminal device 1 that has received the position / orientation designation upload request measures the surrounding environment in accordance with the designation of the measurement position and / or measurement direction, generates surrounding environment data, and uploads it to the server device 2. Note that the terminal device 1 that cannot measure the surrounding environment according to the designation of the measurement position and the measurement direction does not upload the surrounding environment data.
　このように、第４実施例によれば、サーバ装置２は、端末装置１へ対する周辺環境データのアップロードリクエストにおいて周辺環境を計測する位置及び／又は向きを指定することにより、必要なデータのみを効率的に収集することができる。 As described above, according to the fourth embodiment, the server device 2 specifies only the necessary data by specifying the position and / or orientation for measuring the surrounding environment in the upload request for the surrounding environment data to the terminal device 1. It can be collected efficiently.
　（第５実施例）
　第５実施例は、サーバ装置２が端末装置１に対して周辺環境データのアップロードを要求する際、周辺環境を計測したデータの信頼度を指定するものである。サーバ装置２が端末装置１を利用して周辺環境データを収集する際、信頼度の低いデータが多数の端末装置１からアップロードされると、サーバ装置２の処理負荷が増大し、また、サーバ装置２が管理するデータの精度が低下する恐れもある。そこで、第５実施例では、サーバ装置２から端末装置１に送信するアップロードリクエストにおいて、周辺環境を計測したデータの要求信頼度を指定することとする。このように信頼度を指定したアップロードリクエストを、以下「信頼度指定アップロードリクエスト」と呼ぶ。 (5th Example)
In the fifth embodiment, when the server device 2 requests the terminal device 1 to upload the surrounding environment data, the reliability of the data obtained by measuring the surrounding environment is designated. When the server device 2 uses the terminal device 1 to collect the surrounding environment data, if data with low reliability is uploaded from many terminal devices 1, the processing load on the server device 2 increases, and the server device There is also a possibility that the accuracy of the data managed by 2 is lowered. Therefore, in the fifth embodiment, in the upload request transmitted from the server device 2 to the terminal device 1, the required reliability of data obtained by measuring the surrounding environment is specified. The upload request designating the reliability in this way is hereinafter referred to as “reliability designated upload request”.
　図１７は、信頼度指定アップロードリクエストのフォーマットを示す。信頼度指定アップロードリクエストは、指定した要求信頼度以上の信頼度を有する周辺環境データのみをサーバ装置２にアップロードすることを要求するリクエストであり、サーバ装置２から複数の車両の端末装置１に送信される。 FIG. 17 shows the format of the reliability specification upload request. The reliability specification upload request is a request for uploading to the server device 2 only the surrounding environment data having the reliability higher than the specified request reliability, and is transmitted from the server device 2 to the terminal devices 1 of a plurality of vehicles. Is done.
　図１５に示すように、信頼度指定アップロードリクエストは、「基本情報部」と、「特有情報部」とを含む。基本情報部は、サーバ装置２から端末装置１へのリクエストにおいて必要な基本的な情報を含む部分であり、「ヘッダ」、「対象車両情報」、「対象エリア情報」を含む。なお、これらの情報は、図５に示す代表アップロードリクエストと同様であるため説明を省略する。 As shown in FIG. 15, the reliability designation upload request includes a “basic information part” and a “specific information part”. The basic information part is a part including basic information necessary for a request from the server device 2 to the terminal device 1, and includes “header”, “target vehicle information”, and “target area information”. These pieces of information are the same as the representative upload request shown in FIG.
　信頼度指定アップロードリクエストの特有情報部は、まず、「周辺環境位置」、「計測開始位置」、「計測終了位置」、「アップロード時間間隔」、「周辺環境種別」を含む。ここで、これらの情報は、図５に示す代表アップロードリクエストと同様であるため説明を省略する。 The unique information part of the upload request with reliability specification first includes “peripheral environment position”, “measurement start position”, “measurement end position”, “upload time interval”, and “peripheral environment type”. Here, these pieces of information are the same as the representative upload request shown in FIG.
　さらに、信頼度指定アップロードリクエストは、「要求信頼度」、「センサ別要求信頼度」、「地物別要求信頼度」を含む。なお、「要求信頼度」、「センサ別要求信頼度」、「地物別要求信頼度」は、少なくとも１つが含まれていればよい。 Furthermore, the reliability-specified upload request includes “required reliability”, “required reliability by sensor”, and “required reliability by feature”. It is sufficient that at least one of “required reliability”, “required reliability by sensor”, and “required reliability by feature” is included.
　「要求信頼度」は、サーバ装置２が要求する信頼度の下限値であり、例えばパーセンテージ（％）により示される。なお、この要求信頼度は、計測に使用するセンサ別や、計測対象となる地物別を問わない。 The “required reliability” is a lower limit value of the reliability requested by the server device 2 and is represented by, for example, a percentage (%). In addition, this required reliability does not ask | require for every sensor used for a measurement, and every feature which becomes a measuring object.
　「センサ別要求信頼度」は、センサ毎に要求信頼度が異なる場合に設定される。例えば、「センサ別要求信頼度（センサ１）」にはライダにより計測する場合の信頼度の下限値を設定し、「センサ別要求信頼度（センサ２）」には超音波センサにより計測する場合の信頼度の下限値を設定することができる。 “The required reliability for each sensor” is set when the required reliability differs for each sensor. For example, the “required reliability by sensor (sensor 1)” is set to the lower limit value of the reliability when measured by a lidar, and the “required reliability by sensor (sensor 2)” is measured by an ultrasonic sensor. The lower limit value of the reliability can be set.
　「地物別要求信頼度」は、地物毎に要求される信頼度が異なる場合に設定される。例えば、「地物別要求信頼度（地物Ａ）」には地物Ａを計測する場合の信頼度の下限値を設定し、「地物別要求信頼度（地物Ｂ）」には地物Ｂを計測する場合の信頼度の下限値を設定することができる。 “Required reliability for each feature” is set when the required reliability differs for each feature. For example, the “required reliability by feature (feature A)” is set to the lower limit value of the reliability when measuring the feature A, and the “required reliability by feature (feature B)” is The lower limit value of the reliability when measuring the object B can be set.
　なお、端末装置１側では、周辺環境を計測する時点における各センサの精度、計測すべき周辺環境に対する各センサの適正、周辺のノイズ環境などに基づいて信頼度を算出する。例えば、センサとしてライダを使用する場合には、端末装置１は、自己位置の推定精度、オクルージョンが発生しているか否か、などに基づいて信頼度を算出することができる。 The terminal device 1 calculates the reliability based on the accuracy of each sensor at the time of measuring the surrounding environment, the appropriateness of each sensor with respect to the surrounding environment to be measured, the surrounding noise environment, and the like. For example, when using a lidar as a sensor, the terminal device 1 can calculate the reliability based on the estimation accuracy of the self-position, whether or not occlusion has occurred, and the like.
　次に、信頼度指定アップロードリクエスト処理について説明する。信頼度指定アップロードリクエスト処理は、サーバ装置２が複数の端末装置１に対して、図１７に示す信頼度指定アップロードリクエストを送信する処理である。図１８は、信頼度指定アップロードリクエスト処理のフローチャートである。この処理は、サーバ装置２の制御部２３が予め用意されたプログラムを実行することにより行われる。 Next, the reliability specified upload request process will be described. The reliability designation upload request process is a process in which the server apparatus 2 transmits a reliability designation upload request shown in FIG. 17 to a plurality of terminal apparatuses 1. FIG. 18 is a flowchart of the reliability designation upload request process. This process is performed by the control unit 23 of the server device 2 executing a program prepared in advance.
　まず、サーバ装置２は、計測すべき周辺環境を決定する（ステップＳ７０）。即ち、サーバ装置２は、サーバ装置２側で管理している各種の情報のうち、端末装置１を利用して収集したい周辺環境データを決定する。次に、サーバ装置２は、計測すべき周辺環境についての要求信頼度、即ち、信頼度の下限値を決定する（ステップＳ７１）。この際、前述のように、センサ別又は地物別に要求信頼度が異なる場合、サーバ装置２はセンサ別又は地物別に要求信頼度を決定する。 First, the server device 2 determines the surrounding environment to be measured (step S70). That is, the server device 2 determines peripheral environment data to be collected using the terminal device 1 among various information managed on the server device 2 side. Next, the server device 2 determines the required reliability for the surrounding environment to be measured, that is, the lower limit value of the reliability (step S71). At this time, as described above, when the required reliability is different for each sensor or for each feature, the server device 2 determines the required reliability for each sensor or for each feature.
　そして、サーバ装置２は、ステップＳ７０で決定した周辺環境に基づいて、周辺環境位置、計測開始位置、計測終了位置、アップロード時間間隔、周辺環境種別などを設定する。また、サーバ装置２は、ステップＳ７１で決定した要求信頼度を「要求信頼度」、「センサ別要求信頼度」、又は、「地物別要求信頼度」に設定して、図１７に示すような信頼度指定アップロードリクエストを生成する（ステップＳ７２）。そして、サーバ装置２は、生成した信頼度指定アップロードリクエストを端末装置１へ送信する（ステップＳ７３）。こうして信頼度指定アップロードリクエスト処理は終了する。 Then, the server device 2 sets a surrounding environment position, a measurement start position, a measurement end position, an upload time interval, a surrounding environment type, and the like based on the surrounding environment determined in step S70. Further, the server device 2 sets the request reliability determined in step S71 to “request reliability”, “sensor-specific request reliability”, or “feature-specific request reliability”, as shown in FIG. A reliable upload specification request is generated (step S72). Then, the server device 2 transmits the generated reliability designation upload request to the terminal device 1 (step S73). In this way, the reliability designation upload request process ends.
　なお、信頼度指定アップロードリクエストを受信した端末装置１は、周辺環境を計測して周辺環境データを生成し、生成した周辺環境データが要求信頼度以上である場合にそれをサーバ装置２へアップロードする。なお、要求信頼度を満足する周辺環境データを生成できなかった端末装置１は、周辺環境データのアップロードを行わない。 The terminal device 1 that has received the reliability specification upload request measures the surrounding environment, generates the surrounding environment data, and uploads it to the server device 2 when the generated surrounding environment data is equal to or higher than the required reliability. . The terminal device 1 that has not been able to generate the surrounding environment data that satisfies the required reliability does not upload the surrounding environment data.
　このように、第５実施例によれば、サーバ装置２は、端末装置１へ対する周辺環境データのアップロードリクエストにおいて要求信頼度を指定することにより、必要な信頼度のデータのみを効率的に収集することができ、サーバ装置が管理するデータの精度を維持することができる。 As described above, according to the fifth embodiment, the server device 2 efficiently collects only the data having the required reliability by specifying the required reliability in the upload request of the surrounding environment data to the terminal device 1. The accuracy of the data managed by the server device can be maintained.
　１　端末装置
　２　サーバ装置
　４　地図ＤＢ
　５　配信地図ＤＢ
　６　センサデータキャッシュ
　７　センサ部
　１４、２３　制御部 1 terminal device 2 server device 4 map DB
5 distribution map DB
6 Sensor data cache 7 Sensor unit 14, 23 Control unit

Claims (9)

  1. 　移動体に搭載された検出装置が検出した周辺環境に関する周辺環境データを生成する端末装置から、情報処理装置へ送信される送信データのデータ構造であって、
    　前記周辺環境データと、
    　前記周辺環境を検出可能な他の端末装置を代表して当該周辺環境データを送信しているか否かを示す代表送信データと、
    　を含み、
    　代表送信されたことを前記情報処理装置が認識するために用いられるデータ構造。     A data structure of transmission data transmitted from the terminal device that generates the surrounding environment data related to the surrounding environment detected by the detection device mounted on the mobile body to the information processing device,
    The ambient environment data;
    Representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment;
    Including
    A data structure used for the information processing apparatus to recognize that the representative transmission has been performed.
  2. 　前記代表送信データが他の端末装置を代表していることを示す場合に、当該端末装置が代表している他の端末装置の数を含む請求項１に記載のデータ構造。 The data structure according to claim 1, wherein when the representative transmission data represents another terminal device, the data structure includes the number of other terminal devices represented by the terminal device.
  3. 　前記周辺環境データは、同一の場所において、前記検出装置が検出した地物に関する地物データと、前記移動体が記憶している地物についての地物データとの差分を示す差分データである請求項１又は２に記載のデータ構造。 The surrounding environment data is difference data indicating a difference between the feature data regarding the feature detected by the detection device and the feature data regarding the feature stored in the moving body at the same place. Item 3. The data structure according to item 1 or 2.
  4. 　前記周辺環境データを生成した際の前記移動体の位置データを含む請求項１乃至３のいずれか一項に記載のデータ構造。 The data structure according to any one of claims 1 to 3, including position data of the moving body when the surrounding environment data is generated.
  5. 　前記検出した周辺環境の種別を示す種別データを含む請求項１乃至４のいずれか一項に記載のデータ構造。 The data structure according to any one of claims 1 to 4, including type data indicating the type of the detected surrounding environment.
  6. 　移動体に搭載される端末装置であって、
    　周辺環境を検出し、検出した周辺環境に関する周辺環境データを生成する第１生成手段と、
    　前記周辺環境データと、前記周辺環境を検出可能な他の端末装置を代表して当該周辺環境データを送信しているか否かを示す代表送信データと、を含む送信データを生成する第２生成手段と、
    　前記送信データを情報処理装置へ送信する送信手段と、
    　を備える端末装置。     A terminal device mounted on a mobile body,
    First generating means for detecting the surrounding environment and generating surrounding environment data relating to the detected surrounding environment;
    Second generation means for generating transmission data including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment When,
    Transmitting means for transmitting the transmission data to an information processing device;
    A terminal device comprising:
  7. 　移動体に搭載された端末装置により実行されるデータ通信方法であって、
    　周辺環境を検出し、検出した周辺環境に関する周辺環境データを生成する第１生成工程と、
    　前記周辺環境データと、前記周辺環境を検出可能な他の端末装置を代表して当該周辺環境データを送信しているか否かを示す代表送信データと、を含む送信データを生成する第２生成工程と、
    　前記送信データを情報処理装置へ送信する送信工程と、
    　を備えるデータ通信方法。     A data communication method executed by a terminal device mounted on a mobile body,
    A first generation step of detecting the surrounding environment and generating surrounding environment data related to the detected surrounding environment;
    A second generation step of generating transmission data including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment When,
    A transmission step of transmitting the transmission data to an information processing device;
    A data communication method comprising:
  8. 　移動体に搭載され、コンピュータを備える端末装置により実行されるプログラムであって、
    　周辺環境を検出し、検出した周辺環境に関する周辺環境データを生成する第１生成手段、
    　前記周辺環境データと、前記周辺環境を検出可能な他の端末装置を代表して当該周辺環境データを送信しているか否かを示す代表送信データと、を含む送信データを生成する第２生成手段、
    　前記送信データを情報処理装置へ送信する送信手段、
    　として前記コンピュータを機能させるプログラム。     A program mounted on a mobile body and executed by a terminal device including a computer,
    First generating means for detecting the surrounding environment and generating surrounding environment data relating to the detected surrounding environment;
    Second generation means for generating transmission data including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment ,
    Transmitting means for transmitting the transmission data to an information processing device;
    A program for causing the computer to function as
  9. 　請求項８に記載のプログラムを記憶した記憶媒体。 A storage medium storing the program according to claim 8.
PCT/JP2019/011140 2018-03-22 2019-03-18 Data structure, terminal device, data communication method, program, and storage medium WO2019181839A1 (en)

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