JP2018106504A - Information management control apparatus, information management control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize a seamless handover to another control program in response to an interruption of communication from a mobile object, by performing a highly accurate prediction as well as sharing predicted dynamic data.SOLUTION: Upon communication interruption, a relevant DM management control device 16 predicts a running state of a relevant vehicle 18 and transmits predicted data to shared DM management control devices 16, so as to acquire vehicle data with no apparent temporary interruption, to be capable of transmitting appropriate vehicle control data to respective vehicles 18, as well as maintaining an accuracy of a collision warning program. A program execution state in a driving support program execution section 64 using the prediction data is restored by a program execution state extracting and restoring section 74, and is transmitted to the other DM management control devices 16 sharing the DM, so that a handover of a program on the side of DM management control device 16 receiving the program execution state can be performed seamlessly, as well as driving supports including collision warning can be performed as usual.SELECTED DRAWING: Figure 10

Description

  The present invention relates to an information management control device and an information management control program for managing information for supporting the operation of a moving body that moves within a predetermined area.

  In recent years, a dynamic map (hereinafter referred to as “DM”) is used as a driving support system that supports driving by transmitting and receiving information between a vehicle and a position in a specific area, for example, information between roads and vehicles (between road surface and vehicle). In some cases, a system using the above has been developed.

  In a dynamic map, for example, a high-accuracy three-dimensional digital map (static data) including information such as roads and buildings with little change in time, vehicle running state (vehicle data), traffic accident information, traffic jam information, and weather information For example, information with high update accuracy (dynamic data) is incorporated and used.

  In a dynamic map, for example, vehicle data that becomes a part of dynamic data of a dynamic map is acquired one by one from a vehicle traveling in an area under jurisdiction, and stored in a database. Information relating to driving assistance (vehicle control data) that is useful in real time can be distributed by analyzing it while correlating it with map data that is data or dynamic data other than vehicle data.

  In other words, if the means for acquiring dynamic data in the dynamic map, that is, the communication of the communication means is interrupted, useful driving support may not be possible in real time.

  In Patent Document 1, when performing driving support for another vehicle that crosses the course of the host vehicle, even when the other vehicle cannot be detected, driving support that notifies the driver of information related to the other vehicle An apparatus is disclosed.

  In the driving support device of Patent Literature 1, when infrastructure communication is interrupted or an oncoming vehicle detection error occurs, the position of the other vehicle is estimated from the vehicle speed immediately before the other vehicle can no longer be detected and the distance to the intersection. Driving assistance.

JP 2012-212271 A

  However, in the conventional driving support system including the driving support device of Cited Document 1, since the prediction information source is immediately before the communication interruption, the road shape, the behavior of surrounding vehicles, the personal characteristics (the vehicle individual depending on the driver) The influence of the characteristics) is not taken into account, and the accuracy of the prediction information decreases.

  Further, for example, when a driving support system using DM is divided into a plurality of areas and independently performs driving support, dynamic data (vehicle data) is shared in each area unit and the areas overlap. In some cases, a driving support system in a comprehensive wide area may be constructed by taking over a control program (for example, a driving support program) in a transition area of a vehicle to be operated.

  In such a wide area driving support system, if communication of dynamic data received from a vehicle is interrupted in any region, dynamic data (vehicle data) cannot be shared, so that a seamless driving support program cannot be taken over.

  In consideration of the above facts, an object of the present invention is to provide an information management control device and an information management control program capable of performing highly accurate prediction for communication interruption from a mobile body.

  Another object of the present invention is to provide an information management control device and an information management control program that can realize seamless handover to another control program by sharing predicted dynamic data.

  The present invention stores dynamic data received by a communication function from a plurality of mobile units in a database in which static data is stored in advance, and based on the static data and dynamic data stored in the database. Control for transmitting data related to the periphery of each mobile unit obtained from control data for controlling each mobile unit or static data and dynamic data stored in the database, using a communication function Means, monitoring means for monitoring the communication state of the communication function, and when the monitoring means detects a specific mobile body that has lost communication, the dynamic data of the specific mobile body before the communication interruption, and the specific Prediction means for predicting dynamic data of the specific mobile body based on correlation information with dynamic data of other mobile bodies existing around the mobile body, and prediction by the prediction means The prediction data for dynamic data, a storage means for storing in the database, the information management control device having a.

  According to the present invention, the control means stores the dynamic data received by the communication function from a plurality of mobile units in the database in which the static data is stored in advance, and the static data stored in the database and the dynamic data. Communication function that generates control data for controlling each moving object generated based on the data or data related to the periphery of each moving object obtained from static data and dynamic data stored in a database Send with.

  During the control by the control unit, when a specific mobile unit that has lost communication is detected by the monitoring unit, the dynamic data of the specific mobile unit before the communication is interrupted and other data existing around the specific mobile unit Based on the correlation information with the dynamic data of the moving body, the state of the specific moving body is predicted, and predicted data in place of the predicted dynamic data is stored in the database.

  Thereby, it is possible to continue while maintaining the accuracy of control by the control means without seemingly being interrupted in time.

In the present invention, in a plurality of databases of the information management control device,
The dynamic data of the mobile body is shared, and the prediction data of the specific mobile body that has lost communication is shared.

  By sharing the prediction data, it is possible to continue the control at the sharing destination while maintaining the accuracy of the control by the control means without seemingly being interrupted in time.

  In the present invention, it further includes an extraction unit that extracts processing execution state information of a process for generating control data of the specific mobile unit that is disconnected by the control unit, and the processing execution state information extracted by the extraction unit is It shares with the said prediction data, It is characterized by the above-mentioned.

  By sharing the processing execution state information restored by the extraction unit in addition to the prediction data with the prediction data, seamless control can be performed between the sharing source and the sharing destination.

  In the present invention, the moving body is a vehicle traveling on a road, and is classified into static data and dynamic data and managed by map data, change data on the map, and vehicle data received from the vehicle. A dynamic map is constructed, and the control means generates and transmits vehicle control data for driving assistance to the vehicle by referring to the dynamic map stored in a database.

  The moving body is a vehicle traveling on a road, and is a dynamic map that is classified and managed as static data and dynamic data by map data, change data on the map, and vehicle data received from the vehicle. Is constructed, and the control means transmits data relating to the periphery of the vehicle to the vehicle by referring to a dynamic map stored in a database.

  The creation of the prediction data and the sharing of the prediction data of the present invention can be usefully utilized in a vehicle driving support system. For example, in the collision warning control, it is possible to perform a warning with high accuracy without delay. Further, it is possible to recognize data related to the periphery of the vehicle.

  In the present invention, for each region obtained by subdividing the map data, a transition state in which the regions overlap when the traveling state of the vehicle is managed by a different information management control device and the vehicle moves across the regions. Data management control device for managing overlapping areas during traveling, executing handover control for passing information on the traveling state of the vehicle, and vehicle data during communication interruption with the vehicle that occurs during the execution of the handover control Is predicted by the takeover source information management control device and transmitted to the takeover destination transfer information management control device.

  For example, in a vehicle driving support system, when a plurality of information management control devices are linked to perform driving support on a wide area map, takeover is essential.

  While the vehicle is traveling in the transition region, the information management control device that manages the overlapping region executes handover control for transferring information on the traveling state of the vehicle.

  The vehicle data in a non-communication state (information equivalent to communication interruption) that occurs during the execution of takeover control is predicted by the takeover source information management control device and transmitted to the takeover destination transfer information management control device. Thus, seamless control handover is possible.

  The present invention is an information management control program that causes a computer to function as each unit of an information management control device.

  As described above, according to the present invention, it is possible to predict with high accuracy for communication interruption from a mobile body.

  In addition to the above effects, seamless transfer to another control program can be realized by sharing the predicted dynamic data.

1 is an overall view of a dynamic map (DM) control system according to a first embodiment. It is a perspective view which shows the hierarchical structure of dynamic map 12DM. It is a control block diagram of DM management control apparatus (edge server) applied to the dynamic map control system concerning a 1st embodiment. It is a functional block diagram for performing driving support control to vehicles in DM management control device concerning a 1st embodiment. 4 is a flowchart illustrating a driving support program (collision warning) execution control routine executed by each DM management control device according to the first embodiment. It is a flowchart which shows the prediction process control routine performed by step 104 of FIG. 5, and based on inter-vehicle distance prediction. It is a flowchart which shows the prediction process control routine performed by step 104 of FIG. 5, and based on acceleration / deceleration prediction. It is a flowchart which shows the prediction process control routine performed by step 104 of FIG. 5, and based on an individual characteristic prediction. It is a perspective view of the travel path which shows the Example (Example 1) of 1st Embodiment. It is a functional block diagram for performing driving support control to vehicles in DM management control device concerning a 2nd embodiment. It is a perspective view of the traveling path which shows the Example (Example 2) of 2nd Embodiment. It is a perspective view of the traveling path which shows the Example (Example 3) applicable to both 1st Embodiment and 2nd Embodiment. It is a perspective view (the first half) of the traveling path which shows the Example (Example 4) applicable to both 1st Embodiment and 2nd Embodiment. It is a perspective view (latter half) of the traveling path which shows the Example (Example 4) applicable to both 1st Embodiment and 2nd Embodiment. 15 is a communication protocol for takeover control in accordance with the vehicle running state of FIGS. 13 and 14.

“First Embodiment”
FIG. 1 shows the structure of a driving support system using a dynamic map (DM) according to the first embodiment.

  The driving support system expands the dynamic map 12DM stored in the database 12 of the cloud computer 10 to a plurality of DM management control devices (edge servers) 16A, 16B, and 16C (three are shown in FIG. 1), respectively. For example, the driving support control program is activated independently by the DM management control devices 16A, 16B, and 16C. The DM management control devices 16A, 16B, and 16C are provided so as to cover all areas of the dynamic map 12DM, and are collectively referred to as the DM management control device 16 when they are collectively referred to without distinction.

  As shown in FIG. 1, a plurality (three in this case) of regions 14A, 14B, and 14C are set on the dynamic map 12DM. The DM management control devices 16A, 16B, and 16C have jurisdiction over the areas 14A, 14B, and 14C, respectively, and execute driving support for the vehicle 18. That is, communication (information transmission / reception) is performed with the vehicle 18 existing in each of the areas 14A, 14B, and 14C by the execution of the driving support control program of the DM management control devices 16A, 16B, and 16C.

  The areas 14A, 14B, and 14C are, for example, a range (narrow area) having a diameter of about 2 km and cover all areas (wide areas) of the dynamic map 12DM. Is referred to as region 14.

  In the driving support system, for example, data (vehicle data) relating to traveling of the vehicle 18 is transmitted from the vehicle 18 traveling in the area 14 to the DM management control apparatus 16 having jurisdiction over the area 14. Also, the DM management control apparatus In 16, for example, a collision warning program is executed, and vehicle control data including a collision warning is transmitted from the DM management control device 16 to the vehicle 18.

  The areas 14A, 14B, and 14C are overlapped so that a part thereof shares the dynamic map 12DM. This overlapped area is set as a transition area 20. For example, when the vehicle 18 moves each area of the DM management control devices 16A, 16B, and 16C to another area, the DM management control device 16 before and after the movement is moved. In FIG. 4, the region is a region in which the driving assistance control takeover (handover) control program is executed (details will be described later).

(Dynamic map hierarchy)
Here, the dynamic map 12DM stored in the database 12 of the cloud computer 10 has a hierarchical structure. Details of the hierarchical structure of the dynamic map 12DM will be described with reference to FIG.

  FIG. 2A is a development view in which the dynamic map 12DM is expanded for each layer, and FIG. 2B is a completed diagram of the dynamic map 12DM constructed by combining the layers.

  As shown in FIG. 2A, the lowest level of the dynamic map 12DM is the static data hierarchy 22. In the upper layer of the static data hierarchy 22, the quasi-static data hierarchy (hereinafter referred to as “first dynamic data hierarchy 24A” in the present embodiment), A dynamic data hierarchy (hereinafter referred to as “second dynamic data hierarchy 24B”) and a dynamic data hierarchy (hereinafter referred to as “third dynamic data hierarchy 24C” in this embodiment). Has been. The first dynamic data hierarchy 24A, the second dynamic data hierarchy 24B, and the third dynamic data hierarchy 24C are collectively referred to as the dynamic data hierarchy 24.

  In the data hierarchy, the distinction between “static” and “dynamic” is not particularly definitive. In the present embodiment, pure map data is the static data hierarchy 22 and other hierarchy ( Although the quasi-static data hierarchy, the quasi-dynamic data hierarchy, and the dynamic data hierarchy) are collectively defined as the dynamic data hierarchy 24, the grouping is not limited.

  The static data hierarchy 22 and the dynamic data hierarchy 24 are divided according to the degree of change (fluctuation) with time, and information is updated within a predetermined period for each hierarchy.

  The static data hierarchy 22 is map information mainly composed of road / intersection information 26 and is basically information with the least change. For example, the update period of information belonging to the static data hierarchy 22 is set within one month.

  The first dynamic data hierarchy 24A is mainly composed of landmark (structure) information 28 and sign / signal information 30, and changes more than the static data hierarchy 22, but in the dynamic data hierarchy 24, This is the information with the least change. For example, the update period of information belonging to the first dynamic data hierarchy 24A is set within one hour.

  The second dynamic data layer 24B is mainly composed of weather information 32 such as rain and fog, accident information 34, and road regulation / congestion information 36, and is more information than changes in the first dynamic data layer 24A. is there. For example, the update period of information belonging to the second dynamic data hierarchy 24B is set within one minute.

  The third dynamic data layer 24 </ b> C is mainly information including travel information of the vehicle 18 and operation information of the traffic light 38, and is information that needs to be updated in real time with the greatest change. For example, the update period of information belonging to the third dynamic data hierarchy 24C is set within one second.

  The vehicle 18 in the third dynamic data hierarchy 24C includes a host vehicle 18A that is a control subject.

  Note that the attribute of information set in each data layer constituting the dynamic map 12DM is not limited to the above. For example, the landmark 28 may be the static data hierarchy 22. The wide area weather information may be the first dynamic data hierarchy 24A, and the narrow area weather information may be the second dynamic data hierarchy 24B. Further, the number of hierarchies is not limited.

(Driving support control)
FIG. 3 is a control block diagram of the DM management control device (edge server) 16 applied to the driving support system according to the first embodiment.

  The DM management control device 16 includes a microcomputer 40. The microcomputer 40 includes a CPU 42, a RAM 44, a ROM 46, an input / output port (I / O) 48, and a bus 50 such as a data bus or a control bus for connecting them.

  The I / O 48 of the microcomputer 40 is connected to a vehicle communication I / F 52, an inter-region cooperation communication I / F 54, and a DM information communication I / F 56.

  The vehicle-to-vehicle communication I / F 52 is for performing wireless communication (vehicle data reception, vehicle control data transmission) with each vehicle 18 traveling in the area 14 under the jurisdiction of each DM management control device 16. Interface.

  When the dynamic map 12DM is shared between the DM management control devices 16, the inter-region cooperation communication I / F 54 performs communication with the other DM management control devices 16 via the edge server platform 58, It is an interface for transmitting and receiving vehicle data in area 14. Communication at the time of taking over between the areas 14 of the vehicle 18 is also executed.

  The DM information communication I / F 56 is an interface for transmitting / receiving data of the dynamic map 12DM to / from the cloud computer 10 via the edge server platform 58 and the Internet 60.

  Further, a database 62 is connected to the I / O 48 of the microcomputer 40, and the dynamic map 12DM downloaded from the cloud computer 10 is temporarily stored.

  FIG. 4 is a functional block diagram for executing a driving support program for the vehicle 18 in the DM management control device 16. Each block does not limit the hardware configuration of the DM management control device 16.

  The DM management control device 16 is provided with a driving support program execution unit 64. The driving support program execution unit 64 refers to the dynamic map 12DM temporarily stored in the database 62 based on the driving support program, and performs vehicle data analysis processing 64A, various situation determination processing 64B, vehicle control data generation processing 64C. Each process is executed.

  The driving support program execution unit 64 is connected to the communication unit 66. The communication unit 66 includes an in-vehicle communication function 66A, an inter-region cooperation communication function 66B, and a DM information communication function 66C.

  The vehicle-to-vehicle communication function 66A executes vehicle data reception and vehicle control data transmission through communication with the vehicle 18 under the control of the driving support program execution unit 64.

  The inter-area cooperative communication function 66B executes communication for sharing information between the plurality of DM management control devices 16.

  Note that data relating to the periphery of the transmission target vehicle obtained from static data and dynamic data of the dynamic map 12DM is transmitted from the DM management control device 16 to the vehicle by executing part or all of the driving support program on the vehicle side. May be transmitted.

  In the DM information communication function 66C, the dynamic map 12DM is periodically updated from the cloud computer 10.

(Communication disruption response)
Here, in the DM management control device 16, the communication function with the vehicle 18 is more disruptive than other communication means because the communication with the vehicle 18 is wireless, the vehicle 18 is a moving body, and the like (hereinafter referred to as communication disruption). There is a possibility that).

  When the communication interruption occurs, it becomes difficult to acquire vehicle data from the vehicle 18 after the communication interruption occurs, and the traveling information of the vehicle 18 becomes unclear and proper vehicle control data cannot be transmitted. .

  Furthermore, in other DM management control devices 16 sharing the dynamic map 12DM, when the vehicle 18 is handed over, a situation in which appropriate vehicle data cannot be shared occurs.

  Therefore, the DM management control device 16 according to the first embodiment monitors the communication state of the vehicle communication function 66A, and when the communication interruption occurs, specifies the vehicle 18 with the communication interruption and the specified vehicle. The prediction data is generated based on the traveling state of the other vehicles 18 involved in the vehicle 18 (the state of the dynamic data layer 24) and the road shape (the state of the static data layer 22).

  Further, the prediction data is notified to the DM management control device 16 sharing the dynamic map 12DM.

  That is, as shown in FIG. 4, the vehicle communication function 66 </ b> A of the communication unit 66 is connected to the communication state monitoring unit 68. The communication state monitoring unit 68 monitors the communication state with each vehicle 18 in the vehicle-to-vehicle communication function 66A, and determines the presence or absence of communication interruption.

  Since communication with the vehicle 18 is wireless communication, there is a possibility that a temporary and short-time communication interruption may occur. Therefore, it is preferable to set in advance a condition for determining a communication interruption. For example, as a condition, a condition can be considered in which communication interruption is determined when communication interruption continues for a certain period or longer. The condition may be corrected by information such as the vehicle speed before the vehicle communication is interrupted, the position on the dynamic map 12DM, and the distance from the surrounding vehicle.

  In addition, even if communication is continued, if the analysis result based on the vehicle data acquired last time and the analysis result based on the vehicle data acquired this time are more than a predetermined difference (for example, if the position change is large), It may be determined that noise has occurred and the situation is equivalent to a communication interruption.

  The communication state monitoring unit 68 is connected to the communication interruption target specifying unit 70 and specifies the vehicle 18 determined to have communication interruption (specific vehicle n).

  The communication interruption target specifying unit 70 is connected to the prediction unit 72, generates prediction data of the traveling state of the specific vehicle n, and sends it to the database 62. Thereby, in the information stored in the database 62, the time interruption of the vehicle data generated due to the communication interruption is eliminated.

  Further, the prediction unit 72 transmits the prediction data to the other DM management control device 16 sharing the dynamic map 12DM via the inter-area cooperative communication function 66B of the communication unit 66. That is, in other words, when the prediction data of the sharing destination generated by the communication interruption in the other DM management control device 16 is received by the inter-area cooperative communication function 66B of the communication unit 66, the sharing destination The prediction data is stored in the database 62.

  The operation of the first embodiment will be described below with reference to the flowcharts of FIGS.

  FIG. 5 is a flowchart showing a driving support program (collision warning) execution control routine executed by each DM management control device 16.

  In step 100, the vehicle data of each vehicle 18 in the area 14 is captured. In the next step 102, it is determined whether or not communication is interrupted. If it is determined in step 102 that “communication is interrupted”, the process proceeds to step 104, predictive process control (details will be described later) is executed, and the process proceeds to step 106.

  On the other hand, if it is determined in step 102 that “no communication interruption”, the process proceeds to step 106. Therefore, at the time of processing in step 106, even if there is a communication interruption, the vehicle data is apparently acquired without interruption in time.

  In step 106, DM (dynamic map) data is read from the database 62, and then the process proceeds to step 108 where the analysis based on the vehicle data and DM data (dynamic data and static data) is executed, and the process proceeds to step 110. .

  In step 110, the necessity of driving assistance (here, a collision warning) is determined based on the result of the analysis in step 108.

  In the next step 112, it is determined whether or not a collision warning is necessary in the determination in step 110. If a negative determination is made, there is no need for a warning, so the process returns to step 100 and the above steps are repeated.

  If an affirmative determination is made in step 112, a warning is necessary, so the process proceeds to step 114, vehicle control data for prompting a collision warning is generated, and the process proceeds to step 116.

  In step 116, vehicle control data is transmitted to the warning target vehicle, the process proceeds to step 100, and the above steps are repeated.

  FIGS. 6 to 8 are examples of the prediction process control executed in step 104 of FIG. 5. In FIGS. 6 to 8, parameters for prediction are different.

(Inter-vehicle distance prediction)
FIG. 6 is a flowchart showing a prediction process control routine executed in step 104 of FIG. 5 and based on the inter-vehicle distance prediction.

  In step 120, the vehicle 18 that has lost communication is specified (specific vehicle n), and then the process proceeds to step 122, DM data (dynamic data) is captured, and the process proceeds to step 124.

  In step 124, average values a1 to aN of the inter-vehicle distances with the forward traveling vehicle 18 in the past t seconds are calculated for the N vehicles 18.

  In the next step 126, assuming that the specific vehicle n and the forward traveling vehicle 18 have the inter-vehicle distance an, the predicted position p of the specific vehicle n is estimated by a straight line distance from the forward traveling vehicle 18.

  In the next step 128, DM data (static data) is fetched, and then the process proceeds to step 130 where the predicted position p is corrected by the road shape (static data), and the process proceeds to step 132.

  In step 132, the DM data temporarily stored in the database 62 is rewritten based on the predicted position p, and the process proceeds to step 134.

  In step 134, it is determined whether or not there is another DM management control device 16 sharing the DM data. If the determination is affirmative, the process proceeds to step 136 and the predicted position p is set to the sharing destination DM. The data is transmitted to the management control device 16, and this routine ends. If the determination at step 134 is negative, this routine ends.

(Acceleration / deceleration prediction)
FIG. 7 is a flowchart showing a prediction process control routine executed in step 104 of FIG. 5 and based on acceleration / deceleration prediction.

  In step 140, the vehicle 18 that has lost communication is specified (specific vehicle n), and then the process proceeds to step 142, DM data (dynamic data) is captured, and the process proceeds to step 144.

  In step 144, the acceleration / deceleration changes d1 to dN of the following vehicle 18 when the forward traveling vehicle 18 has accelerated / decelerated in the past t seconds are calculated for the N vehicles 18.

  In the next step 146, it is assumed that the acceleration / deceleration of the specific vehicle n becomes dn according to the acceleration / deceleration of the forward traveling vehicle 18, and the predicted position p of the specific vehicle n is estimated by the linear distance from the forward traveling vehicle 18.

  In the next step 148, DM data (static data) is fetched, and then the process proceeds to step 150 where the predicted position p is corrected by the road shape (static data), and the process proceeds to step 152.

  In step 152, the DM data temporarily stored in the database 62 is rewritten based on the predicted position p, and the process proceeds to step 154.

  In step 154, it is determined whether or not there is another DM management control device 16 sharing the DM data. If the determination is affirmative, the process proceeds to step 156, and the predicted position p is set to the sharing destination DM. The data is transmitted to the management control device 16, and this routine ends. If the determination at step 154 is negative, this routine ends.

(Individual characteristics prediction)
FIG. 8 is a flowchart showing a prediction processing control routine executed in step 104 of FIG. 5 and based on individual characteristic prediction.

  In step 160, the vehicle 18 that has lost communication is specified (specific vehicle n), and then the process proceeds to step 162, DM data (dynamic data) is captured, and the process proceeds to step 164.

  In step 164, driver models m1 to mN in the past t seconds are constructed for the driver who drives N vehicles 18.

  The driver model is data obtained by learning, for example, the distance between the vehicle traveling forward 18 and the acceleration / deceleration timing.

  In the next step 166, it is assumed that the specific vehicle n operates according to the driver model mn of the forward traveling vehicle 18, and the predicted position p of the specific vehicle n is estimated based on the linear distance from the forward traveling vehicle 18.

  In the next step 168, DM data (static data) is fetched, and then the process proceeds to step 170, the predicted position p is corrected by the road shape (static data), and the process proceeds to step 172.

  In step 172, the DM data temporarily stored in the database 62 is rewritten based on the predicted position p, and the process proceeds to step 174.

  In step 174, it is determined whether or not there is another DM management control device 16 sharing the DM data. If the determination is affirmative, the process proceeds to step 176, where the predicted position p is set to the sharing destination DM. The data is transmitted to the management control device 16, and this routine ends. If the determination in step 172 is negative, this routine ends.

  Note that the inter-vehicle distance prediction shown in FIG. 6, the acceleration / deceleration prediction shown in FIG. 7, and the individual characteristic prediction shown in FIG. You may predict combining.

  According to the first embodiment, in a plurality of DM management control devices 16 sharing the dynamic map 12DM, when communication with the vehicle 18 is interrupted in any region 14, the corresponding DM management control device 16 By predicting the traveling state of the vehicle 18 and transmitting the prediction data to the shared DM management control device 16, the vehicle data can be obtained without seemingly being interrupted in time. Control data can be transmitted to each vehicle 18.

Example 1
FIG. 9 is an example of the first embodiment (Example 1). When the dynamic map 12DM is shared between the two DM management control devices 16A and 16B, communication interruption has occurred. It is a perspective view of the travel path which shows the Example which assumed this.

  As shown in FIG. 9A, in a normal state, three vehicles Ma, Mb, Mc are traveling as a vehicle 18 in the area 14A managed by the DM management control device 16A. Vehicle data A, B, and C are received from Ma, Mb, and Mc (see * 1 in FIG. 9A).

  Normally, the received vehicle data A, B, and C are transmitted to the shared DM management control device 16B (see * 2 in FIG. 9A).

  In the DM management control device 16B, the vehicle data A, B, and C acquired from the DM management control device 16A are effectively used for the vehicle Md traveling in the area 14B managed by the DM management control device 16B. Can do.

  Here, as shown in FIG. 9B, when communication with the vehicle Mc is interrupted (communication interruption occurs), the DM management control device 16 predicts the vehicle data of the vehicle Mc, and obtains the prediction data C ′. (Refer to * 3 in FIG. 9B).

  Further, the prediction data is transmitted to the shared DM management control device 16B (see * 4 in FIG. 9B).

As a result, in the DM management control device 16B, the vehicle acquired from the DM management control device 16A with respect to the vehicle Md traveling in the area 14B under the jurisdiction of the DM management control device 16B, apparently as usual. Data A, B, and C can be used effectively.
“Second Embodiment”
The second embodiment of the present invention will be described below.

  Note that in the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and description of the components is omitted.

  The feature of the second embodiment is that the control program (in this case, the collision warning program) executed by the corresponding DM management control device 16 is also continued in the shared DM management control device 16 when communication is interrupted. It is characterized by doing.

  As shown in FIG. 10, in the DM management control device 16 of the second embodiment, a program execution state extraction / restoration unit 74 is provided. The program execution state extraction / restoration unit 74 accesses the driving support program execution unit 64 to extract and share the current program execution state when the communication interruption target identification unit 70 identifies a vehicle that has lost communication. The program is restored so that the processing is based on the prediction data of the specific vehicle that has been disconnected from the DM management control device 16 that is the sharing destination, while being transmitted to the DM management control device 16.

  According to the second embodiment, in a plurality of DM management control devices 16 sharing the dynamic map 12DM, when communication with the vehicle 18 is interrupted in any region 14, the corresponding DM management control device 16 By predicting the traveling state of the vehicle 18 and transmitting the prediction data to the shared DM management control device 16, the vehicle data can be obtained without seemingly being interrupted in time. Control data can be transmitted to each vehicle 18 and the accuracy of the collision warning program can be maintained.

  In addition, the program execution state in the driving support program execution unit 64 using the prediction data is extracted by the program execution state extraction / restoration unit 74 and transmitted to another DM management control device 16 sharing the dynamic map 12DM. By restoring the program so that the processing is based on the prediction data of the specific vehicle that has been disconnected, received from the DM management control device 16 of the DM management control device 16 of the receiving side, it is possible to seamlessly take over the program in the DM management control device 16 on the receiving side, In a driving support system that requires quickness, even when communication is interrupted, driving support such as a collision warning can be performed as usual.

(Example 2)
FIG. 11 shows an example of the second embodiment (Example 2). When the dynamic map 12DM is shared between the two DM management control devices 16A and 16B, communication interruption has occurred. It is a perspective view of the travel path which shows the Example which assumed this.

  As shown in FIG. 11A, in a normal time, three vehicles Ma, Mb, Mc are traveling as a vehicle 18 in the area 14A managed by the DM management control device 16A. Vehicle data A, B, and C are received from Ma, Mb, and Mc (see * 5 in FIG. 11A).

  Normally, the received vehicle data A, B, and C are transmitted to the shared DM management control device 16B (see * 6 in FIG. 11A).

  The DM management control device 16B receives vehicle data D from the vehicle Md traveling in the area 14B controlled by the DM management control device 16B, and the vehicle data D and vehicle data acquired from the DM management control device 16A. By analyzing A, B, and C, the vehicle Md can be warned of a collision (approach) of the vehicles Ma, Mb, and Mc (see * 7 in FIG. 11A).

  Here, as shown in FIG. 11 (B), when communication with the vehicle Mc is interrupted (communication interruption occurs), the DM management control device 16 predicts the vehicle data of the vehicle Mc and obtains the prediction data C ′. (Refer to * 8 in FIG. 11B).

  Further, the prediction data is transmitted to the shared DM management control device 16B (see * 9 in FIG. 11A).

  As a result, the DM management control device 16B apparently analyzes the vehicle data D and the vehicle data A, B, C ′ in the same manner as in the normal state, so that the vehicle Ma, Mb, A collision (approach) of Mc can be warned (see * 10 in FIG. 11A).

(Example 3)
FIG. 12 is an example (Example 3) applicable to both the first embodiment and the second embodiment, in which a management control device including a dynamic map 12DM is arranged in each vehicle 18. It is a perspective view of the running path which shows an example.

  As shown in FIG. 12, when the vehicle Ma, Mb, Mc is traveling in the area 14A and the communication interruption occurs in the vehicle Mb, the vehicles Ma, Mc, Md are static data and dynamic data of the dynamic map 12DM. In addition, the prediction data B ′ of the vehicle data B of the vehicle Mb is generated based on the traveling state of each vehicle in the region 14A.

  At this time, since the vehicle Md is another area 14B to be shared, it is possible to receive the vehicle data information of the vehicle Mb and generate the prediction data B ′ via the vehicle Mc traveling in the overlapping area. it can.

  On the other hand, the vehicle Mb generates prediction data A ′, B ′, and D ′ of vehicle data A, B, and C of the vehicles Ma, Mb, and Md.

  Thereby, for example, in the vehicle Md, vehicle data (including predicted data) of the vehicles Ma, Mb, and Mc in the region 14A can be acquired, and a collision warning can be appropriately performed.

Example 4
FIGS. 13 to 15 are examples (Example 4) that can be applied to both of the second embodiment, and a takeover control program when the vehicle 18 moves between a plurality of DM management control devices 16 is shown. It is a perspective view of the traveling path which shows the Example which estimates the driving | running | working state of the vehicle in communication interruption which generate | occur | produces when performing.

  13 and 14 show a flow of takeover control when the vehicle 18 travels from the region 14A to the region 14B through the transition region 20. FIG.

  FIG. 15 shows a communication protocol for takeover control along the vehicle running state of FIGS. 13 and 14, and corresponds to the communication flow described below.

  As shown in FIG. 13A, the vehicle 18 is traveling in the area 14A under the jurisdiction of the DM management control device 16A, and vehicle data and vehicle control data are communicated with the DM management control device 16A. Executed.

  As shown in FIG. 13B, when the vehicle 18 reaches the transition area 20 where the areas 14A and 14B of the DM management control apparatuses 16A and 16B overlap, the DM management control apparatus 16A changes to the DM management control apparatus 16B. On the other hand, a takeover request notification is output and an execution state is transmitted.

  As shown in FIG. 13C, when the DM management control device 16B receives a takeover request notification from the DM management control device 16A, it starts the takeover control program 2 and restores execution information after the start.

  As shown in FIG. 13D, when the DM management control device 16B starts the takeover control program 2, the DM management control device 16B outputs a preparation completion notification to the DM management control device 16A. In response to this notification, the DM management control device 16 </ b> A outputs an area switching request to the vehicle 18.

  As shown in FIG. 14A, the vehicle 18 that has received the region switching request notification issues a connection request to the DM management control device 16B.

  At this time, since communication between the vehicle 18 and the DM management control device 16A is interrupted, the DM management control device 16A generates prediction data for the vehicle 18, and takes over the takeover control program for the takeover control program of the DM management control device 16B. Send the predicted execution status of.

  As a result, the DM management control device 16B can extract and restore the predicted execution state by the takeover control program 2.

  As shown in FIG. 14B, a connection is established between the DM management control device 16B and the vehicle 18, and the takeover over the vehicle 18 by the DM management control device 16B is completed.

  As shown in FIG. 14C, the vehicle 18 is traveling in the area 14B managed by the DM management control device 16B, and vehicle data and vehicle control data are communicated with the DM management control device 16B. Executed.

10 cloud computer 12 database 12DM dynamic map 16 (16A, 16B, 16C) DM management control device (edge server)
14A, 14B, 14C area 18 vehicle 18A own vehicle 20 transition area 22 static data hierarchy 24A first dynamic data hierarchy (semi-static data hierarchy)
24B Second dynamic data hierarchy (semi-dynamic data hierarchy)
24C Third dynamic data hierarchy (dynamic data hierarchy)
26 Road / Intersection Information 28 Landmark (Structure) Information 30 Sign / Signal Information 32 Weather Information 34 Accident Information 36 Road Regulation / Congestion Information 38 Traffic Light 40 Microcomputer 42 CPU
44 RAM
46 ROM
48 I / O port (I / O)
50 Bus 52 Inter-vehicle communication I / F
54 Inter-area cooperative communication I / F
56 DM Information Communication I / F
58 Edge server platform 60 Internet 62 Database 64 Operation support program execution unit (control means)
64A Vehicle data analysis processing 64B Various situation determination processing 64C Vehicle control data generation processing 66 Communication unit 66A Vehicle-to-vehicle communication function 66B Inter-region cooperation communication function 66C DM information communication function 68 Communication state monitoring unit (monitoring means)
70 communication disruption target specifying unit 72 prediction unit (prediction unit, storage unit)

Claims (9)

Dynamic data received by a communication function from a plurality of mobile units is stored in a database in which static data is stored in advance, and is generated based on the static data and dynamic data stored in the database. Control means for controlling each mobile unit, or control means for transmitting data related to the periphery of each mobile unit obtained from static data and dynamic data stored in the database by a communication function;
Monitoring means for monitoring a communication state of the communication function;
When the monitoring unit detects a specific mobile unit that has lost communication, the dynamic data of the specific mobile unit before the communication is interrupted and the dynamic data of other mobile units existing around the specific mobile unit Predicting means for predicting dynamic data of the specific moving object based on correlation information with
Storage means for storing prediction data of dynamic data predicted by the prediction means in the database;
An information management control device. In the database of the plurality of information management control devices,
2. The information management control apparatus according to claim 1, wherein the dynamic data of the mobile body is shared and the prediction data of the specific mobile body that has lost communication is shared. Further comprising extraction means for extracting processing execution state information of processing for generating control data of the specific mobile unit that has been disconnected by the control means;
3. The information management control apparatus according to claim 2, wherein the process execution state information extracted by the extraction unit is shared with the prediction data. The moving body is a vehicle traveling on a road;
A dynamic map that is classified and managed as static data and dynamic data is constructed with map data, change data on the map, and vehicle data received from the vehicle,
The control means is
4. The vehicle control data for driving support is generated and transmitted to the vehicle by referring to a dynamic map stored in a database. The information management control device described. The moving body is a vehicle traveling on a road;
A dynamic map that is classified and managed as static data and dynamic data is constructed with map data, change data on the map, and vehicle data received from the vehicle,
The control means is
The information management control according to any one of claims 1 to 3, wherein data relating to the periphery of the vehicle is transmitted to the vehicle by referring to a dynamic map stored in a database. apparatus. For each area where the map data is subdivided, manage the running state of the vehicle with a different information management control device, and when the vehicle moves across the area,
While traveling in the transition region where the region overlaps, in the information management control device that manages the overlapping region, execute handover control to pass information on the traveling state of the vehicle,
5. The vehicle data communication interruption with the vehicle that occurs during the execution of the takeover control is predicted by the information management control device of the takeover source and transmitted to the transfer information management control device of the takeover destination. The information management control device described. An information management control device mounted on a mobile body,
Control means for storing dynamic data received by a communication function from a plurality of mobile units in a database in which static data is stored in advance;
Monitoring means for monitoring a communication state of the communication function;
When the monitoring unit detects a specific mobile unit that has lost communication, the dynamic data of the specific mobile unit before the communication is interrupted and the dynamic data of other mobile units existing around the specific mobile unit Predicting means for predicting dynamic data of the specific moving object based on correlation information with
Storage means for storing prediction data of dynamic data predicted by the prediction means in the database;
An information management control device. In a database of a plurality of the information management control devices mounted on a plurality of mobile bodies,
8. The information management control apparatus according to claim 7, wherein the information management control apparatus shares the dynamic data of the mobile body and the prediction data of the specific mobile body that has lost communication. Computer
It makes it function as each means of the information management control device according to any one of claims 1 to 8.
Information management control program.