JP2018181301A - Information processing method and information processing apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To more accurately determine whether or not an automatic driving is possible.SOLUTION: In an information processing method, using a computer, manual operation information 111 indicating a vehicle control by manual operation in a traveling section of a vehicle is acquired from an apparatus mounted on the vehicle (S102); sensor information 112 obtained by sensing about the vehicle in the traveling section is acquired from a device mounted on the vehicle (S103); on the basis of the sensor information 112, automatic driving information 113 indicating a vehicle control by automatic driving in the traveling section is generated (S 106); and on the basis of the manual driving information 111 and the automatic driving information 113, automatic driving availability information 114 indicating whether or not the automatic driving in the traveling section is permitted is generated (S107 to S109).SELECTED DRAWING: Figure 2

Description

  The present disclosure relates to an information processing method and an information processing apparatus that determine the availability of automatic driving of a vehicle.

  There is known a technique for determining whether automatic driving is possible when searching for a route of a vehicle (see, for example, Patent Document 1).

International Publication No. 2016/063385

  In such an information processing method or information processing apparatus for determining whether or not automatic driving is possible, it is desired to be able to more accurately determine whether or not automatic driving is possible.

  Therefore, the present disclosure aims to provide an information processing method or an information processing apparatus capable of more accurately determining whether automatic driving is possible.

  An information processing method according to an aspect of the present disclosure acquires, using a computer, manual operation information indicating vehicle control by manual operation in a traveling section of the vehicle from a device mounted on the vehicle, and the vehicle in the traveling section Sensor information obtained by sensing for the vehicle is obtained from a device mounted on the vehicle, and automatic driving information indicating vehicle control by automatic driving in the traveling section is generated based on the sensor information, the manual driving information and the manual driving information Based on the automatic driving information, automatic driving availability information indicating the availability of automatic driving in the traveling section is generated.

  The present disclosure can provide an information processing method or an information processing apparatus capable of more accurately determining whether or not automatic driving is possible.

FIG. 1 is a block diagram of an information processing apparatus according to the first embodiment. FIG. 2 is a flowchart of the information processing method according to the first embodiment. FIG. 3 is a diagram showing an example of parameters of the automatic driving specification according to the first embodiment. FIG. 4 is a diagram showing an example of the autonomous driving availability information according to the first embodiment. FIG. 5 is a diagram showing an example of a manual log and simulation values of vehicle control according to the first embodiment. FIG. 6 is a diagram showing an example of the vehicle position and attitude based on the manual log and the simulation value according to the first embodiment. FIG. 7 is a block diagram of an information processing apparatus according to the second embodiment. FIG. 8 is a flowchart of the information processing method according to the second embodiment.

  An information processing method according to an aspect of the present disclosure acquires, using a computer, manual operation information indicating vehicle control by manual operation in a traveling section of the vehicle from a device mounted on the vehicle, and the vehicle in the traveling section Sensor information obtained by sensing for the vehicle is obtained from a device mounted on the vehicle, and automatic driving information indicating vehicle control by automatic driving in the traveling section is generated based on the sensor information, the manual driving information and the manual driving information Based on the automatic driving information, automatic driving availability information indicating the availability of automatic driving in the traveling section is generated.

  According to this, the information processing method determines the possibility of automatic driving based on vehicle control by manual driving and vehicle control by automatic driving generated using sensor information obtained by sensing. Thereby, the said information processing method can determine the decision | availability of automatic driving more correctly.

  For example, in the generation of the automatic driving information, automatic driving information may be generated which indicates vehicle control by the automatic driving according to a specification of the automatic driving.

  According to this, the information processing method can determine the propriety of the automatic driving according to the automatic driving specification.

  For example, the information processing method further includes acquiring automatic driving specification information indicating a specification of the automatic driving of the vehicle from an external device including a device mounted on the vehicle or a storage unit of the computer; In the generation of the driving information, automatic driving information may be generated which indicates vehicle control by the automatic driving according to the specification of the automatic driving indicated by the automatic driving specification information.

  For example, in the generation of the automatic driving information, a plurality of automatic driving information indicating each of the vehicle control by the automatic driving for each of the plurality of specifications of the automatic driving is generated, and in the generation of the automatic driving availability information, the manual A plurality of the automatic driving availability information may be respectively generated for each of the plurality of specifications of the automatic driving based on the driving information and the plurality of the automatic driving information.

  According to this, the information processing method can determine the propriety of automatic driving for a plurality of automatic driving specifications.

  For example, the specification of the autonomous driving may include an algorithm of autonomous driving.

  According to this, the information processing method can determine the propriety of the automatic driving according to the algorithm of the automatic driving.

  For example, the specification of the automatic driving may include a processing rate of the automatic driving.

  According to this, the information processing method can determine the possibility of the automatic driving according to the processing rate of the automatic driving.

  For example, the specification of the automatic driving may include the type of sensor used for the automatic driving.

  According to this, the said information processing method can determine the decision | availability of an automatic driving | operation according to the kind of sensor to be used.

  For example, the specification of the automatic driving may include the level or content of the automatic driving.

  According to this, the information processing method can determine the propriety of the automatic driving according to the level or the content of the automatic driving.

  For example, the information processing method further includes acquiring, from an external device including a device mounted on the vehicle or a storage unit of the computer, computing performance information indicating computing performance of the vehicle; In generation, based on the calculation performance indicated by the calculation performance information, the determination result as to whether or not the automatic driving in the specification of the automatic driving can be performed by the vehicle, and the automatic driving based on the manual driving information and the automatic driving information. The availability information may be generated.

  According to this, the information processing method can determine whether the automatic driving of each automatic driving specification can be performed in the vehicle.

  For example, in the generation of the automatic driving availability information, the automatic driving availability information may be generated based on a comparison result of the manual driving information and the automatic driving information.

  According to this, the information processing method can determine the possibility of automatic driving based on the comparison result of the manual driving information and the automatic driving information.

  For example, the manual driving information and the automatic driving information include information indicating the degree of vehicle control, and in the generation of the automatic driving permission information, the vehicle indicating the degree of vehicle control indicated by the manual driving information and the vehicle indicated by the automatic driving information The automatic driving availability information may be generated based on the correlation with the degree of control.

  According to this, the information processing method can determine the possibility of automatic driving based on the correlation between the manual driving information and the automatic driving information.

  For example, in the generation of the automatic driving permission information, the automatic driving based on the difference between the state of the vehicle based on the vehicle control indicated by the manual driving information and the state of the vehicle based on the vehicle control indicated by the automatic driving information. The availability information may be generated.

  According to this, the information processing method can determine the possibility of automatic driving based on the degree of vehicle control based on the manual driving information and the automatic driving information.

  For example, the state of the vehicle may include at least one of the position and the attitude of the vehicle.

  According to this, the information processing method can determine the propriety of automatic driving based on the position or posture of the vehicle based on the manual driving information and the automatic driving information.

  For example, the information processing method further includes acquiring at least one manual driving information other than the manual driving information from an apparatus mounted on at least one vehicle different from the vehicle, and the manual driving Determining whether the manual driving information of the vehicle is valid based on the information and the at least one other manual driving information, and in the generation of the automatic driving permission information, the manual driving is determined to be valid In the case where it is determined, the automatic operation permission information may be generated.

  According to this, since the information processing method can exclude information on improper manual driving, it is possible to suppress an erroneous determination based on the information on improper manual driving.

  Further, an information processing apparatus according to an aspect of the present disclosure includes: a manual driving information acquisition unit configured to acquire manual driving information indicating vehicle control by manual driving in a traveling section of the vehicle from a device mounted on the vehicle; A sensor information acquisition unit for acquiring sensor information obtained by sensing the vehicle in the vehicle from a device mounted on the vehicle, and generating automatic driving information indicating vehicle control by automatic driving in the traveling section based on the sensor information And an automatic driving availability determination unit that generates automatic driving availability information indicating availability of automatic driving in the traveling section based on the manual driving information and the automatic driving information.

  According to this, the information processing device determines the propriety of the automatic driving based on the vehicle control by the manual driving and the vehicle control by the automatic driving generated using the sensor information obtained by the sensing. Thus, the information processing apparatus can more accurately determine whether or not automatic driving is possible.

  These general or specific aspects may be realized by a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer readable CD-ROM, and the system, the method, the integrated circuit, the computer program And any combination of recording media.

  Embodiments will be specifically described below with reference to the drawings. The embodiments described below each show one specific example of the present disclosure. Numerical values, shapes, materials, components, arrangement positions and connection forms of components, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present disclosure. Further, among the components in the following embodiments, components not described in the independent claim indicating the highest concept are described as arbitrary components.

Embodiment 1
The information processing method and the information processing apparatus according to the present embodiment determine the availability of automatic driving based on vehicle control by manual driving and vehicle control by automatic driving estimated using sensor information obtained by sensing. Do. Thus, the information processing method and the information processing apparatus can more accurately determine whether or not automatic driving is possible.

  First, the configuration of the information processing apparatus according to the present embodiment will be described. FIG. 1 is a block diagram showing the configuration of an information processing apparatus 100 according to the present embodiment. Note that the information processing apparatus 100 illustrated in FIG. 1 may be provided in a vehicle, or may be provided in a server or the like that can communicate with the vehicle. Further, the information processing device 100 does not have to be realized as a single device in a vehicle or in a server, and processing by the information processing device 100 may be distributed and processed by a plurality of devices. For example, some functions of the information processing apparatus 100 may be provided in the vehicle, and other functions may be provided in the server.

  The information processing apparatus 100 performs automatic driving using manual driving information 111 indicating vehicle control by manual driving of a vehicle, and automatic driving information 113 indicating vehicle control by automatic driving estimated from sensor information 112 obtained by sensing. Determine the availability. The information processing apparatus 100 includes a manual driving information acquisition unit 101, a sensor information acquisition unit 102, a vehicle control estimation unit 103, an automatic driving possibility determination unit 104, and an output unit 105.

  The manual driving information acquisition unit 101 acquires, for example, manual driving information 111 indicating vehicle control by manual driving of the vehicle from the vehicle. Here, the vehicle control may be the driver's operation of the vehicle (steering of the steering wheel, operation of the accelerator pedal, operation of the brake pedal, blinker operation, etc.) or control of the vehicle actuator based on this operation (tire Steering angle, or control of an accelerator opening degree, a brake pressure, etc.).

  The sensor information acquisition unit 102 acquires sensor information 112 obtained by sensing of a vehicle. Specifically, the sensor information 112 is information obtained by various sensors mounted on a vehicle, and, for example, (1) an image obtained by a camera (for example, still image or moving image), (2) Lidar Point cloud data obtained by (Laser Imaging Detection and Ranging), (3) Position information (for example, latitude and longitude) obtained by Global Navigation Satellite System (GNSS) such as GPS (Global Positioning System), (4) Information obtained when estimating the movement of the vehicle (for example, tire rotation angle, moving speed, position or attitude), (5) acceleration obtained by the acceleration sensor, (6) distance image obtained by the millimeter wave radar , (7) TOF (Time Of Flight) sensor And (8) the distance to the obstacle obtained by the ultrasonic sensor, and the like.

  The vehicle control estimation unit 103 estimates vehicle control by automatic driving of the vehicle by performing simulation of automatic driving using the sensor information 112. Then, the vehicle control estimation unit 103 generates automatic driving information 113 indicating the estimated vehicle control by automatic driving.

  Based on the manual driving information 111 and the automatic driving information 113, the automatic driving possibility determination unit 104 generates an automatic driving possibility information 114 indicating the possibility of automatic driving.

  The output unit 105 outputs the automatic driving availability information 114. Specifically, the output unit 105 outputs the automatic driving availability information 114 to the map server that holds the map information. Further, the output unit 105 associates the automatic driving availability information 114 with the map information. For example, the output unit 105 adds the automatic driving availability information 114 to the section in the map information corresponding to the automatic driving availability information 114. In addition, the output unit 105 may display the automatic driving availability information 114, output it by voice, or transmit it to another device. In addition, the output unit 105 may present, to the user of the vehicle, an automatic driving specification that has been determined to be capable of automatic driving but has not been used or has not been used.

  Next, the operation of the information processing apparatus 100 will be described. FIG. 2 is a flowchart of an information processing method by the information processing apparatus 100.

  First, a determination section (traveling section), which is a target section for determining the availability of automatic driving, is set (S101). For example, when the destination is specified by the driver in route search etc., a section where no tagging has been performed or a tagging with automatic operation impossible is performed on the route from the current position to the destination. If the interval is included, the interval is set as the determination interval. Thereafter, manual driving of the driver in the determination section is performed, whereby the manual driving information 111 and the sensor information 112 of the determination section are generated. In addition, the setting method of a determination area may be arbitrary, for example, a driver or a user may designate a determination area.

  Next, the manual driving information acquisition unit 101 acquires the manual driving information 111 of the determination section (S102). Further, the sensor information acquisition unit 102 acquires the sensor information 112 of the determination section (S103). Note that the timing of acquisition of these pieces of information and subsequent processing may be arbitrary. That is, the information processing apparatus 100 may obtain the information obtained by the vehicle in real time while the vehicle is traveling, and perform the subsequent processing in real time. Alternatively, the information processing device 100 may acquire these pieces of information stored in the vehicle or in other devices after traveling. In addition, the acquired information may be stored in a storage unit (not shown) included in the information processing apparatus 100, and the subsequent processing may be performed at an arbitrary timing.

  Next, the vehicle control estimation unit 103 sets a plurality of simulation conditions (specifications for automatic driving) to be estimated (S104). FIG. 3 is a diagram showing an example of simulation conditions. As shown in FIG. 3, the simulation condition parameters include an algorithm of automatic operation, a frame rate which is an example of a processing rate indicating a throughput per unit time in automatic operation, a type of sensor used for automatic operation, and an automatic operation. Including the type of driving. The algorithm of the autonomous driving is expressed by the learning method and the learning scale of the classifier used for the autonomous driving, and the determination rule used for the autonomous driving. For example, as shown in FIG. 3, the algorithm of the automatic driving may be a method in which only deep learning (DL) is used, or a method in which DL and a predetermined rule are combined. A recognition algorithm other than DL and a judgment algorithm may be used in combination. In an algorithm of automatic operation, generally, the higher the accuracy of automatic operation, the higher the processing load. Further, the frame rate indicates an interval at which the determination of the automatic operation is performed, which is indicated using the number of frames, and the higher the frame rate, the higher the accuracy of the automatic operation and the higher the processing load. Also, the types of automatic driving include full automatic or partial automatic. The type of automatic driving is not limited to the distinction between full automatic and partial automatic, and may be a level or mode of automatic driving. For example, the level of automatic driving indicates whether automatic driving is fully automatic or partially automatic, and further indicates which control is automatically performed if partially automatic. Also, the mode of automatic driving indicates the contents or combination of individual automatic driving such as automatic tracking or white line maintenance.

  Further, for example, all combinations of the conditions shown in FIG. 3 are set as simulation conditions. In the example shown in FIG. 3, there are three kinds of algorithms, three kinds of frame rates, three kinds of sensors used, and two kinds of automatic driving, so 54 kinds of simulation conditions are set.

  Returning to FIG. 2 and continuing the explanation, next, the vehicle control estimation unit 103 selects one of a plurality of simulation conditions as a target condition (S105). The vehicle control estimation unit 103 estimates, by simulation, vehicle control by automatic driving under target conditions of the vehicle in the target section, based on the sensor information 112 of the target section which is a section to be simulated among the determination sections. (S106). Further, the vehicle control estimation unit 103 generates automatic driving information 113 indicating the estimated vehicle control by automatic driving. For example, the automatic driving information 113 is information indicating the degree of vehicle control, and vehicle control indicating the steering angle of the steering wheel, the operation amount of the accelerator pedal, and the operation amount of the brake pedal for each time interval indicated by the frame rate. It is a command.

  Next, the automatic driving determination unit 104 determines the possibility of automatic driving of the target section based on the manual driving information 111 of the target section and the automatic driving information 113 of the target section. Specifically, the automatic driving determination unit 104 determines whether the manual driving information 111 and the automatic driving information 113 satisfy predetermined determination conditions (S107). The details of this process will be described later.

  When the manual driving information 111 and the automatic driving information 113 satisfy the determination conditions (Yes in S107), the automatic driving possibility determination unit 104 determines that the target section is capable of automatic driving under the target condition, and the automatic driving is possible indicating automatic driving is possible. Information 114 is generated (S108). On the other hand, when the manual driving information 111 and the automatic driving information 113 do not satisfy the determination condition (No in S107), the automatic driving possibility determination unit 104 determines that the target section is the automatic driving impossible under the target condition, and indicates the automatic driving is impossible. The automatic driving availability information 114 is generated (S109).

  In addition, the automatic driving determination unit 104 repeatedly performs the process of steps S105 to S109 for each simulation condition set in step S104 (S110).

  When the processing for all simulation conditions is completed (Yes in S110), the output unit 105 tags the obtained automatic driving availability information 114 to the target section (S111).

  Subsequently, the automatic driving possibility determination process will be described with reference to FIG. FIG. 4 is a diagram showing an example of the autonomous driving availability information 114. As shown in FIG. As shown in FIG. 4, whether or not automatic driving is possible is determined for each simulation condition which is a combination of an algorithm, a frame rate, a sensor used, and a type of automatic driving (full automatic, partial automatic).

  Further, the autonomous driving determination unit 104 acquires computing performance information indicating the computing performance of the autonomous driving device mounted on the vehicle. The autonomous driving determination unit 104 determines, based on the acquired computing performance information, whether automatic driving in each of the plurality of autonomous driving specifications can be performed by the vehicle (that is, whether the computing performance is insufficient or sufficient). Then, if it is determined in the simulation result that automatic driving is possible in the simulation result and the calculation performance is satisfactory, the automatic driving possibility determination unit 104 determines that automatic driving is possible under the simulation condition in the host vehicle. Otherwise, the automatic driving determination unit 104 determines that automatic driving is not possible under the simulation condition.

  In addition, when it is not required to determine whether or not to automatically drive the individual vehicles, it may not be necessary to determine whether to automatically drive the individual vehicles using the computing performance. Alternatively, the determination using the calculation performance may be performed for each type of vehicle or the function to be used other than the automatic driving, and the automatic driving availability information may be generated for each type of vehicle or each function. This is because the computing performance differs depending on the type of vehicle and the computing resources of the same type of vehicle that can be used for automatic driving differ depending on the function used other than automatic driving. It is because it gets.

  Further, in the case where it is determined whether or not automatic driving is possible for a certain vehicle, the information processing apparatus 100 narrows down the simulation conditions of the automatic driving that can be executed by the vehicle in step S104, and steps only for the narrowed simulation conditions. You may perform the process after S105. For example, the simulation conditions may be narrowed based on the calculation performance of the vehicle. In addition, automatic driving specification information indicating specifications of automatic driving of the vehicle may be acquired, and simulation conditions may be narrowed down from the acquired information.

  Hereinafter, the details of the process of determining the possibility of the automatic operation based on the manual operation information 111 and the automatic operation information 113 will be described.

  First, as a first method, the automatic driving availability determination unit 104 determines the availability of automatic driving based on the correlation between the degree of vehicle control indicated by the manual driving information 111 and the degree of vehicle control indicated by the automatic driving information 113. , And generates automatic operation permission information 114. FIG. 5 shows the time change of the steering wheel angle shown by the manual log which is an example of the manual driving information 111, and the time change of the steering wheel angle in each automatic driving when the frame rate shown by the automatic driving information 113 is 60 fps and 10 fps. Is a diagram illustrating an example of The autonomous driving determination unit 104 calculates the correlation between the temporal change of the steering wheel angle indicated by the manual log and the temporal change of each steering wheel angle in the simulation result. Similarly, although not shown, the automatic driving permission determination unit 104 changes temporally the amount of operation of the brake pedal and the amount of operation of the accelerator pedal indicated by the manual log, with respect to each of the brake operation and the accelerator operation. The correlation between the operation amount of the brake pedal and the time change of the operation amount of the accelerator pedal in each of the respective is calculated.

  Then, based on the obtained correlation of the steering wheel angle, the correlation of the brake pedal operation amount, and the correlation of the accelerator pedal operation amount, the automatic driving determination unit 104 determines the possibility of the automatic driving. For example, the autonomous driving determination unit 104 determines that the autonomous driving is possible when the value obtained by the weighted average or weighted addition of the three correlations is higher than the predetermined reference value (the correlation is strong). On the other hand, when the obtained value is lower than the predetermined reference value (the correlation is weak), the automatic driving determination unit 104 determines that the automatic driving is not possible. The automatic driving determination unit 104 compares each of the three correlations with the same or a different reference value, and determines that automatic driving is not possible if there is at least one correlation lower than the reference value, otherwise automatic operation is performed. It may be determined that driving is possible. In addition, the automatic driving determination unit 104 may perform the above-described determination for each predetermined time interval, and determine that the target section is capable of automatic driving when it is determined that automatic driving is possible in all time intervals.

  Further, as a second method, the automatic driving permission determination unit 104 determines the difference between the state of the vehicle based on the vehicle control indicated by the manual driving information 111 and the state of the vehicle based on the vehicle control indicated by the automatic driving information 113. The automatic driving availability information 114 is generated. FIG. 6 is a diagram showing an example of the position and attitude of the vehicle based on the manual log and the simulation result. Specifically, the autonomous driving determination unit 104 estimates the position and orientation of the vehicle based on at least one of the information indicating the position and orientation of the vehicle included in the sensor information 112 and the manual driving information 111. Further, the autonomous driving determination unit 104 estimates the position and orientation of the vehicle using the autonomous driving information 113 (that is, the simulation result).

  Next, the autonomous driving determination unit 104 calculates the difference between the two obtained positions and the difference between the two attitudes. Then, when the value obtained by the weighted average or weighted addition of the two obtained differences is smaller than a predetermined reference value, the automatic driving determination unit 104 determines that the automatic driving is possible. On the other hand, when the obtained value is larger than a predetermined reference value, the automatic driving determination unit 104 determines that the automatic driving is not possible. Note that the autonomous driving determination unit 104 may compare each of the difference in position and the difference in attitude with each reference value. Also, only one of the position and orientation may be used for the determination.

  Further, the automatic driving determination unit 104 performs this process for each predetermined time interval, and determines that the target section is capable of automatic operation when it is determined that automatic driving is possible in all or a predetermined number of time intervals. The automatic driving determination unit 104 may compare the average value or the addition value of the differences of the plurality of time sections with the reference value.

  The automatic driving determination unit 104 may use only one or both of the first method and the second method. For example, if it is determined that both of the first method and the second method allow automatic driving, the automatic driving determination unit 104 determines that the target section can be automatically driven, and otherwise the automatic driving of the target section is performed. It determines that it is impossible. Alternatively, the autonomous driving determination unit 104 compares the correlation obtained by the first method with the difference obtained by the second method by comparing the value obtained by the weighted average or weighted addition with the reference value. It is also good. Further, the state of the vehicle is not limited to the position or posture of the vehicle, and may be the acceleration of the vehicle or the angular velocity of the yaw, roll or pitch.

  As described above, the information processing apparatus 100 determines the possibility of automatic driving based on vehicle control by manual driving and vehicle control by automatic driving estimated using the sensor information 112 obtained by sensing. Thus, the information processing apparatus 100 can more accurately determine whether or not automatic driving is possible.

  Here, it is assumed that the algorithm, sensor and computing performance mounted on the vehicle differ depending on the vehicle type or age. It is difficult to determine in advance whether or not automatic driving is possible for all of the specifications of the plurality of automatic driving determined by these combinations. However, according to the information processing apparatus 100 according to the present embodiment, it is possible to determine whether or not automatic driving is possible for the section in which the vehicle has traveled once, and store the determination result in the vehicle, the server, or the like. Furthermore, based on the information obtained by one manual operation, it is possible to determine whether or not automatic operation can be performed on specifications of a plurality of types of automatic operation. In this way, it is possible to generate map information tagged with the availability of automatic operation with respect to a plurality of automatic operation specifications.

  In addition, by determining whether or not automatic driving is possible for each specification of automatic driving, it is possible for the user to cause the vehicle to perform automatic driving after confirming whether automatic driving is possible in the own vehicle. Can improve the safety of

Second Embodiment
In the present embodiment, a modification of the first embodiment will be described. FIG. 7 is a block diagram of an information processing apparatus 100A according to the present embodiment. The information processing apparatus 100A illustrated in FIG. 7 includes a validity determination unit 106 in addition to the configuration of the information processing apparatus 100 illustrated in FIG. The validity determination unit 106 acquires at least one manual driving information 111 different from the manual driving information 111 to be processed, and is based on the manual driving information 111 to be processed and the at least one other manual driving information 111. It is determined whether the manual operation information 111 to be processed is appropriate.

  FIG. 8 is a flowchart of an information processing method by the information processing apparatus 100A. In the process shown in FIG. 8, step S112 is added to the process shown in FIG.

  After step S102, the appropriateness determination unit 106 determines whether the manual operation indicated by the processing target manual operation information 111 is appropriate (S112). For example, the validity determination unit 106 acquires a plurality of manual operation information 111 of the target section. Next, when the difference between the average value of the obtained plurality of manual driving information 111 and the manual driving information 111 to be processed is lower than a predetermined reference value, the validity determining unit 106 determines the manual driving information to be processed. It is determined that 111 is appropriate, and if not, it is determined that the manual operation information 111 to be processed is not appropriate. Alternatively, when the correlation between the average value and the manual operation information 111 to be processed is higher than a predetermined reference value, the validity determination unit 106 determines that the manual operation information 111 to be processed is appropriate, If not, it is determined that the manual operation information 111 to be processed is not appropriate.

  When the manual operation indicated by the manual operation information 111 to be processed is appropriate (Yes in S112), the information processing apparatus 100A performs the process of step S103 and subsequent steps as in the first embodiment, thereby enabling automatic operation permission information. Generate 114. On the other hand, when the manual operation indicated by the manual operation information 111 to be processed is not appropriate (No in S112), the information processing apparatus 100A ends the process.

  As described above, since the information processing apparatus 100A can exclude the improper manual driving information 111, it is possible to suppress erroneous determination of automatic driving availability and tagging of the determination result based on the improper manual driving information 111.

(Summary)
The information processing apparatus according to the embodiment of the present disclosure has been described above, but the present disclosure is not limited to this embodiment.

  For example, although an example in which the input to the vehicle control estimation unit 103 is sensor information has been described in the above embodiment, information other than the sensor information may be input. Specifically, map information used or available during manual operation or infrastructure sensor information obtained or obtained from an infrastructure such as a roadside vehicle or the like is used to store vehicles or information thereof It may be acquired from a server and input to the vehicle control estimation unit 103. The vehicle control estimation unit 103 executes simulation of automatic driving using the map information or the infrastructure sensor information together with the sensor information. This makes it possible to more accurately simulate automatic driving.

  Further, each processing unit included in the information processing apparatus according to the above embodiment is typically realized as an LSI which is an integrated circuit. These may be individually made into one chip, or may be made into one chip so as to include some or all.

  Further, the circuit integration is not limited to LSI's, and implementation using dedicated circuitry or general purpose processors is also possible. A field programmable gate array (FPGA) that can be programmed after LSI fabrication, or a reconfigurable processor that can reconfigure connection and setting of circuit cells inside the LSI may be used.

  In the above embodiments, each component may be configured by dedicated hardware or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded in a recording medium such as a hard disk or a semiconductor memory.

  Also, the present disclosure may be implemented as an information processing method executed by an information processing apparatus.

  In addition, all the numerals used above are illustrated to specifically describe the present disclosure, and the present disclosure is not limited to the illustrated numerals.

  Also, division of functional blocks in the block diagram is an example, and a plurality of functional blocks may be realized as one functional block, one functional block may be divided into a plurality of parts, or some functions may be transferred to another function block. May be Also, a single piece of hardware or software may process the functions of a plurality of functional blocks having similar functions in parallel or in time division.

  In addition, the order in which the steps in the flowchart are performed is for illustrating the present disclosure specifically, and may be an order other than the above. Also, some of the above steps may be performed simultaneously (in parallel) with other steps.

  Although the information processing apparatus and the information processing method according to one or more aspects have been described above based on the embodiments, the present disclosure is not limited to the embodiments. Without departing from the spirit of the present disclosure, various modifications that may occur to those skilled in the art may be applied to the present embodiment, and modes configured by combining components in different embodiments may be in the scope of one or more aspects. May be included within.

  The present disclosure can be applied to a vehicle having an autonomous driving function, a server that controls or manages the vehicle, or the like, or a system including these.

100, 100A information processing apparatus 101 manual driving information acquisition unit 102 sensor information acquisition unit 103 vehicle control estimation unit 104 automatic driving possibility determination unit 105 output unit 106 validity determination unit 111 manual driving information 112 sensor information 113 automatic driving information 114 automatic driving Availability information

Claims (15)

Using a computer
Obtaining manual operation information indicating vehicle control by manual operation in a traveling section of the vehicle from a device mounted on the vehicle;
Acquiring sensor information obtained by sensing the vehicle in the traveling section from a device mounted on the vehicle;
Generating automatic driving information indicating vehicle control by automatic driving in the traveling section based on the sensor information;
The automatic driving availability information indicating the automatic driving availability in the traveling section is generated based on the manual driving information and the automatic driving information.
Information processing method. In the generation of the automatic driving information, automatic driving information indicating vehicle control by the automatic driving according to a specification of the automatic driving is generated.
The information processing method according to claim 1. The information processing method further includes acquiring automatic driving specification information indicating specifications of the automatic driving of the vehicle from an external device including a device mounted on the vehicle or a storage unit of the computer.
In the generation of the automatic driving information, automatic driving information indicating vehicle control by the automatic driving according to the specification of the automatic driving indicated by the automatic driving specification information is generated.
The information processing method according to claim 2. In the generation of the automatic driving information, a plurality of automatic driving information respectively indicating the vehicle control by the automatic driving for each of a plurality of specifications of the automatic driving is generated;
In the generation of the automatic driving availability information, a plurality of the automatic driving availability information for each of the plurality of automatic driving specifications are respectively generated based on the manual driving information and the plurality of the automatic driving information. The information processing method according to 2 or 3. The information processing method according to any one of claims 2 to 4, wherein the specification of the automatic driving includes an algorithm of automatic driving. The information processing method according to any one of claims 2 to 5, wherein the specification of the automatic driving includes a processing rate of the automatic driving. The information processing method according to any one of claims 2 to 6, wherein the specification of the automatic driving includes the type of sensor used for the automatic driving. The information processing method according to any one of claims 2 to 7, wherein the specification of the automatic driving includes a level or content of the automatic driving. The information processing method further includes acquiring arithmetic performance information indicating the arithmetic performance of the vehicle from an external device including a device mounted on the vehicle or a storage unit of the computer.
In the generation of the automatic driving permission information, a determination result as to whether or not the automatic driving in the specification of the automatic driving can be executed by the vehicle based on the calculation performance indicated by the calculation performance information, the manual driving information and the automatic driving information The information processing method according to any one of claims 2 to 8, wherein the automatic driving propriety information is generated based on. The information processing method according to any one of claims 1 to 9, wherein, in the generation of the automatic driving availability information, the automatic driving availability information is generated based on a comparison result of the manual driving information and the automatic driving information. The manual driving information and the automatic driving information include information indicating a degree of vehicle control,
In the generation of the automatic driving permission information, the automatic driving permission information is generated based on a correlation between a degree of vehicle control indicated by the manual driving information and a degree of vehicle control indicated by the automatic driving information. Information processing method. In the generation of the automatic driving permission information, the automatic driving permission information is based on the difference between the state of the vehicle based on the vehicle control indicated by the manual driving information and the state of the vehicle based on the vehicle control indicated by the automatic driving information. The information processing method according to claim 10, wherein: The state of the vehicle includes at least one of a position and an attitude of the vehicle.
The information processing method according to claim 12. The information processing method further includes
Obtaining at least one manual driving information other than the manual driving information from a device mounted on at least one vehicle different from the vehicle;
Determining whether the manual driving information of the vehicle is valid based on the manual driving information and the at least one other manual driving information,
The information processing method according to any one of claims 1 to 13, wherein, in the generation of the automatic driving availability information, the automatic driving availability information is generated when the manual driving is determined to be appropriate. A manual driving information acquisition unit which acquires manual driving information indicating vehicle control by manual driving in a traveling section of the vehicle from a device mounted on the vehicle;
A sensor information acquisition unit that acquires sensor information obtained by sensing the vehicle in the traveling section from a device mounted on the vehicle;
A vehicle control estimation unit that generates automatic driving information indicating vehicle control by automatic driving in the traveling section based on the sensor information;
An automatic driving availability determination unit that generates automatic driving availability information indicating availability of automatic driving in the traveling section based on the manual driving information and the automatic driving information;
An information processing apparatus comprising: