WO2021106297A1 - Provision device, vehicle management device, vehicle management system, vehicle management method, and vehicle management program - Google Patents

Abstract

This provision device comprises: an information preparation unit that prepares object detection information indicating the result of detection of an object that affects the traffic of a vehicle in the provision device, and detection condition information indicating the conditions of detection of the object; and a transmission unit that transmits the object detection information and the detection condition information prepared by the information preparation unit.

Description

Provided equipment, vehicle management equipment, vehicle management system, vehicle management method and vehicle management program

The present disclosure relates to providing devices, vehicle management devices, vehicle management systems, vehicle management methods and vehicle management programs.
This application claims priority on the basis of Japanese application Japanese Patent Application No. 2019-216678 filed on November 29, 2019, and incorporates all of its disclosures herein.

Patent Document 1 (Japanese Unexamined Patent Publication No. 2019-175201) discloses the following techniques. That is, it is a sensor sharing system including a plurality of devices each connected to one or a plurality of sensors and a server capable of communicating with each of the plurality of devices, and each of the plurality of devices is a sensor sharing system. , A transmitting unit that collects and analyzes sensor information from a sensor to which the device is connected and transmits the sensor information and the analysis result to the server, a command receiving unit that receives a command from the server, and a command receiving unit that receives commands from the server. The server includes a transmission control unit that controls the ratio of the transmission information amount of the sensor information to the transmission information amount of the analysis result by the transmission unit according to the received command, and the server is said to be from the plurality of devices. A receiving unit that receives the sensor information and the analysis result, an aggregated analysis unit that aggregates and analyzes the sensor information received by the receiving unit and outputs an aggregated analysis result, and the analysis result received by the receiving unit. Based on the comparison unit that compares the aggregated analysis result and the comparison result by the comparison unit, the amount of transmission information of the sensor information transmitted from each of the plurality of devices to the server and the analysis result at a predetermined time. Includes an adjusting unit that generates a command for adjusting the ratio of the information to the amount of transmitted information and transmits it to each of the plurality of devices.

Further, Patent Document 2 (Japanese Unexamined Patent Publication No. 2008-191988) discloses the following techniques. That is, the vehicle peripheral monitoring device acquires a road photographed image including another vehicle traveling around the own vehicle from an outside vehicle photographing means arranged around the own vehicle on the traveling road. Based on the acquisition means and a plurality of road shot images with different shooting fields taken by the outside-vehicle shooting means, a bird's-eye view image of the surroundings of the own vehicle is obtained from a viewpoint located above the own vehicle. , A means for creating a bird's-eye view image of the vehicle's surroundings, which is created by synthesizing the image taken on the road as an actual image while converting the viewpoint, and a form provided in the vehicle interior where the vehicle's position can be specified from the bird's-eye view image of the vehicle's surroundings. It is equipped with a means for displaying a bird's-eye view of the surroundings of the vehicle.

Further, Patent Document 3 (Japanese Unexamined Patent Publication No. 2009-186353) discloses the following techniques. That is, it is an object detection device that detects a stationary object and a moving object existing in the vicinity of the vehicle, and is relative to the stationary object by comparing two images captured in time series by a camera mounted on the vehicle. Acquires the distance and orientation of the stationary object and the moving object based on the image detecting means for acquiring the relative three-dimensional coordinates representing the spatial arrangement and the reflected wave related to the irradiation wave irradiated for the range corresponding to the image. Relative 3D coordinates to absolute 3D coordinates using the radar detecting means and the distance acquired by the radar detecting means for the stationary object in the image existing in the orientation acquired by the radar detecting means. It is provided with a coordinate calculation means for calculating.

Further, Patent Document 4 (Japanese Unexamined Patent Publication No. 2009-98025) discloses the following techniques. That is, the object detection device includes a radar detecting means for detecting the position of an object by a radar, an image capturing means for capturing the object, a detection point for the object detected by the radar detecting means, and the image capturing means. The end specifying means for specifying the position of the end of the object based on the captured image is provided, and the end specifying means obtains a rectangular region including the object from the captured image and obtains the detection point. The intersection of the object detection straight line corresponding to the above and the azimuth straight line at the left and right ends of the rectangular region is defined as the position of the end portion of the object.

Japanese Unexamined Patent Publication No. 2019-175201 Japanese Unexamined Patent Publication No. 2008-191988 Japanese Unexamined Patent Publication No. 2009-186353 JP-A-2009-98025 JP-A-2018-5520 JP-A-2019-174899

The providing device of the present disclosure includes an information creating unit that creates object detection information indicating an object detection result that affects the traffic of a vehicle in the providing device, and detection condition information that indicates a condition for detecting the object, and the information creating unit. The object detection information created by the above and a transmission unit for transmitting the detection condition information are provided.

The vehicle management device of the present disclosure acquires object detection information indicating an object detection result affecting vehicle traffic in the providing device and detection condition information indicating a condition for detecting the object from the plurality of providing devices, respectively. Regarding the detection of the object in a predetermined target device among the plurality of providing devices based on the acquisition unit and the object detection information and the detection condition information of the plurality of providing devices acquired by the acquiring unit. It includes an information creation unit that creates change information indicating the change content, and a transmission unit that transmits the change information created by the information creation unit to the target device.

The vehicle management system of the present disclosure includes a plurality of providing devices and a vehicle management device, and the plurality of providing devices each include object detection information indicating a detection result of an object affecting the traffic of the vehicle in the providing device. And the detection condition information indicating the condition in the detection of the object is transmitted to the vehicle management device, and the vehicle management device is based on the object detection information and the detection condition information of the plurality of providing devices received. The change information indicating the change contents regarding the detection of the object in the predetermined target device among the provided devices is transmitted to the target device.

The vehicle management method of the present disclosure is a vehicle management method in a providing device, and is object detection information indicating a detection result of an object affecting the traffic of a vehicle in the providing device, and detection condition information indicating a condition in detecting the object. Includes a step of creating the object and a step of transmitting the created object detection information and the detection condition information.

The vehicle management method of the present disclosure is a vehicle management method in a vehicle management device, and is object detection information indicating a detection result of an object affecting the traffic of a vehicle in the providing device, and detection condition information indicating a condition in detecting the object. In a predetermined target device among the plurality of providing devices, based on the step of acquiring the object from each of the plurality of providing devices and the acquired object detection information and the detection condition information of the plurality of providing devices. The step includes a step of creating change information indicating the content of the change related to the detection of the object, and a step of transmitting the created change information to the target device.

The vehicle management method of the present disclosure is a vehicle management method in a vehicle management system including a plurality of providing devices and a vehicle management device, and each of the plurality of providing devices affects the traffic of a vehicle in the providing device. A step of transmitting object detection information indicating an object detection result and detection condition information indicating a condition for detecting the object to the vehicle management device, and the object detection of the plurality of providing devices received by the vehicle management device. Based on the information and the detection condition information, the step includes transmitting change information indicating the change contents regarding the detection of the object in the predetermined target device among the plurality of providing devices to the target device.

The vehicle management program of the present disclosure is a vehicle management program used in a providing device, and uses a computer as an object detection information indicating a detection result of an object affecting the traffic of a vehicle in the providing device, and conditions for detecting the object. This is a program for functioning as an information creation unit that creates detection condition information indicating the above, and a transmission unit that transmits the object detection information and the detection condition information created by the information creation unit.

The vehicle management program of the present disclosure is a vehicle management program used in a vehicle management device, in which a computer is used as object detection information indicating an object detection result that affects vehicle traffic in the providing device, and conditions for detecting the object. Based on the acquisition unit that acquires the detection condition information indicating the above from the plurality of providing devices, the object detection information of the plurality of providing devices acquired by the acquisition unit, and the detection condition information, the plurality of provisions are provided. An information creation unit that creates change information indicating changes related to detection of the object in a predetermined target device among the devices, and a transmission unit that transmits the change information created by the information creation unit to the target device. It is a program to function as.

One aspect of the present disclosure can be realized as a semiconductor integrated circuit that realizes a part or all of the providing device. Further, one aspect of the present disclosure can be realized as a semiconductor integrated circuit that realizes a part or all of the vehicle management device. Further, one aspect of the present disclosure can be realized as a semiconductor integrated circuit that realizes a part or all of a vehicle management system. Further, one aspect of the present disclosure can be realized as a program for causing a computer to execute a processing step in a vehicle management system.

FIG. 1 is a diagram showing a configuration of a vehicle management system according to an embodiment of the present disclosure. FIG. 2 is a diagram showing a configuration of a providing device according to an embodiment of the present disclosure. FIG. 3 is a diagram showing the configuration of another example of the providing device according to the embodiment of the present disclosure. FIG. 4 is a diagram showing a configuration of a vehicle management device according to an embodiment of the present disclosure. FIG. 5 is a diagram conceptually showing a process of creating change information in the vehicle management device according to the embodiment of the present disclosure. FIG. 6 is a diagram showing an example of a sequence of processing of provided information and change information in the vehicle management system according to the embodiment of the present disclosure. FIG. 7 is a flowchart defining an operation procedure of the providing device in the vehicle management system according to the embodiment of the present disclosure. FIG. 8 is a flowchart defining an operation procedure of the vehicle management device in the vehicle management system according to the embodiment of the present disclosure.

Conventionally, technologies related to object detection around the vehicle have been developed for autonomous driving, automatic driving, driving support, etc. of the vehicle.

[Issues to be solved by this disclosure]
A technique for improving the detection accuracy of an object affecting the traffic of a vehicle is desired beyond the techniques described in Patent Documents 1 to 4.

The present disclosure has been made to solve the above-mentioned problems, and an object thereof is a providing device, a vehicle management device, a vehicle management system, and a vehicle capable of improving the detection accuracy of an object affecting the traffic of a vehicle. To provide management methods and vehicle management programs.

[Effect of the present disclosure]
According to the present disclosure, it is possible to improve the detection accuracy of an object that affects the traffic of a vehicle.

[Explanation of Embodiments of the present disclosure]
First, the contents of the embodiments of the present disclosure will be listed and described.

(1) The providing device according to the embodiment of the present disclosure is information for creating object detection information indicating an object detection result affecting vehicle traffic in the providing device and detection condition information indicating a condition for detecting the object. It includes a creation unit and a transmission unit that transmits the object detection information and the detection condition information created by the information creation unit.

With such a configuration, for example, in a device that collects object detection information and detection condition information from each providing device, the accuracy of the object detection condition in each providing device is utilized from the collected object detection information. High elements can be extracted. For example, the sensing environment of the surrounding conditions such as a vehicle and a roadside machine varies, and the sensing environment fluctuates with time. Therefore, it is possible to realize highly accurate object detection by using the above-mentioned highly accurate information, as compared with the method of simply integrating the object detection information from each providing device. Therefore, it is possible to improve the detection accuracy of an object that affects the traffic of the vehicle.

(2) Preferably, the providing device further receives the change information indicating the change contents regarding the detection of the object in the providing device, and the change information received by the receiving unit. It is provided with a detection change unit that changes the detection of the object in the providing device.

With such a configuration, it is possible to make changes related to object detection in the providing device based on the change information created by using the highly accurate information as described above, so that the providing device used for the object detection can be changed. It is possible to improve the capabilities of equipment and software, and to correct the detection result of objects.

More preferably, the change information indicates the change content of the detection result.

With such a configuration, it is possible to obtain highly accurate detection results without having to provide, for example, a mechanism for changing the setting of the sensor used for object detection or the content of the analysis process used for object detection in the providing device. it can.

More preferably than (4), the change information indicates a change in the setting of the sensor used for detecting the object.

With such a configuration, it is not necessary to add a process for correcting the detection result of the object in the providing device, and it is not necessary to provide a mechanism for changing the content of the analysis process used for the object detection. Highly accurate detection results can be obtained.

More preferably than (5), the change information indicates a change in the content of the analysis process for the measurement result of the sensor used for detecting the object.

With such a configuration, it is not necessary to add a process for correcting the detection result of the object in the providing device, and it is not necessary to provide a mechanism for changing the setting of the sensor used for the object detection. High detection results can be obtained.

(6) Preferably, the detection condition information indicates the environment of the sensor that affects the measurement performance of the sensor used for detecting the object.

With such a configuration, it is possible to determine whether or not the detection result is obtained in an environment that the sensor is not good at, so that a more accurate element can be extracted from the object detection information.

(7) Preferably, the providing device is mounted on a vehicle, and the detection condition information indicates a running state of the vehicle on which the providing device is mounted.

With such a configuration, it is possible to determine the influence on the object detection according to the traveling state of the vehicle, so that a more accurate element can be extracted from the object detection information.

(8) The vehicle management device according to the embodiment of the present disclosure includes a plurality of object detection information indicating the detection result of an object affecting the traffic of the vehicle in the providing device and detection condition information indicating a condition for detecting the object. Based on the acquisition unit acquired from the providing device, the object detection information of the plurality of providing devices acquired by the acquisition unit, and the detection condition information, a predetermined value among the plurality of providing devices is determined. It includes an information creation unit that creates change information indicating the content of the change related to the detection of the object in the target device, and a transmission unit that transmits the change information created by the information creation unit to the target device.

With such a configuration, object detection information and detection condition information are collected from each providing device, and from each collected object detection information, highly accurate elements are selected by utilizing the object detection conditions in each providing device. Can be extracted. Then, by using the extracted highly accurate information and the object detection information of the target device to make changes related to object detection in the target device, the capabilities of the device and software of the target device used for object detection are improved. Or, the detection result of the object can be corrected. For example, the sensing environment of the surrounding conditions such as a vehicle and a roadside machine varies, and the sensing environment fluctuates with time. Therefore, compared to the method of simply integrating the object detection information from each providing device, the configuration that feeds back the highly accurate information as described above to the object detection in the target device realizes highly accurate object detection in the target device. can do. Therefore, it is possible to improve the detection accuracy of an object that affects the traffic of the vehicle.

(9) The vehicle management system according to the embodiment of the present disclosure includes a plurality of providing devices and a vehicle management device, and each of the plurality of providing devices is an object that affects the traffic of the vehicle in the providing device. The object detection information indicating the detection result and the detection condition information indicating the conditions for detecting the object are transmitted to the vehicle management device, and the vehicle management device receives the object detection information of the plurality of providing devices and the detection. Based on the condition information, the change information indicating the change contents regarding the detection of the object in the predetermined target device among the plurality of providing devices is transmitted to the target device.

With such a configuration, object detection information and detection condition information are collected from each providing device, and from each collected object detection information, highly accurate elements are selected by utilizing the object detection conditions in each providing device. Can be extracted. Then, by using the extracted highly accurate information and the object detection information of the target device to make changes related to object detection in the target device, the capabilities of the device and software of the target device used for object detection are improved. Or, the detection result of the object can be corrected. For example, the sensing environment of the surrounding conditions such as a vehicle and a roadside machine varies, and the sensing environment fluctuates with time. Therefore, compared to the method of simply integrating the object detection information from each providing device, the configuration that feeds back the highly accurate information as described above to the object detection in the target device realizes highly accurate object detection in the target device. can do. Therefore, it is possible to improve the detection accuracy of an object that affects the traffic of the vehicle.

(10) The vehicle management method according to the embodiment of the present disclosure is the vehicle management method in the providing device, and the object detection information indicating the detection result of the object affecting the traffic of the vehicle in the providing device, and the object. It includes a step of creating detection condition information indicating a condition in detection, and a step of transmitting the created object detection information and the detection condition information.

With such a configuration, for example, in a device that collects object detection information and detection condition information from each providing device, the accuracy of the object detection condition in each providing device is utilized from the collected object detection information. High elements can be extracted. For example, the sensing environment of the surrounding conditions such as a vehicle and a roadside machine varies, and the sensing environment fluctuates with time. Therefore, it is possible to realize highly accurate object detection by using the above-mentioned highly accurate information, as compared with the method of simply integrating the object detection information from each providing device. Therefore, it is possible to improve the detection accuracy of an object that affects the traffic of the vehicle.

(11) The vehicle management method according to the embodiment of the present disclosure is the vehicle management method in the vehicle management device, and the object detection information indicating the detection result of the object affecting the traffic of the vehicle in the providing device, and the object. Among the plurality of providing devices, based on the step of acquiring the detection condition information indicating the condition in the detection from each of the plurality of providing devices, the object detection information of the plurality of providing devices, and the detection condition information. The step includes a step of creating change information indicating the change contents regarding the detection of the object in the predetermined target device, and a step of transmitting the created change information to the target device.

With such a configuration, object detection information and detection condition information are collected from each providing device, and from each collected object detection information, highly accurate elements are selected by utilizing the object detection conditions in each providing device. Can be extracted. Then, by using the extracted highly accurate information and the object detection information of the target device to make changes related to object detection in the target device, the capabilities of the device and software of the target device used for object detection are improved. Or, the detection result of the object can be corrected. For example, the sensing environment of the surrounding conditions such as a vehicle and a roadside machine varies, and the sensing environment fluctuates with time. Therefore, compared to the method of simply integrating the object detection information from each providing device, the configuration that feeds back the highly accurate information as described above to the object detection in the target device realizes highly accurate object detection in the target device. can do. Therefore, it is possible to improve the detection accuracy of an object that affects the traffic of the vehicle.

(12) The vehicle management method according to the embodiment of the present disclosure is a vehicle management method in a vehicle management system including a plurality of providing devices and a vehicle management device, and the plurality of providing devices are provided by each of the plurality of providing devices. The step of transmitting the object detection information indicating the detection result of the object affecting the traffic of the vehicle in the device and the detection condition information indicating the condition in the detection of the object to the vehicle management device, and the step received by the vehicle management device. Based on the object detection information and the detection condition information of the plurality of providing devices, change information indicating the change contents regarding the detection of the object in the predetermined target device among the plurality of providing devices is transmitted to the target device. Including steps to do.

With such a configuration, object detection information and detection condition information are collected from each providing device, and from each collected object detection information, highly accurate elements are selected by utilizing the object detection conditions in each providing device. Can be extracted. Then, by using the extracted highly accurate information and the object detection information of the target device to make changes related to object detection in the target device, the capabilities of the device and software of the target device used for object detection are improved. Or, the detection result of the object can be corrected. For example, the sensing environment of the surrounding conditions such as a vehicle and a roadside machine varies, and the sensing environment fluctuates with time. Therefore, compared to the method of simply integrating the object detection information from each providing device, the configuration that feeds back the highly accurate information as described above to the object detection in the target device realizes highly accurate object detection in the target device. can do. Therefore, it is possible to improve the detection accuracy of an object that affects the traffic of the vehicle.

(13) The vehicle management program according to the embodiment of the present disclosure is a vehicle management program used in the providing device, and the object detection information indicating the detection result of the object affecting the traffic of the vehicle in the providing device by the computer. , And a program for functioning as an information creation unit that creates detection condition information indicating conditions for detecting the object, and a transmission unit that transmits the object detection information and the detection condition information created by the information creation unit. Is.

With such a configuration, for example, in a device that collects object detection information and detection condition information from each providing device, the accuracy of the object detection condition in each providing device is utilized from the collected object detection information. High elements can be extracted. For example, the sensing environment of the surrounding conditions such as a vehicle and a roadside machine varies, and the sensing environment fluctuates with time. Therefore, it is possible to realize highly accurate object detection by using the above-mentioned highly accurate information, as compared with the method of simply integrating the object detection information from each providing device. Therefore, it is possible to improve the detection accuracy of an object that affects the traffic of the vehicle.

(14) The vehicle management program according to the embodiment of the present disclosure is a vehicle management program used in the vehicle management device, and is object detection information indicating a detection result of an object affecting the traffic of the vehicle in the providing device using a computer. , And the acquisition unit that acquires the detection condition information indicating the conditions for detecting the object from the plurality of providing devices, and the object detection information and the detection condition information of the plurality of providing devices acquired by the acquisition unit. Based on the above, the information creation unit that creates change information indicating the change contents regarding the detection of the object in the predetermined target device among the plurality of providing devices, and the change information created by the information creation unit. This is a program for functioning as a transmission unit that transmits to the target device.

With such a configuration, object detection information and detection condition information are collected from each providing device, and from each collected object detection information, highly accurate elements are selected by utilizing the object detection conditions in each providing device. Can be extracted. Then, by using the extracted highly accurate information and the object detection information of the target device to make changes related to object detection in the target device, the capabilities of the device and software of the target device used for object detection are improved. Or, the detection result of the object can be corrected. For example, the sensing environment of the surrounding conditions such as a vehicle and a roadside machine varies, and the sensing environment fluctuates with time. Therefore, compared to the method of simply integrating the object detection information from each providing device, the configuration that feeds back the highly accurate information as described above to the object detection in the target device realizes highly accurate object detection in the target device. can do. Therefore, it is possible to improve the detection accuracy of an object that affects the traffic of the vehicle.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The same or corresponding parts in the drawings are designated by the same reference numerals, and the description thereof will not be repeated. In addition, at least a part of the embodiments described below may be arbitrarily combined.

[Vehicle management system]
FIG. 1 is a diagram showing a configuration of a vehicle management system according to an embodiment of the present disclosure.

With reference to FIG. 1, the vehicle management system 301 includes a vehicle management device 201 and a plurality of providing devices 101. The providing device 101 is mounted on, for example, the vehicle 1 or the roadside machine 3.

The vehicle management system 301 may be configured not to include the providing device 101 mounted on the roadside machine 3, or may not include the providing device 101 mounted on the vehicle 1.

The providing device 101 detects an object that affects the traffic of the vehicle, such as traveling or parking of the vehicle. The objects are, for example, vehicles, pedestrians, bicycles and fixed structures.

The providing device 101 mounted on the vehicle 1 creates support information for autonomous driving, automatic driving, driving support, etc., based on, for example, an object detection result. Specifically, the providing device 101 creates support information including various control contents for performing automatic operation or the like, for example. The vehicle 1 performs autonomous driving, automatic driving, driving support, or the like based on the support information created by the providing device 101. The providing device 101 is not limited to the configuration for creating support information, and may be configured to notify, for example, an object detection result to an in-vehicle device different from the providing device 101.

The vehicle 1 and the roadside unit 3 are equipped with a communication device (not shown) capable of communicating with the vehicle management device 201 via the radio base station device 4. Specifically, the vehicle 1 and the roadside unit 3 can perform wireless communication with the wireless base station device 4 according to a communication standard such as LTE (Long Term Evolution), 5G or 3G. In FIG. 1, one radio base station device 4 is typically shown.

The vehicle 1 and the roadside unit 3 are not limited to the above, and may be configured to be able to communicate with the vehicle management device 201 via the radio base station device 4 using, for example, an ITS (Intelligent Transport System) radio. Further, the providing device 101 itself may be configured to include the above-mentioned communication device.

[Task]
As described above, conventionally, a technique for detecting an object around a vehicle or the like for autonomous driving, automatic driving, driving support, or the like of the vehicle has been developed.

In a system that analyzes sensor information showing measurement results by a sensor, for example, (1) it is not possible to detect an object existing in a blind spot, (2) it is difficult to detect an object that is partially hidden, and (3) an object in a distant place and an object. There is a problem that it is difficult to detect in an environment where the sensor is not good at, such as bad weather.

The techniques described in Patent Documents 1 and 2 are techniques related to the above problems (1) and (2) because they integrate sensor information acquired in a plurality of vehicles and the like.

Further, the techniques described in Patent Documents 3 and 4 are techniques related to the problem (3) above because they use a plurality of different types of sensors.

On the other hand, in a system that integrates sensor information or object detection results acquired in a plurality of vehicles and the like, the sensing environment of the surrounding conditions of the vehicle and the roadside machine is various, and the sensing environment fluctuates with time. .. Such fluctuations may affect the accuracy of object detection using the integrated processing of sensor information or object detection results as in Patent Documents 1 to 4.

On the other hand, in the vehicle management system according to the embodiment of the present disclosure, such a problem is solved by the following configuration and operation.

In FIG. 1, the providing device 101 creates object detection information indicating the detection result of an object affecting the traffic of the vehicle and detection condition information indicating a condition for detecting the object, and creates the radio base station device 4 and the external network 5. It is transmitted to the vehicle management device 201 via the vehicle. The providing device 101 may be able to send and receive various information to and from the vehicle management device 201 without going through other devices and a network. Hereinafter, the object detection information and the detection condition information are collectively referred to as provided information.

More specifically, each of the plurality of providing devices 101 including the providing device 101 (hereinafter, also referred to as the target device) to which the change information is provided transmits the provided information to the vehicle management device 201.

The vehicle management device 201 receives and stores the provided information from the plurality of providing devices 101 via the radio base station device 4 and the external network 5.

The vehicle management device 201 creates change information indicating the change contents regarding the detection of the object in the target device based on the provided information of the plurality of providing devices 101 including the target device. Then, the vehicle management device 201 transmits the created change information to the target device via the external network 5 and the radio base station device 4.

Note that all of the plurality of providing devices 101 in the vehicle management system 301 may correspond to the target device, or some of them may correspond to the target device.

The providing device 101 receives change information from the vehicle management device 201, and makes changes related to the detection of an object in its own providing device 101 based on the received change information.

[Providing equipment]
FIG. 2 is a diagram showing a configuration of a providing device according to an embodiment of the present disclosure.

With reference to FIG. 2, the providing device 101A, which is a providing device 101 mounted on the vehicle 1, includes a processing unit 11, a transmitting unit 12, a receiving unit 13, and a storage unit 14. The processing unit 11 is realized by a processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processing). The transmitting unit 12 and the receiving unit 13 are realized by, for example, a communication circuit such as a communication IC (Integrated Circuit). The storage unit 14 is, for example, a non-volatile memory.

The processing unit 11 includes an analysis unit 21, a detection change unit 22, a support information creation unit 23, and a vehicle control unit 24. The analysis unit 21, the support information creation unit 23, and the vehicle control unit 24 are provided in an in-vehicle device different from the providing device 101 when a plurality of in-vehicle devices such as the providing device 101 are mounted on the vehicle 1. May be good.

One or a plurality of sensors 51 are provided in the vehicle 1 and output the measurement result to the processing unit 11. The sensor 51 is, for example, a camera, a LiDAR (Light Detection and Ringing), or a millimeter-wave radar device.

The storage unit 14 stores various information such as the result of various processing by the processing unit 11, information in the middle of processing, various setting information, and conditions for detecting an object.

The analysis unit 21 in the processing unit 11 detects an object that affects the traffic of its own vehicle 1, such as another vehicle, a pedestrian, a bicycle, and a fixed structure, based on the measurement result received from the sensor 51. Perform processing. The analysis process is, for example, a determination process by template matching or a determination process using a learning model created by machine learning such as deep learning.

The support information creation unit 23 creates support information for autonomous driving, automatic driving, driving support, etc., based on the detection result of the object by the analysis unit 21.

The vehicle control unit 24 performs various controls on its own vehicle 1, such as speed control, based on the support information created by the support information creation unit 23.

Further, the analysis unit 21 creates object detection information indicating the detection result of an object affecting the traffic of its own vehicle 1 and detection condition information indicating a condition for detecting the object. Then, the analysis unit 21 includes the identification information of its own vehicle 1 in at least one of the object detection information and the detection condition information and outputs it to the transmission unit 12.

The object detection information includes, for example, a plurality of elements related to the above object. Specifically, for example, the object detection information includes at least one element of the object, such as type, dimension, position information, inclination, velocity and acceleration. Further, the object detection information may include the certainty of each of the above-mentioned elements of the object, which is output from the learning model, for example.

The dimensions of the object are, for example, the width, height and depth of the object. The dimensions of the object are, for example, a 3D bounding box. The 3D bounding box is a figure showing the three-dimensional structure of the detected object when the object is detected from the camera image by using deep learning.

The detection condition information indicates, for example, the environment of the sensor 51 that affects the measurement performance of the sensor 51 used for detecting an object, for example, the environment of its own vehicle 1. As another example, the detection condition information indicates the running state of the own vehicle 1 on which the providing device 101 is mounted.

The detection condition information includes, for example, a condition in which object detection information can be evaluated in the above element units. Specifically, for example, the detection condition information includes sensor parameters such as measurement time, performance and set value, sensor installation information such as mounting position, direction and angle, and vehicle 1 such as weather, light intensity and visibility. It includes at least one element of the state of the surrounding environment of the vehicle 1 and the state information of its own vehicle 1 such as position information, speed, acceleration and inclination.

The transmission unit 12 transmits the object detection information and the detection condition information received from the analysis unit 21 to the vehicle management device 201 via the above-mentioned communication device (not shown) such as TCU (Telematics Communication Unit).

FIG. 3 is a diagram showing the configuration of another example of the providing device according to the embodiment of the present disclosure.

With reference to FIG. 3, the providing device 101B, which is a providing device 101 mounted on the roadside machine 3, includes a processing unit 61, a transmitting unit 62, a receiving unit 63, and a storage unit 64. The processing unit 61 is realized by a processor such as a CPU or DSP. The transmitting unit 62 and the receiving unit 63 are realized by, for example, a communication circuit such as a communication IC. The storage unit 64 is, for example, a non-volatile memory. The processing unit 61 includes an analysis unit 71 and a detection change unit 72. The analysis unit 71 may be provided in a device other than the providing device 101 in the roadside machine 3.

One or a plurality of sensors 81 are provided on the roadside machine 3 and output the measurement result to the processing unit 61. The sensor 81 is, for example, a camera, LiDAR or millimeter wave radar device.

The storage unit 64 stores various information such as the result of various processing by the processing unit 61, information during processing, various setting information, and conditions for detecting an object.

Based on the measurement result received from the sensor 81, the analysis unit 71 in the processing unit 61 is a vehicle around the roadside machine 3 such as a vehicle, a pedestrian, a bicycle, and a fixed structure (hereinafter, also referred to as a peripheral vehicle). Performs analysis processing to detect objects that affect traffic. The analysis process is, for example, a determination process by template matching or a determination process using a learning model created by machine learning such as deep learning.

The analysis unit 71 creates object detection information indicating the detection result of an object affecting the traffic of surrounding vehicles and detection condition information indicating a condition for detecting the object. Then, the analysis unit 71 includes the identification information of its own roadside machine 3 in at least one of the object detection information and the detection condition information and outputs the identification information to the transmission unit 62.

The object detection information includes, for example, a plurality of elements related to the above object. Specifically, for example, the object detection information includes at least one element of the object, such as type, dimension, position information, inclination, velocity and acceleration. Further, the object detection information may include the certainty of each of the above-mentioned elements of the object, which is output from the learning model, for example.

The detection condition information indicates, for example, the environment of the sensor 81 that affects the measurement performance of the sensor 81 used for detecting an object, for example, the environment of the roadside machine 3.

The detection condition information includes, for example, a condition in which object detection information can be evaluated in the above element units. Specifically, for example, the detection condition information includes sensor parameters such as measurement time, performance and set values, sensor installation information such as mounting position, direction and angle, and peripheral vehicles such as weather, light intensity and visibility. It includes at least one element of the state of the surrounding environment and the state information of the surrounding vehicle such as position information, speed, acceleration and inclination.

The transmission unit 62 transmits the object detection information and the detection condition information received from the analysis unit 71 to the vehicle management device 201 via the communication device (not shown).

FIG. 4 is a diagram showing a configuration of a vehicle management device according to an embodiment of the present disclosure.

With reference to FIG. 4, the vehicle management device 201 includes a processing unit 31, a transmitting unit 32, a receiving unit 33, and a storage unit 34. The processing unit 31 is realized by a processor such as a CPU or DSP. The storage unit 34 is, for example, a non-volatile memory. The transmitting unit 32 and the receiving unit 33 are realized by, for example, a communication circuit such as a communication IC. The processing unit 31 includes an acquisition unit 41 and an information creation unit 42.

The storage unit 34 stores the results of various processes by the processing unit 31, information in the middle of processing, and other information.

The acquisition unit 41 acquires the object detection information and the detection condition information from the plurality of providing devices 101, respectively.

More specifically, the receiving unit 33 receives the provided information from each providing device 101, that is, the object detection information and the detection condition information via the external network 5, and outputs the information to the processing unit 31.

The acquisition unit 41 in the processing unit 31 stores the provided information received from the receiving unit 33 in the storage unit 34.

The information creation unit 42 in the target device is based on the object detection information and the detection condition information of the plurality of providing devices 101 including the providing device 101 of the change information providing target, that is, the target device, acquired by the acquisition unit 41. Create change information that indicates the changes related to object detection.

FIG. 5 is a diagram conceptually showing the process of creating change information in the vehicle management device according to the embodiment of the present disclosure.

[Integrated processing]
With reference to FIGS. 4 and 5, the information creation unit 42 in the processing unit 31 performs an integrated process for creating integrated information that integrates the object detection information transmitted from each providing device 101.

In the integrated process, first, the information creation unit 42 performs time synchronization for adjusting the time variation of the provided information transmitted from each providing device 101 including the target device.

More specifically, the information creation unit 42 sets the target time for each target device. The target time is, for example, the above-mentioned measurement time included in the provided information received from the target device.

Then, the information creation unit 42 refers to the storage unit 34, and selects the provided information closest to the target time for each providing device 101 by using, for example, the above-mentioned measurement time included in each provided information. Further, for example, when the information providing unit 42 does not have the provided information close to the target time for a certain providing device 101 in the storage unit 34, the information creating unit 42 is based on the object detection information of the providing device 101 stored in the storage unit 34. The object detection information of the providing device 101 at the target time is estimated and selected.

Next, the information creation unit 42 maps the provided information of each providing device 101 selected in the time synchronization to a single position coordinate.

More specifically, the information creation unit 42 unifies the coordinate system of the provided information of each providing device 101. Specifically, for example, the information creation unit 42 converts the coordinates and vectors of the detected object in the relative coordinate system created by each providing device 101 into one coordinate system owned by itself.

Next, the information creation unit 42 creates integrated information using each provided information after coordinate conversion.

More specifically, the information creation unit 42 evaluates the object detection information on an element-by-element basis for each object detection information based on the corresponding detection condition information, and based on the evaluation result, the object detection of the plurality of providing devices 101. Multiple elements are extracted from the information, and integrated information including the extracted multiple elements is created. For example, the information creation unit 42 determines the accuracy of each element included in the corresponding object detection information based on the detection condition information.

Specifically, the information creation unit 42 determines, for example, whether or not the distance from the sensor 51 or 81 to the detected object is an appropriate distance, whether or not the surrounding environment of the sensor 51 or 81 is appropriate, and whether or not the detected object. The accuracy is determined based on whether or not there is an influence of another object different from the above, and whether or not the certainty of each element included in the object detection information is sufficient.

For example, the information creation unit 42 provides when the surrounding environment of the sensor 51 or 81 is not good for the sensor, such as when the detected object is too far from the providing device 101 or when the surroundings of the providing device 101 are dark. When the sensor is positioned in a direction blocked by an object detected by the device 101, it is determined that the accuracy is low.

Then, the information creation unit 42 is represented by a single position coordinate using a combination of each element determined to be accurate in the object detection information of each providing device 101, or a prediction result using each element. Create integrated information for each object detection information. For example, the information creation unit 42 creates the mapping and integrated information for each set target time, that is, for each target device.

Here, the information creation unit 42 makes a prediction using each of the above elements using, for example, a learning model for discriminating a vehicle, a pedestrian, or the like created by machine learning such as deep learning.

In this way, the configuration that performs time synchronization, mapping, and accuracy judgment and reflection of the judgment result is more accurate and advanced on an element-by-element basis than a method that simply integrates the object detection information from each providing device 101. Integrated information can be created.

For example, if the width and height of an object can be known from the provided information of a certain providing device 101 but the reliability of the depth is low, the provided information of another providing device 101 that detects the object from a different angle is used to obtain the object. More accurate information such as obtaining depth can be comprehensively created.

Further, for example, when the dimensions of the object can be known from the provided information of a certain providing device 101 but the reliability of the speed is low, the provided information of another providing device 101 capable of detecting the object from a different position such as an altitude is used. More accurate information such as obtaining the velocity of the object can be comprehensively created.

[Improvement processing]
Next, the information creation unit 42 performs an improvement process for creating change information for improving object detection in the target device after performing the integrated process.

In the improvement process, first, the information creation unit 42 converts the coordinate system of the position information included in the created integrated information into the coordinate system of the target device.

Next, the information creation unit 42 compares the created integrated information with the corresponding object detection information, that is, the object detection information received from the target device, and selects and calculates the information to be transmitted to the target device based on the comparison result. And so on.

More specifically, the information creation unit 42 creates change information by, for example, selecting and calculating information such that the object detection result in the providing device 101 or future object detection becomes more accurate.

For example, the change information indicates the content of the change in the detection result of the object in the providing device 101.

Specifically, for example, the change information includes the correct dimension, the correct position information, the correct inclination, the correct velocity, or the correct acceleration of the detected object in the target device, and the time information that is the reference of these elements.

Note that the change information is not limited to the correct value itself, but may include a difference from the correct value obtained from the integrated information of each of the above elements in the object detection information.

As another example, the change information may indicate the change contents of the setting of the sensor 51 or 81 used for detecting the object.

Specifically, for example, the change information includes correction parameters applicable to the sensor 51 or 81 in the providing device 101. Further, for example, the change information includes orientation, zoom, frame rate, image size, setting values of various color tones, and the like with respect to the camera. Also, for example, the change information includes the direction of the laser, the angle range, the number of revolutions, etc. with respect to LiDAR.

As another example, the change information may indicate a change in the content of the analysis process for the measurement result of the sensor 51 or 81 used for detecting the object.

Specifically, for example, the change information includes a correction parameter applicable to the analysis process of the analysis unit 21 or 71 in the providing device 101. Also, for example, the change information includes criteria for template matching, weights used in the network of learning models, and the like.

Next, the information creation unit 42 sets the utilization time, which is the time when the target device should utilize the change information, and makes a part or all of the content of the change information based on the above comparison result suitable for the utilization time. Create changed change information. Specifically, for example, the information creation unit 42 determines the prediction result of the future position of the detected object, which is a moving object, in consideration of the transmission delay from the vehicle management device 201 to the target device, the processing delay in the target device, and the like. Create reflected change information.

On the other hand, the information creation unit 42 maintains the content of the change information based on the above comparison result when the change according to the utilization time is not necessary.

Here, the information creation unit 42 uses this utilization time as, for example, the "reference time information" in the above-mentioned change information.

The utilization time may be the past time, for example, when it is useful to correct the past object detection result in the target device.

By such improvement processing, for example, it is possible to improve the object detection capability of the providing device 101 and correct the object detection result of the providing device 101. More specifically, the dimensions in the detection result of the object in the providing device 101, the orientation of the camera and the laser orientation of the LiDAR in the setting of the sensor 51 or 81, and the determination in the analysis process of the analysis unit 21 or 71 in the providing device 101. It is possible to realize a high degree of correction on an element-by-element basis such as a reference and a weight.

Then, the providing device 101 manages the vehicle by transmitting new object detection information and detection condition information to the vehicle management device 201 by object detection with improved accuracy using the change information received from the vehicle management device 201. It is possible to create a virtuous cycle in which the accuracy of the integrated information in the device 201 is further improved.

Note that the information creation unit 42 in the processing unit 31 may be configured to perform integrated processing at, for example, periodically arriving integration timings. Further, the information creation unit 42 may be configured to perform the integration process and the improvement process asynchronously.

The information creation unit 42 realizes the above-mentioned integrated processing and improvement processing by, for example, a statistical calculation method, a geometric calculation method such as graphic transformation, and inference using a neural network. Can be done.

Next, the information creation unit 42 outputs the change information created by the improvement process to the transmission unit 32.

The transmission unit 32 transmits the change information received from the information creation unit 42 to the corresponding providing device 101, that is, the target device via the external network 5 and the radio base station device 4.

With reference to FIG. 2 again, when the target device is the providing device 101A, the receiving unit 13 receives the change information from the vehicle management device 201 via the radio base station device 4 and outputs the change information to the processing unit 11.

The detection change unit 22 in the processing unit 11 makes a change regarding the detection of the object in the providing device 101A based on the change information received by the receiving unit 13.

More specifically, the detection change unit 22 corrects the detection result of the object by the analysis unit 21, changes the parameters related to the sensor 51, and analyzes the analysis unit 21, based on the change information received from the reception unit 13. Make at least one of the parameter changes related to.

Specifically, the detection change unit 22 corrects the dimensions, position information, inclination, velocity, acceleration, etc. of the detected object to the values indicated by the change information in the detection result of the object by the analysis unit 21 at the utilization time.

Further, the detection / change unit 22 corrects the setting values such as the orientation, zoom, frame rate, image size, and various color tones of the camera, which is the sensor 51, to the values indicated by the change information. Further, the detection change unit 22 corrects the laser direction, the angle range, the rotation speed, and the like of the LiDAR sensor 51 to the values indicated by the change information.

Further, the detection / change unit 22 corrects the determination criteria for template matching in the analysis process of the analysis unit 21, the weights used in the network of the learning model, and the like to the values indicated by the change information.

The operation associated with the arrival of the change information by the receiving unit 63, the detection changing unit 72, and the like in the providing device 101B shown in FIG. 3 is the same as the above operation in the providing device 101A.

[Operation flow]
Each device in the vehicle management system 301 includes a computer including a memory, and an arithmetic processing unit such as a CPU in the computer reads a program including a part or all of each step of the following flowchart and sequence from the memory and executes the program. To do. The programs of these plurality of devices can be installed from the outside. The programs of these plurality of devices are distributed in a state of being stored in a recording medium.

FIG. 6 is a diagram showing an example of a sequence of processing of provided information and change information in the vehicle management system according to the embodiment of the present disclosure. FIG. 6 shows, as an example, an operation in which one target device transmits the provided information to the vehicle management device 201 and receives change information from the vehicle management device 201.

With reference to FIG. 6, first, it is assumed that object detection information and detection condition information are transmitted from one or a plurality of other providing devices 101 (step S1) and are stored in the storage unit 34 of the vehicle management device 201. To do. Here, the storage unit 34 may store the object detection information and the detection condition information transmitted in the past from the target device (step S2).

Next, the target device performs analysis processing based on the measurement result received from the sensor 51 or 81 (step S3).

Next, the target device creates object detection information indicating the detection result of the object and detection condition information indicating the conditions for detecting the object (step S4), and transmits the information to the vehicle management device 201 (step S5).

Next, the vehicle management device 201 stores the object detection information and the detection condition information received from the target device in the storage unit 34 (step S6).

Next, the vehicle management device 201 performs an integrated process of creating integrated information that integrates the object detection information transmitted from each providing device 101. More specifically, in the integrated process, the vehicle management device 201 is transmitted from each providing device 101, for example, with the above-mentioned measurement time included in the providing information received from the target device to which the change information is provided as a target time. Time synchronization is performed to match the time variation of the provided information (step S7).

Next, the vehicle management device 201 performs an improvement process for creating change information for improving object detection in the target device (step S8).

Next, the vehicle management device 201 transmits the created change information to the target device (step S9).

Next, the target device makes changes related to the detection of the object in the target device based on the change information received from the vehicle management device 201 (step S10).

FIG. 7 is a flowchart defining the operation procedure of the providing device in the vehicle management system according to the embodiment of the present disclosure. FIG. 7 shows the operation of the providing device 101A mounted on the vehicle 1.

With reference to FIG. 7, first, the providing device 101 acquires the measurement result from the sensor 51 (step S21).

Next, the providing device 101 performs an analysis process for detecting an object that affects the traffic of its own vehicle 1 based on the acquired measurement result (step S22).

Next, the providing device 101 creates support information for autonomous driving, automatic driving, driving support, etc. based on the detection result of the object, and based on the created support information, the own vehicle 1 such as speed control, etc. (Step S23).

Next, the providing device 101 creates object detection information indicating the detection result of the object and detection condition information indicating the conditions for detecting the object (step S24), and transmits the information to the vehicle management device 201 (step S25).

Next, when the providing device 101 listens for the change information from the vehicle management device 201 (NO in step S26) and receives the change information (YES in step S26), the providing device 101 performs a change process based on the received change information (step). S27).

Then, when the providing device 101 newly acquires the measurement result from the sensor 51, the providing device 101 performs the analysis process again (step S21).

Note that the processing of step S23 and the processing of steps S24 and S25 may be performed in a different order or in parallel. Further, the processes of steps S21 to S25 and the processes of steps S26 and S27 may be performed in parallel. Further, the process of step S23 may be performed after the change process (step S27).

Further, the operation of the providing device 101B mounted on the roadside machine 3 is FIG. 7 except that the analysis process for detecting an object affecting the traffic of surrounding vehicles is performed in step S22 and the process in step S23 is not performed. It is the same as the flowchart shown in.

FIG. 8 is a flowchart defining the operation procedure of the vehicle management device in the vehicle management system according to the embodiment of the present disclosure.

With reference to FIG. 8, first, when the vehicle management device 201 listens for the provided information from the providing device 101 (NO in step S41) and receives the provided information (YES in step S41), the vehicle management device 201 stores the received provided information. Accumulate in 34 (step S42).

Next, when the providing device 101 is the target device, the vehicle management device 201 performs time synchronization for adjusting the time variation of the provided information transmitted from each providing device 101 including the target device (step S43).

Next, the vehicle management device 201 maps the provided information of each providing device 101 selected in the time synchronization to a single position coordinate (step S44).

Next, the vehicle management device 201 creates integrated information using each provided information after coordinate conversion (step S45).

Next, the vehicle management device 201 converts the coordinate system of the position information included in the created integrated information into the coordinate system of the target device (step S46).

Next, the vehicle management device 201 compares the created integrated information with the object detection information received from the target device, selects and calculates the information to be transmitted to the target device based on the comparison result, and changes the information. Is created (step S47).

Next, the vehicle management device 201 sets the utilization time, which is the time when the target device should utilize the change information, and makes a part or all of the content of the change information based on the above comparison result suitable for the utilization time. Create the changed change information (step S48).

Next, the vehicle management device 201 outputs the created change information to the target device (step S49).

The presenting device according to the embodiment of the present disclosure may not include a receiving unit and a detection / changing unit, and may be configured not to receive the change information and reflect the change information in the object detection. Even with such a configuration, the vehicle management device 201 can extract highly accurate information from the object detection information of each providing device 101 to create more accurate and highly integrated information. As a result, for example, it is possible to improve the object detection accuracy in the vehicle or roadside machine to which the integrated information is distributed.

Further, a part or all of the functions of the vehicle management device according to the embodiment of the present disclosure may be provided by cloud computing. That is, the vehicle management device according to the embodiment of the present disclosure may be configured by a plurality of cloud servers and the like.

As described above, in the providing device according to the embodiment of the present disclosure, the analysis unit 21 or 71 detects the object detection information indicating the detection result in the providing device 101 of the object affecting the traffic of the vehicle 1, and the detection of the object. Create detection condition information indicating the conditions in. Then, the transmission unit 12 or 62 transmits the object detection information and the detection condition information created by the analysis unit 21 or 71.

Further, in the vehicle management method according to the embodiment of the present disclosure, in the providing device 101, first, the object detection information indicating the detection result in the providing device 101 of the object affecting the traffic of the vehicle 1 and the conditions for detecting the object. Create detection condition information indicating. Next, the created object detection information and detection condition information are transmitted.

With such a configuration, for example, in a device that collects object detection information and detection condition information from each providing device 101, the object detection conditions in each providing device 101 are accurately utilized from the collected object detection information. It is possible to extract highly sexual elements. For example, the sensing environment of the surrounding conditions such as a vehicle and a roadside machine varies, and the sensing environment fluctuates with time. Therefore, as compared with the method of simply integrating the object detection information from each providing device 101, it is possible to realize highly accurate object detection by using the highly accurate information as described above.

Therefore, the providing device and the vehicle management method according to the embodiment of the present disclosure can improve the detection accuracy of an object that affects the traffic of the vehicle.

Further, in the vehicle management device according to the embodiment of the present disclosure, the acquisition unit 41 indicates the object detection information indicating the detection result in the vehicle providing device 101 of the object affecting the traffic of the vehicle 1, and the conditions for detecting the object. The detection condition information is acquired from each of the plurality of providing devices 101. The information creation unit 42 changes the object detection in the target device based on the object detection information and the detection condition information of the plurality of providing devices 101 including the target device which is the target providing device 101 acquired by the acquisition unit 41. Create change information that indicates the content. Then, the transmission unit 32 transmits the change information created by the information creation unit 42 to the target device.

Further, in the vehicle management system according to the embodiment of the present disclosure, each of the plurality of providing devices 101 including the target device 101, which is the target providing device 101, has a detection result in the object providing device 101 that affects the traffic of the vehicle 1. The object detection information indicating the above and the detection condition information indicating the conditions for detecting the object are transmitted to the vehicle management device 201. Then, the vehicle management device 201 transmits, based on the received object detection information and detection condition information of the plurality of providing devices 101, change information indicating the change contents regarding the detection of the object in the target device to the target device.

Further, in the vehicle management method according to the embodiment of the present disclosure, in the vehicle management device 201, first, in the object detection information indicating the detection result in the object providing device 101 that affects the traffic of the vehicle 1, and in the detection of the object. The detection condition information indicating the condition is acquired from each of the plurality of providing devices 101. Next, based on the acquired object detection information and detection condition information of a plurality of providing devices 101 including the target device which is the target providing device 101, change information indicating the change contents regarding the detection of the object in the target device is created. .. Next, the created change information is transmitted to the target device.

Further, in the vehicle management method according to the embodiment of the present disclosure, in the vehicle management system 301, first, a plurality of providing devices 101 including the target device, which is the target providing device 101, affect the traffic of the vehicle 1, respectively. The object detection information indicating the detection result in the object providing device 101 and the detection condition information indicating the conditions for detecting the object are transmitted to the vehicle management device 201. Next, the vehicle management device 201 transmits, based on the received object detection information and detection condition information of the plurality of providing devices 101, change information indicating the change contents regarding the detection of the object in the target device to the target device.

With such a configuration, object detection information and detection condition information are collected from each providing device 101, and the object detection conditions in each providing device 101 are utilized from the collected object detection information with high accuracy. Elements can be extracted. Then, by using the extracted highly accurate information and the object detection information of the target device to make changes related to object detection in the target device, the capabilities of the device and software of the target device used for object detection are improved. Or, the detection result of the object can be corrected. For example, the sensing environment of the surrounding conditions such as a vehicle and a roadside machine varies, and the sensing environment fluctuates with time. Therefore, as compared with the method of simply integrating the object detection information from each providing device 101, the object detection with high accuracy in the target device can be performed by the configuration in which the highly accurate information as described above is fed back to the object detection in the target device. It can be realized.

Therefore, the vehicle management device, the vehicle management system, and the vehicle management method according to the embodiment of the present disclosure can improve the detection accuracy of an object that affects the traffic of the vehicle.

Further, in the embodiment of the present disclosure, the amount of communication of information collected from the providing device 101 can be reduced. For example, the sensor information includes a large amount of information in the storage area in order to perform accurate object detection, and also includes information in an area unnecessary for object detection. On the other hand, since the object detection information and the detection condition information are the results of the object detection performed by the providing device 101, for example, they indicate the characteristics of the object such as the type, dimensions, position information, inclination, velocity, and acceleration of the detected object. Information on objects that have been converted into information and do not exist is not included. Therefore, since the information collected from the providing device 101 is object detection information and detection condition information having a smaller amount of data than the sensor information, the communication amount of the information collected from the providing device 101 can be reduced.

Further, the information used by the vehicle management device 201 for the integrated processing is the object detection information and the detection condition information which are the results of the object detection by the providing device 101, and it is necessary to execute the same processing on the vehicle management device 201 side. There is no. Therefore, the processing load of the integrated processing in the vehicle management device 201 can be reduced.

Therefore, in the embodiment of the present disclosure, the detection accuracy of the object affecting the traffic of the vehicle can be improved, the communication amount of the information of the detection result can be reduced, and the processing load of the integrated processing of the detection result can be increased. Can be reduced.

The above embodiment should be considered to be exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and it is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

The above description includes the features described below.
[Appendix 1]
An information creation unit that creates object detection information that indicates the detection result of an object that affects the traffic of the vehicle in the providing device, and detection condition information that indicates the conditions for detecting the object.
The object detection information created by the information creation unit and the transmission unit for transmitting the detection condition information are provided.
The object detection information includes a plurality of elements related to the object.
The detection condition information includes the condition that the object detection information can be evaluated for each element.

[Appendix 2]
An acquisition unit that acquires object detection information indicating the detection result of an object affecting the traffic of the vehicle in the providing device and detection condition information indicating a condition for detecting the object from the plurality of providing devices, respectively.
Based on the object detection information and the detection condition information of the plurality of providing devices acquired by the acquisition unit, the contents of changes regarding the detection of the object in the predetermined target device among the plurality of providing devices are shown. The information creation department that creates change information and
It includes a transmission unit that transmits the change information created by the information creation unit to the target device.
The object detection information includes a plurality of elements related to the object.
The detection condition information includes the condition that the object detection information can be evaluated for each element.
The information creation unit creates integrated information that integrates the object detection information of the plurality of providing devices, and creates the change information based on the comparison result between the created integrated information and the object detection information of the target device. make,
The information creation unit evaluates the object detection information for each element based on the corresponding detection condition information for each object detection information, and based on the evaluation result, the object detection of the plurality of providing devices. A vehicle management device that extracts a plurality of the elements from the information and creates the integrated information including the extracted elements.

[Appendix 3]
With multiple providers
Equipped with a vehicle management device
Each of the plurality of providing devices transmits the object detection information indicating the detection result of the object affecting the traffic of the vehicle in the providing device and the detection condition information indicating the conditions for detecting the object to the vehicle management device.
Based on the object detection information and the detection condition information of the plurality of providing devices received, the vehicle management device changes the content of the detection of the object in the predetermined target device among the plurality of providing devices. The indicated change information is transmitted to the target device,
The object detection information includes a plurality of elements related to the object.
The detection condition information includes the condition that the object detection information can be evaluated for each element.
The vehicle management device creates integrated information that integrates the object detection information of the plurality of providing devices, and creates the change information based on a comparison result between the created integrated information and the object detection information of the target device. make,
The vehicle management device evaluates the object detection information for each element based on the corresponding detection condition information for each object detection information, and based on the evaluation result, the object detection of the plurality of providing devices. A vehicle management system that extracts a plurality of the elements from the information and creates the integrated information including the extracted elements.

[Appendix 4]
A providing device including a processor and a communication circuit.
The processor
An information creation unit that creates object detection information indicating the detection result of an object affecting the traffic of a vehicle in the providing device and detection condition information indicating a condition for detecting the object is realized.
The communication circuit
A providing device that realizes a transmission unit that transmits the object detection information and the detection condition information created by the information creation unit.

[Appendix 5]
A vehicle management device including a processor and a communication circuit.
The processor
An acquisition unit that acquires object detection information indicating the detection result of an object affecting the traffic of the vehicle in the providing device and detection condition information indicating a condition for detecting the object from the plurality of providing devices, respectively.
Based on the object detection information and the detection condition information of the plurality of providing devices acquired by the acquisition unit, the contents of changes regarding the detection of the object in the predetermined target device among the plurality of providing devices are shown. Realizes an information creation department that creates change information,
The communication circuit
A vehicle management device that realizes a transmission unit that transmits the change information created by the information creation unit to the target device.

1 Vehicle 3 Roadside unit 4 Radio base station device 5 External network 11 Processing unit 12 Transmission unit 13 Reception unit 14 Storage unit 21 Analysis unit 22 Detection change unit 23 Support information creation unit 24 Vehicle control unit 31 Processing unit 32 Transmission unit 33 Reception unit 34 Storage unit 41 Acquisition unit 42 Information creation unit 51, 81 Sensor 61 Processing unit 62 Transmission unit 63 Reception unit 64 Storage unit 71 Analysis unit 72 Detection change unit 101, 101A, 101B Providing device 201 Vehicle management device 301 Vehicle management system

Claims (14)

1. An information creation unit that creates object detection information that indicates the detection result of an object that affects the traffic of the vehicle in the providing device, and detection condition information that indicates the conditions for detecting the object.
   A providing device including a transmission unit that transmits the object detection information and the detection condition information created by the information creation unit.
2. The providing device further
   A receiving unit that receives change information indicating the change contents regarding the detection of the object in the providing device, and
   The providing device according to claim 1, further comprising a detection changing unit that changes the detection of the object in the providing device based on the change information received by the receiving unit.
3. The providing device according to claim 2, wherein the change information indicates the content of the change in the detection result.
4. The providing device according to claim 2 or 3, wherein the change information indicates a change content of a setting of a sensor used for detecting the object.
5. The providing device according to any one of claims 2 to 4, wherein the change information indicates a change in the content of analysis processing with respect to the measurement result of the sensor used for detecting the object.
6. The providing device according to any one of claims 1 to 5, wherein the detection condition information indicates an environment of the sensor that affects the measurement performance of the sensor used for detecting the object.
7. The providing device is mounted on the vehicle and
   The providing device according to any one of claims 1 to 6, wherein the detection condition information indicates a running state of the vehicle on which the providing device is mounted.
8. An acquisition unit that acquires object detection information indicating the detection result of an object affecting the traffic of the vehicle in the providing device and detection condition information indicating a condition for detecting the object from the plurality of providing devices, respectively.
   Based on the object detection information and the detection condition information of the plurality of providing devices acquired by the acquisition unit, the contents of changes regarding the detection of the object in the predetermined target device among the plurality of providing devices are shown. The information creation department that creates change information and
   A vehicle management device including a transmission unit that transmits the change information created by the information creation unit to the target device.
9. With multiple providers
   Equipped with a vehicle management device
   Each of the plurality of providing devices transmits the object detection information indicating the detection result of the object affecting the traffic of the vehicle in the providing device and the detection condition information indicating the conditions for detecting the object to the vehicle management device.
   Based on the object detection information and the detection condition information of the plurality of providing devices received, the vehicle management device changes the content of the detection of the object in the predetermined target device among the plurality of providing devices. A vehicle management system that transmits the indicated change information to the target device.
10. It is a vehicle management method in the providing device.
    A step of creating object detection information indicating the detection result of an object affecting the traffic of the vehicle in the providing device, and detection condition information indicating a condition for detecting the object.
    A vehicle management method including a step of transmitting the created object detection information and the detection condition information.
11. It is a vehicle management method in a vehicle management device.
    A step of acquiring object detection information indicating the detection result of an object affecting the traffic of the vehicle in the providing device and detection condition information indicating a condition in detecting the object from the plurality of providing devices, respectively.
    Based on the acquired object detection information of the plurality of providing devices and the detection condition information, change information indicating the change contents regarding the detection of the object in the predetermined target device among the plurality of providing devices is created. Steps and
    A vehicle management method including a step of transmitting the created change information to the target device.
12. A vehicle management method in a vehicle management system including a plurality of providing devices and a vehicle management device.
    A step in which the plurality of providing devices transmit object detection information indicating an object detection result affecting vehicle traffic in the providing device and detection condition information indicating a condition for detecting the object to the vehicle management device, respectively. When,
    Based on the object detection information and the detection condition information of the plurality of providing devices received by the vehicle management device, the change contents regarding the detection of the object in the predetermined target device among the plurality of providing devices are changed. A vehicle management method including a step of transmitting the indicated change information to the target device.
13. A vehicle management program used in the providing equipment.
    Computer,
    An information creation unit that creates object detection information that indicates the detection result of an object that affects the traffic of a vehicle in the providing device, and detection condition information that indicates a condition for detecting the object.
    A transmission unit that transmits the object detection information and the detection condition information created by the information creation unit,
    Vehicle management program to function as.
14. A vehicle management program used in a vehicle management device.
    Computer,
    An acquisition unit that acquires object detection information indicating the detection result of an object affecting the traffic of the vehicle in the providing device and detection condition information indicating a condition for detecting the object from the plurality of providing devices, respectively.
    Based on the object detection information and the detection condition information of the plurality of providing devices acquired by the acquisition unit, the contents of changes regarding the detection of the object in the predetermined target device among the plurality of providing devices are shown. The information creation department that creates change information and
    A transmission unit that transmits the change information created by the information creation unit to the target device,
    Vehicle management program to function as.

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