JP2018106343A - Commumication device, communication method, and communication program and data structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a communication device capable of reducing a data amount when performing transmission and reception between vehicles of a planimetric feature ID for automatic operation.SOLUTION: In a map block group in which each is wider than a communicable range between vehicles and includes the number of blocks corresponding to the communicable range, a block ID for identifying each map block within a map block group including the number of map blocks corresponding to a communicable range which is wider than the communicable range between vehicles is given to each map block. The map data in which a planimetric-feature ID for identifying a positioning marker within each map block is obtained, and device position data including the planimetric-feature ID and the block ID of the map block in which the positioning marker identified by the planimetric-feature ID is included is generated so as to be transmitted to other vehicles.SELECTED DRAWING: Figure 4

Description

  The present application belongs to a technical field of a communication device, a communication method, a communication program, and a data structure. More specifically, the present invention belongs to the technical field of a communication device capable of communicating with the outside, a communication method executed in the communication device, and a communication program and data structure used in the communication device.

  2. Description of the Related Art In recent years, for example, research and development relating to automatic driving of a moving body has been actively carried out with information exchange by wireless communication between moving bodies such as vehicles. In this automatic driving, it is generally necessary to collect information on features (facility, traffic light, etc.) around the moving body. As a prior art document disclosing a technique related to such automatic driving, for example, the following Patent Document 1 can be cited.

  At this time, the technique disclosed in Patent Document 1 below is a prior art that aims to reduce the amount of communication between the vehicle and the server device, and to update the map. In the technique disclosed in Patent Document 1, a mesh-like map is stored in map data together with a mesh ID number, and the amount of map data is reduced.

JP 2011-2445 A

  However, the technique disclosed in Patent Document 1 neither discloses nor suggests the collection of information related to features for automatic driving as described above. On the other hand, when collecting information related to the feature, it is necessary to use a feature ID for identifying the feature to be collected. However, the above-mentioned features to be collected are innumerable at the national level, for example. If a unique feature ID is assigned to each feature to identify each feature, the number of the features themselves The amount of data (for example, the number of digits or the number of bits as data) increases due to the large number of feature IDs themselves, and thus the amount of data exchanged between mobiles also becomes enormous. There is a point.

  Accordingly, the present application has been made in view of the above-described problems, and an example of the problem is a communication device capable of reducing the amount of data when the feature ID for automatic driving is exchanged between vehicles, and the communication device. And a communication program and a data structure used in the communication apparatus.

  In order to solve the above-mentioned problem, the invention described in claim 1 is characterized in that each of the partial maps in the partial map group includes a number of partial maps each of which is wider than the communicable range between the mobile bodies and corresponds to the communicable range. A partial map ID for identifying a partial map is assigned to each partial map, and map information of a map in which a feature ID for identifying a feature in each partial map in the partial map is assigned to the feature is acquired. Generating feature information including the acquisition means, the feature ID, and the partial map ID of the partial map including the feature identified by the feature ID, and transmitting the feature information to the mobile body Generating and transmitting means.

  In order to solve the above-described problem, the invention according to claim 9 is a communication method executed in a communication apparatus including an acquisition unit and a generation transmission unit, each of which is wider than a communicable range between mobile units. A partial map ID for identifying each partial map in the partial map group including the number of partial maps corresponding to the communicable range is assigned to each partial map, and the features in each partial map are assigned to the partial map. An acquisition step of acquiring map information of a map in which a feature ID identified within the feature is assigned to the feature, the feature ID, and the feature identified by the feature ID A generation and transmission step of generating the feature information including the partial map ID of the partial map by the generation and transmission unit and transmitting the feature information to the moving body.

  In order to solve the above problem, an invention according to claim 10 causes a computer to function as the communication device according to any one of claims 1 to 8.

  In order to solve the above-mentioned problem, the invention according to claim 11 is acquired by the acquisition unit of the communication device according to any one of claims 1 to 8 and is used for communication between the mobile objects. A data structure of the map information provided, wherein the map corresponding to the map information is divided into a plurality of the partial map groups, and the partial map group data corresponding to each of the partial map groups, Each partial map group includes the partial map ID for identifying each partial map, and the partial map data corresponding to each partial map includes the feature in the region corresponding to the partial map. Includes feature IDs identified in the map.

It is a block diagram which shows the schematic structure of the communication apparatus which concerns on embodiment. 1 is a block diagram illustrating a schematic configuration of an automatic driving system according to an embodiment. It is a block diagram which shows the outline | summary structure of the automatic driving apparatus which concerns on an Example. It is a figure which illustrates the content etc. of the map database which concerns on an Example, (a) is a figure which illustrates the position etc. of the positioning marker which concerns on an Example, (b) is a figure which illustrates the said map database. . It is a flowchart which shows the communication process which concerns on an Example, (a) is a flowchart which shows the transmission process which concerns on an Example, (b) is a flowchart which shows the positional relationship detection process which concerns on an Example.

  Next, the form for implementing this application is demonstrated using FIG. FIG. 1 is a block diagram illustrating a schematic configuration of the communication apparatus according to the embodiment.

  As shown in FIG. 1, the communication device S according to the embodiment includes an acquisition unit 1 and a generation transmission unit 2 that can communicate with an external mobile body M.

  In this configuration, the acquisition means 1 has a partial map ID for identifying each partial map in each of the partial map groups each including a number of partial maps that is wider than the communicable range between the mobile bodies and corresponds to the communicable range. The map information of the map which is given to the partial map and is assigned with the feature ID for identifying the feature in the partial map in the partial map is acquired.

  As a result, the generation / transmission means 2 generates and transmits the feature information including the feature ID and the partial map ID of the partial map including the feature identified by the feature ID to the mobile unit M. To do.

  As described above, according to the operation of the communication device S according to the embodiment, the partial map ID for identifying each partial map in the partial map group is assigned to each partial map, and the feature in the partial map is displayed as the partial map. Using the map information of the map in which the feature ID identified in the map is assigned to the feature, the feature ID and the partial map ID of the partial map including the feature identified by the feature ID are included. Generates feature information and sends it to the moving object. Therefore, each feature is identified and used as feature information as compared to the case of using a map in which different feature IDs for identifying each feature are assigned to all the features. The feature information can be exchanged between moving bodies while reducing the amount of data.

  Next, specific examples corresponding to the above-described embodiment will be described with reference to FIGS. FIG. 2 is a block diagram illustrating a schematic configuration of the automatic driving system according to the embodiment, and FIG. 3 is a block diagram illustrating a schematic configuration of the automatic driving device according to the embodiment. FIG. 4 is a diagram illustrating the contents of the map database according to the embodiment, and FIG. 5 is a flowchart illustrating communication processing according to the embodiment. At this time, in FIG. 3, the same member numbers as the respective constituent members in the communication apparatus S are used for the respective constituent members in the examples corresponding to the respective constituent members in the communication apparatus S according to the embodiment shown in FIG. 1. .

  The embodiments described below are mounted on a plurality of vehicles, respectively, and use the automatic driving apparatus according to the embodiments to perform necessary data exchange between the vehicles by wireless communication between the vehicles, It is an Example at the time of applying embodiment to the automatic driving system which performs automatic driving | operation in this vehicle.

  As shown in FIG. 2, the automatic driving system SS according to the embodiment includes an automatic driving device A1, an automatic driving device A2,..., An automatic driving device An (n is a natural number), a vehicle M1, a vehicle M2, ..., automatic transmission of the vehicle Mn by the automatic driving device An, the automatic driving device A2, ..., the automatic driving device An, while exchanging necessary data between the vehicles Mn by wireless communication. Control.

  In addition, the structure of automatic driving device A1, automatic driving device A2, ..., automatic driving device An which concerns on an Example is fundamentally the same. In the following description, when items common to the automatic driving device A1, the automatic driving device A2,..., The automatic driving device An are described, these are collectively referred to as “automatic driving device A”. In the following description, when items common to the vehicle M1, the vehicle M2,..., The vehicle Mn are described, these are collectively referred to as “vehicle M”. The vehicle M corresponds to an example of the moving object M according to the embodiment.

  Next, as specifically shown in FIG. 3, each of the automatic driving devices A mounted on each vehicle M according to the embodiment includes a CPU, a RAM (Random Access Memory), a ROM (Read Only Memory), and the like. An automatic operation control unit 1, an interface 2, a sensor 10 such as an ultrasonic sensor, a radar sensor, or an image sensor, and a recording unit 11 including an HDD (Hard Disc Drive) or an SSD (Solid State Drive). The operation unit 12 includes a touch panel, operation buttons, or a remote controller, and the display 13 includes a liquid crystal display. The automatic operation control unit 1 may be configured in hardware by a logic circuit or the like that configures the CPU or the like, and a program corresponding to a flowchart showing communication processing according to an embodiment described later is executed by the CPU. It may be realized by software by reading and executing. In the above configuration, the automatic operation control unit 1 corresponds to an example of the acquisition unit 1 according to the embodiment, and the interface 2 corresponds to an example of the generation transmission unit 2 according to the embodiment. Moreover, as shown by a broken line in FIG. 3, the automatic operation control unit 1 and the interface 2 constitute an example of the communication device S according to the embodiment.

  In the configuration of the automatic driving device A, the sensor 10 is located on the side of the road where the vehicle M on which the automatic driving device A is mounted is moving and is designated (set) in advance under the control of the automatic driving control unit 1. The relative position of the automatic driving device A with respect to the feature being detected is detected. The relative position detected at this time is represented by, for example, the distance between the feature and the automatic driving device A, the orientation of the feature viewed from the automatic driving device A, or the height difference between them. Relative position.

  Here, the feature according to the embodiment is, for example, a characteristic facility (building), a traffic sign, conspicuous planting, a signboard, or the like on the roadside, the upper part of the road, or in the road. This is a feature that is fixedly installed and is set in advance as a reference for detecting the relative position. About these features, the exact position is measured in advance, and the position information of each feature is stored in the map data or the like used by the vehicle M. In the following description, the feature for detecting the relative position according to the embodiment is referred to as a “positioning marker”. At this time, the sensor 10 and the automatic operation control unit 1 transmit a radio wave such as a millimeter wave or an ultrasonic wave, pick up an image, or scatter obtained by reflection or the like of a laser emitted / irradiated in pulses. The relative position with respect to the positioning marker is detected by a method such as detection by measuring light, and the detection result is temporarily stored in the RAM, for example. The sensor 10 and the automatic operation control unit 1 detect the relative position by including the position in the vertical direction with respect to the positioning marker (in other words, the height from the ground surface). Thereafter, the automatic driving control unit 1 uses the device identification data for identifying the automatic driving device A or the vehicle M including the automatic driving control unit 1 from the other automatic driving device A or the vehicle M and the detection of the relative position. The feature ID (that is, the positioning marker ID) for identifying the positioning marker from the other positioning markers, the detection time, and the like are attached to the detection result of the relative position, and the automatic driving apparatus A The data is transmitted as device position data to another automatic driving device A via the interface 2. At this time, the interface 2 transmits the device position data to another automatic driving device A that can be received at that time, under the control of the automatic driving control unit 1. In the following description, the other automatic driving device A is simply referred to as “automatic driving device Ax” with respect to the automatic driving device A including the automatic driving control unit 1.

  Next, the configuration of the map database MDB recorded in the recording unit 11 will be described. At this time, in accordance with the description of the map database MDB, the positioning marker which is a feature used for detecting the relative position according to the embodiment, and the feature ID transmitted along with the detection result of the relative position. Etc. will also be described.

  First, as shown in FIG. 4A, the positioning marker according to the embodiment is a positioning marker on the side of the road R1 to road R3 on which the vehicle M moves or on the road or above the road R1. It is preset as O1 to positioning marker O14. In the following description, when the matters common to the positioning markers O1 to O14 illustrated in FIG. 4A are described, they are simply referred to as “positioning markers O”. In the map database MDB, map data used for guidance of the vehicle M on which the automatic driving device A is mounted is recorded. In addition to this, the map database MDB shows the position of each positioning marker O on the map in association with the feature ID for identifying each positioning marker O, as illustrated in FIG. 4B. Position data (latitude / longitude data, etc.), altitude data (unit: meters) indicating the altitude of each positioning marker O, and attribute data indicating attributes of the positioning marker O are recorded.

  Here, as illustrated by broken lines in FIG. 4A, in the map data according to the embodiment, the map is divided into a plurality of map blocks Ba, map blocks Bb,..., Map blocks Bi. In the following description, when a common item is described for the map block Ba, the map block Bb,..., And the map block Bi, these are simply referred to as “map block B”. At this time, the shape of each map block B is a rectangle such as a square. The length of one side (short side in the case of a rectangle) of each map block B is based on the distance corresponding to the communicable range between the automatic driving devices A in the area (geographic area) corresponding to the map block B. Is also set longer. Hereinafter, the distance corresponding to the communicable range is appropriately referred to as “communicable distance”. And when the shape of map block B is a square, the length of one side is 1 kilometer, for example. Further, the length of one side when the map block B is a square differs depending on the area corresponding to the map block B. That is, the length of the one side is set to be shorter than the above 1 km when the communicable distance is short, for example, in an urban area where there are many buildings or the like that interfere with communication. When the communicable distance is long in a suburb where there are few buildings and the like, the length is set to be longer than 1 km accordingly.

  Furthermore, in the map data according to the embodiment, a plurality of map blocks B form one map block group. In the case illustrated in FIG. 4 (a), a total of nine map blocks B (map block Ba to map block Bi) of a total of three vertical and three horizontal blocks form one map block group BG (see FIG. 4 (a) one-dot chain line). Is formed. Each map block B is previously assigned a block ID that can be distinguished from other map blocks B in the map block group BG in which each map block B is included. That is, in the map data according to the embodiment, “for each map block B in one map block group BG, for each map block B, nine maps including the map block B centered on the map block B” While satisfying the condition that the block IDs of the blocks B are unique to each other (different from each other), duplication with the block IDs of the map blocks B in the other map block groups BG is recognized.

  Specifically, for example, for each map block B in each of the other map block groups BG adjacent to the center map block group BG in FIG. 4A, the map block group in the center of FIG. In BG, the same block ID as the map block B at the same position is given. That is, for example, the block ID of the map block Ba at the northwest end of the map block group BG adjacent to the east side with respect to the central map block group BG in FIG. 4A is the map block group BG in FIG. It is the same as the block ID of the map block Ba at the northwest end of. Similarly, the block ID of the map block Bi at the southeast end of the map block group BG adjacent to the east side is the block ID of the map block Bi at the southeast end of the map block group BG in FIG. Identical.

  Further, for example, the block ID of the map block Bc at the northeast end of the map block group BG adjacent to the west side with respect to the map block group BG in the center of FIG. 4A is the block ID of the map block group BG in the center of FIG. It is the same as the block ID of the map block Bc at the northeast end. Similarly, the block ID of the map block Bi at the southeast end of the map block group BG adjacent to the west side is the block ID of the map block Bi at the southeast end of the center map block group BG in FIG. Identical.

  Further, for example, the block ID of the map block Bg at the southwest end of the map block group BG adjacent to the north side with respect to the center map block group BG in FIG. 4A is the map ID of the map block group BG in FIG. It is the same as the block ID of the map block Bg at the southwest end. Similarly, the block ID of the map block Bi at the southeast end of the map block group BG adjacent to the north side is the block ID of the map block Bi at the southeast end of the center map block group BG in FIG. Identical.

  And when the said rule regarding grant of block ID is common in each map block BG, the map block contained in map block groups BG other than the map block group BG illustrated in the center of Fig.4 (a) The block ID assigned to B can be the same as any of the block IDs assigned to the map block group BG illustrated in the center of FIG. Further, the number of map blocks B constituting the map block group BG (or one side thereof) is nine (or three) or more illustrated in the center of FIG. 4 (a), for example, the vehicle corresponding to the communicable distance. Any number can be set as long as it is a number that enables mutual identification of the positioning marker O using the block ID and the feature ID in the communication between M.

  On the other hand, there may be a positioning marker O in the area corresponding to each map block B. In this case, in the map data according to the embodiment, the positioning marker O in the area corresponding to one map block B is used. On the other hand, a feature ID that can be identified from other positioning markers O in the region is assigned in advance. At this time, the feature ID given to the positioning marker O in the area corresponding to the map block B other than the one map block B is the positioning marker in the area corresponding to the one map block B. It may be the same as any of the feature IDs assigned to O.

  Next, in the example shown in FIG. 4B, for each of the positioning markers O1 to O14, a block ID corresponding to the region in which it exists and the positioning marker O itself are identified. The feature IDs are associated with each other. For example, it is assumed that block IDs “a” to “i” are assigned to the map blocks Ba to Bi illustrated in FIG. For example, the area corresponding to the map block Ba illustrated in FIG. 4A includes a positioning marker O5 and a positioning marker O6, and the feature ID “1” is assigned to the positioning marker O5. In addition, the feature ID “2” is assigned to the positioning marker O6. Further, only the positioning marker O7 exists in the area corresponding to the map block Bb illustrated in FIG. 4A, and the feature ID “1” is assigned to the positioning marker O7. Further, the area corresponding to the map block Bc illustrated in FIG. 4A includes a positioning marker O11 and a positioning marker O12. The positioning marker O11 is assigned a feature ID “1”. Further, the feature ID “2” is assigned to the positioning marker O12. Furthermore, there are a positioning marker O2 and a positioning marker O4 in an area corresponding to the map block Bd illustrated in FIG. 4A, and the feature ID “1” is assigned to the positioning marker O2. In addition, the feature ID “2” is assigned to the positioning marker O4. Further, in the area corresponding to the map block Be illustrated in FIG. 4A, only the positioning marker O10 is provided, and in the area corresponding to the map block Bf, only the positioning marker O14 is provided. For the positioning marker O14, the feature ID “1” is assigned. Further, in the area corresponding to the map block Bg illustrated in FIG. 4A, there are a positioning marker O1 and a positioning marker O3, and the feature ID “1” is assigned to the positioning marker O1. The feature ID “2” is assigned to the positioning marker O3. Furthermore, the area corresponding to the map block Bh illustrated in FIG. 4A includes only the positioning marker O8, but the feature ID “1” is assigned to the positioning marker O8. Finally, there are a positioning marker O13 and a positioning marker O9 in an area corresponding to the map block Bi illustrated in FIG. 4A, and the feature ID “1” is assigned to the positioning marker O13. Further, the feature ID “2” is assigned to the positioning marker O14. As described above, in the map data according to the embodiment, since a different block ID is assigned to each map block B in one map block group BG, the positioning marker O in the adjacent map block B is assigned to the positioning marker O in the adjacent map block B. Even if the same feature ID is given, each positioning marker O can be individually identified in the automatic driving device A within the communicable range by the combination with the block ID. Further, as illustrated in FIG. 4 (a), since the same block ID is assigned to the map block B having the same position in each map block group BG between the map block groups BG. Even when the communicable range of the driving device A extends over two map block groups BG, each positioning marker O can be individually separated by using a combination of a block ID and a feature ID.

  On the other hand, in the attribute data corresponding to each positioning marker O, for example, information indicating the shape, color, or pattern of the feature as the positioning marker O, information indicating the name or the like as the feature, etc. Is included. This attribute data is data for identifying the positioning marker O to which the sensor 10 is associated from the feature that is not the positioning marker O or another positioning marker O in the detection of the relative position by the sensor 10.

  The sensor 10 and the automatic driving control unit 1 identify the positioning marker O with reference to the attribute data, and detect the relative position of the automatic driving device A provided with the automatic driving control unit 1 with respect to the positioning marker O. To do. This relative position is, for example, the distance between the automatic driving device A provided with the automatic driving control unit 1 and the positioning marker O, the direction of the positioning marker O viewed from the position of the automatic driving device A, and the automatic driving device. The elevation angle of the positioning marker O as seen from the position of the automatic driving device A and the angle formed with the moving direction of the vehicle M on which A is mounted are detected including the vertical position while referring to altitude data. The

  Accordingly, the automatic operation control unit 1 attaches the device identification data and the combination of the block ID and the feature ID to the detection result of the relative position with respect to the positioning marker O, and the device position of the automatic operation device A. The data is transmitted as data to the automatic driving apparatus Ax that can be received at that time via the interface 2. At this time, when the automatic operation control unit 1 transmits apparatus position data including a detection result of a relative position with respect to the positioning marker O1, for example, the block ID for identifying the positioning marker O1 from other positioning markers O is used. As a combination of the feature ID, the combination of the block ID “g” and the feature ID “1” illustrated in FIG. 4B is read from the map database MDB and given to the detection result of the relative position, and the device position Generate data.

  On the other hand, the interface 2 receives the device position data transmitted by the automatic driving device Ax under the control of the automatic driving control unit 1. Then, the automatic driving control unit 1 determines the automatic driving device Ax based on the received device position data of the automatic driving device Ax and the relative position detected by the automatic driving control unit 1 itself using the sensor 10. And the positional relationship between the automatic driving apparatus A is detected. At this time, when the device position data received from the automatic driving device Ax is, for example, device position data including a detection result of a relative position with respect to the positioning marker O4, the positioning marker O4 is included in the device position data. As a combination of the block ID and the feature ID for identification from the positioning marker O, the combination of the block ID “d” and the feature ID “2” illustrated in FIG. 4B is the detection result of the relative position. Is included.

  Thereafter, based on the detected positional relationship, the automatic driving control unit 1 automatically follows the vehicle M on which the automatic driving device A is mounted, for example, to follow the vehicle Mx on which the automatic driving device Ax is mounted. Control driving.

  Next, the communication processing according to the embodiment that is executed centering on the automatic operation control unit 1 and the sensor 10 will be specifically described with reference to FIGS. 3 to 5. The communication process according to the embodiment is, for example, an interrupt process for a main routine (not shown) of the automatic driving control process, for example, at a preset timing or periodically, as part of the automatic driving control process by the automatic driving apparatus A. Is executed as The communication process according to the embodiment includes a transmission process shown in the flowchart of FIG. 5A and a position detection process shown in the flowchart of FIG. 5B. It is executed as a process.

  First, when the transmission process according to the embodiment shown in the flowchart of FIG. 5A is started, the automatic operation control unit 1 firstly selects one of the automatic operation devices A provided with the automatic operation control unit 1. It is monitored whether or not the timing for detecting the relative position with respect to the positioning marker O has arrived (step S1). In the monitoring in step S1, when the timing for detecting the relative position does not arrive (step S1: NO), the automatic operation control unit 1 proceeds to step S4 described later. On the other hand, when the timing for detecting the relative position has arrived in the monitoring in step S1 (step S1: YES), the automatic operation control unit 1 uses the sensor 10 to perform the relative operation including the distance, the angle, and the elevation angle. The position is detected (step S2). Thereafter, the automatic operation control unit 1 uses the device identification data for identifying the automatic operation device A including the automatic operation control unit 1 from the automatic operation device Ax with respect to the relative position data indicating the detected relative position. The combination of the block ID and the feature ID for identifying the positioning marker used for the detection of the relative position is added to the automatic driving device Ax that can be received at that time (step S3).

  Thereafter, the automatic operation control unit 1 determines whether or not to end the transmission process according to the embodiment, for example, when the power of the automatic driving apparatus A is turned off (step S4), and ends the transmission process. In this case (step S4: YES), the transmission process is terminated as it is, and the process proceeds to, for example, the original main routine. On the other hand, in the determination of step S4, when the transmission process according to the embodiment is continued (step S4: NO), the automatic operation control unit 1 returns to step S1 and repeats the process described above.

  Next, when the position detection process according to the embodiment shown in the corresponding flowchart in FIG. 5B is started, the automatic operation control unit 1 first selects any of the automatic operation devices Ax (other automatic operation devices A). Therefore, it is monitored whether or not the device position data of the automatic driving device Ax has been received (step S10). In the device position data, a combination of the block ID and the feature ID for identifying the positioning marker O used for detecting the relative position is included in the detection result of the relative position. In the monitoring of step S10, when the device position data is not received from the automatic driving device Ax (step S10: NO), the automatic driving control unit 1 proceeds to step S13 described later. On the other hand, in the monitoring of step S10, when the device position data is received from the automatic driving device Ax (step S10: YES), the automatic driving control unit 1 determines that the newly received device position data and the automatic driving control unit 1 are the same. Based on the relative position detected by the sensor 10 itself, the positional relationship between the automatic driving device Ax and the automatic driving device A is detected (step S11).

  Here, in step S11, the combination of the block ID and the feature ID for identifying the positioning marker O included in the device position data newly received from the automatic driving device Ax and the relative value in the automatic driving control unit 1 itself. The combination of the block ID and the feature ID for identifying the positioning marker O used for the position detection may be the same. This is the case, for example, when the vehicle M3 and the vehicle M2 illustrated in FIG. 4A detect relative positions with respect to the same positioning marker O14. In this case, the same block ID and feature are the same because the distance between the vehicle Mx on which the automatic driving device Ax is mounted and the vehicle M on which the automatic driving device A is mounted is relatively short. The relative positions of the automatic driving device Ax and the automatic driving device A with respect to the positioning marker O at the position identified by the combination of IDs can be acquired. Therefore, the automatic operation control unit 1 reads position data indicating the position of the positioning marker O identified by the combination of the same block ID and the feature ID from the map database MDB, and the position data and the same block are read out. Based on the relative positions of the position identified by the combination of the ID and the feature ID with respect to the positioning marker O, the positional relationship between the automatic driving device Ax and the automatic driving device A is determined using a so-called trigonometry or the like. To detect.

  On the other hand, the combination of the block ID and the feature ID for identifying the positioning marker O included in the device position data newly received from the automatic driving device Ax and the relative position in the automatic driving control unit 1 itself. The combination of the block ID and the feature ID for identifying the positioning marker O used for detection may be different. This is the case, for example, when the vehicle M3 illustrated in FIG. 4A detects the relative position with respect to the positioning marker O8 and the vehicle M2 detects the relative position with respect to the positioning marker O12. In this case, because the distance between the vehicle Mx on which the automatic driving device Ax is mounted and the vehicle M on which the automatic driving device A is mounted is long, the automatic operation for each positioning marker O at different positions is performed. The relative positions of the driving device Ax and the automatic driving device A can be acquired. Therefore, the automatic operation control unit 1 reads position data indicating the position of each positioning marker O at the different position from the map database MDB, and the positional relationship between the positioning markers O indicated by the position data and the position data Based on the relative positions of the automatic driving device Ax and the automatic driving device A with respect to the positioning markers O at different positions, a position between the automatic driving device Ax and the automatic driving device A using a combination of a plurality of trigonometric methods or the like. Detect relationships.

  Thereafter, the automatic operation control unit 1 performs various automatic operation controls using the detected positional relationship (step S12).

  Next, the automatic driving control unit 1 determines whether or not to end the position detection processing according to the embodiment, for example, when the power of the automatic driving device A is turned off (step S13), and the position detection processing. Is finished (step S13: YES), the position detection process is finished as it is, and, for example, the process shifts to the original main routine. On the other hand, in the determination of step S13, when the transmission process according to the embodiment is continued (step S13: NO), the automatic operation control unit 1 returns to step S10 and repeats the process described above.

  As described above, according to the communication processing according to the embodiment, the block ID for identifying each map block B in the map block group BG is given to each map block B, and the positioning marker O in the map block B is set. Using the map data in which the feature ID identified in the map block B is assigned to the positioning marker O, the map block B including the feature ID and the positioning marker O identified by the feature ID. The feature information including the block ID is generated and transmitted to the other automatic driving apparatus A. Therefore, each positioning marker O is identified as compared to the case of using map data in which different feature IDs for identifying each positioning marker O are assigned to all the positioning markers O, respectively. In addition, the apparatus position data can be exchanged between the automatic driving apparatuses A while reducing the data amount as the apparatus position data.

  Further, among the plurality of map block groups BG, the same block ID is assigned to the map block B having the same position in each map block group BG, so the number of block IDs is minimized. Therefore, the amount of data as device position data can be effectively reduced.

  Further, the block ID and the feature ID included in the device position data transmitted from the automatic driving device Ax are extracted from the device position data, and the processing related to the positioning marker O is performed using the block ID and the feature ID. The processing load can be reduced by reducing the amount of data as device position data.

  Furthermore, since the positioning marker O used to generate the received device position data is identified using the block ID and the feature ID, the positioning marker O can be accurately identified.

  Further, the number of map blocks B included in the map block group BG corresponding to the communicable distance is such that the positioning marker O using the block ID and the feature ID in communication between the vehicles M can be mutually identified. Therefore, the positioning marker O can be reliably identified and necessary processing can be performed.

  Further, the shape of the map block B is rectangular, the length of the short side of the rectangle is longer than the communicable distance, and at least three map blocks B are included in the short side direction to form a map block group. Therefore, the positioning marker O can be identified and necessary processing can be executed without being confused with the communicable distance.

  Furthermore, the shape of each map block B is a square, the length of one side of the square is longer than the communicable distance between the vehicles M, three in the direction of the side, and in the direction of the side of the square perpendicular to the side. When a total of nine map blocks B are arranged to form a map block group BG (see FIG. 4 (a)), positioning is performed efficiently without confusion with respect to the communicable distance. The necessary marker O can be identified and necessary processing can be executed.

[Modification]
Next, a plurality of modifications according to the embodiment will be described.

  First, as a first modification, the size of the area on the map corresponding to one map block B is larger than the communicable distance between the automatic driving devices A in that area, and the positioning marker in that area You may determine according to the number of O. In this case, the positioning marker O can be accurately identified and necessary processing can be executed.

  As a second modification, in the above-described embodiment, the embodiment is applied when the positional relationship between the automatic driving devices A mounted on the vehicle M as a moving body is detected. The embodiment may be applied when detecting a positional relationship between a two-wheeled vehicle, a bicycle, or a device that moves with a person. Further, the data exchanged between the vehicles may be information on features other than the positioning marker O in addition to the device position data.

  Further, as a third modified example, a program corresponding to the flowchart shown in FIG. 5 is recorded on a recording medium such as an optical disk or a hard disk, or obtained via a network such as the Internet, It is possible to cause the microcomputer or the like to function as the automatic operation control unit 1 according to the embodiment by reading and executing the microcomputer or the like.

1 Acquisition means (automatic operation control unit)
2 Generation transmission means (interface)
10 sensor 11 recording unit MDB map database A, A1, A2, An automatic driving device M1, M2, Mn vehicle NW network O1, O2, O3, O4, O5, O6, O7, O8, O9, O10, O11, O12, O13, O14 Positioning marker Ba, Bb, Bc, Bd, Be, Bf, Bg, Bh, Bi Map block BG Map block group S Communication device SS Automatic operation system

Claims (11)

Each partial map is assigned a partial map ID that identifies each partial map within a partial map group that includes a number of partial maps that are wider than the communicable range between mobiles and correspond to the communicable range, An acquisition means for acquiring map information of a map in which a feature ID for identifying a feature in the partial map is assigned to the feature;
Generation and transmission means for generating feature information including the feature ID and the partial map ID of the partial map including the feature identified by the feature ID and transmitting the feature information to the mobile body;
A communication apparatus comprising: The communication device according to claim 1,
The same partial map ID is given to the partial maps having the same position in each partial map group among the plurality of partial map groups. Another communication device that receives the feature information transmitted from the communication device according to claim 1 or 2,
Receiving means for receiving the feature information;
Extracting means for extracting the partial map ID and the feature ID included in the received feature information from the feature information;
Processing means for performing processing related to the feature using the extracted partial map ID and feature ID;
A communication apparatus comprising: The communication device according to claim 3.
The communication means identifies the feature used for generating the received feature information using the extracted partial map ID and feature ID. In the communication apparatus as described in any one of Claims 1-4,
The number corresponding to the communicable range is a number that enables mutual identification of the features using the partial map ID and the feature ID in communication between the mobile objects related to the map information. A communication device. In the communication device according to any one of claims 1 to 5,
The shape of the partial map on the map is a rectangle,
The length of the short side of the rectangle is longer than the distance corresponding to the communication range,
The communication apparatus, wherein the partial map group is formed by including at least three or more partial maps in the short side direction. The communication device according to claim 6.
The rectangle is a square;
The length of one side of the square is longer than the distance corresponding to the communicable range,
A communication apparatus, wherein the partial map group is formed by arranging a total of nine partial maps, three in the direction of the one side and three in the direction of the square side perpendicular to the one side. The communication device according to any one of claims 1 to 6,
The size of the area on the map corresponding to the partial map is determined according to the number of the features in the area. In a communication method executed in a communication device including an acquisition unit and a generation transmission unit,
Each partial map is assigned a partial map ID that identifies each partial map within a partial map group that includes a number of partial maps that are wider than the communicable range between mobiles and correspond to the communicable range, An acquisition step of acquiring, by the acquisition means, map information of a map in which a feature ID for identifying the feature in the partial map is assigned to the feature;
Feature information including the feature ID and the partial map ID of the partial map including the feature identified by the feature ID is generated by the generation transmission unit and transmitted to the mobile body. Generation and transmission process;
A communication method comprising:   A computer program for causing a computer to function as the communication device according to any one of claims 1 to 8. The data structure of the map information acquired by the acquisition unit of the communication device according to any one of claims 1 to 8 and used for communication between the mobile objects,
The map corresponding to the map information is divided into a plurality of partial map groups,
Partial map group data corresponding to each partial map group includes the partial map ID for identifying each partial map in the partial map group,
A data structure characterized in that partial map data corresponding to each partial map includes a feature ID for identifying a certain feature in an area corresponding to the partial map in the partial map.