JP2019079189A - Information processing device, information processing system, and program - Google Patents

Abstract

To provide an information processing device capable of promptly detecting a spot on a road where a difference occurs between behaviors of a manual driving vehicle and an automatic driving vehicle, an information processing system and a program.SOLUTION: An information processing device 30A comprises: a first travel information collection unit 301 for periodically collecting first travel information indicating a travel state from an on-vehicle unit of a manual driving vehicle being traveled on a road by manual driving of a driver; a second travel information collection unit 302 for periodically collecting second travel information indicating a travel state from an on-vehicle unit of an automatic driving vehicle being traveled on the road by automatic driving; and a spot detection unit 303 for detecting a spot on the road where a difference between a first travel track of the manual driving vehicle that is obtained from the first travel information collected by the first travel information collection unit 301 and a second travel track of the automatic driving vehicle that is obtained from the second travel information collected by the second travel information collection unit 302 is equal to or greater than a threshold.SELECTED DRAWING: Figure 6

Description

  The present invention relates to an information processing apparatus, an information processing system, and a program.

  In recent years, development has been promoted toward the spread of vehicles equipped with an automatic driving function (hereinafter referred to as "automatic driving vehicles"). At the stage where the autonomous driving vehicle spreads, a situation occurs in which a conventional driver manually drives a vehicle (hereinafter referred to as a manual driving vehicle) and the autonomous driving vehicle are mixedly traveling on the road. Under such circumstances, for example, according to Patent Document 1, it is possible to reduce traffic congestion by identifying an autonomous driving vehicle in which a manually driving vehicle travels forward and following the identified autonomous driving vehicle. The technology to support is described.

JP, 2017-84260, A

  By the way, on the road on which the vehicle travels, for example, an abnormality such as damage to the road surface may occur. If such road anomalies are left unchecked, secondary disasters and the like may occur, and it is required to detect and respond promptly to the anomalies.

  When an abnormality occurs at a certain point on the road, a vehicle traveling on the road travels to avoid the abnormal point. In the case of the avoidance driving, in the case of a manually driven vehicle, it shows appropriate behavior according to the driver's intention, whereas in the case of an automatically driven vehicle, it shows a decided behavior according to a predetermined rule. That is, it is considered that it is possible to quickly detect an abnormality occurrence point of the road by taking into consideration the difference between the behavior of the manually driven vehicle and the behavior of the automatically driven vehicle, but in the technology described in Patent Document 1, This point is not taken into consideration.

  The present invention has been made in view of the above-mentioned point, and an information processing apparatus and an information processing system capable of rapidly detecting a point on a road where a difference in behavior of a manually driven vehicle and an autonomously driven vehicle occurs. And to provide a program.

  In order to achieve the above object, the information processing apparatus according to claim 1 periodically collects first traveling information indicating traveling conditions from an on-board unit of a manually driven vehicle traveling on a road by a driver's manual driving. A first traveling information collection unit; a second traveling information collection unit periodically collecting second traveling information indicating traveling conditions from an on-board unit of an autonomous driving vehicle traveling on the road by automatic driving; and the first traveling information A second travel path of the manually driven vehicle obtained from the first travel information collected by the collection unit, and a second travel of the automatically driven vehicle obtained from the second travel information collected by the second travel information collection unit And a point detection unit that detects a point on the road whose difference with the trajectory is equal to or greater than a threshold.

  Further, in the information processing apparatus according to claim 2, in the invention according to claim 1, a map generation unit that generates a map in which points of the road detected by the point detection unit are associated; And a display unit for displaying the map generated by the unit.

  The information processing apparatus according to claim 3 is the invention according to claim 1 or 2, wherein the manually driven vehicle and the automatic driving exist in a predetermined area including the point of the road detected by the point detection unit. A transmission instructing unit instructing to transmit image information obtained by photographing a point on the road to at least one on-vehicle device of the vehicle, a manually driven vehicle receiving the instruction from the transmission instructing unit, and Based on the image information collecting unit that collects the image information from at least one vehicle-mounted device of the autonomous driving vehicle, and the cause of the abnormality occurring at the point of the road based on the image information collected by the image information collecting unit And an abnormality factor determination unit for determining

  The information processing apparatus according to claim 4 further includes, in the invention according to claim 3, a countermeasure plan deriving unit for deriving a countermeasure plan corresponding to the cause of the abnormality determined by the abnormality factor judging unit. There is.

  In the information processing apparatus according to claim 5, in the invention according to claim 3 or 4, the onboard equipment includes a camera for photographing a point on the road, and the image information is photographed by the camera. Image information.

  In the information processing apparatus according to a sixth aspect of the present invention, in the invention according to any one of the first to fifth aspects, the on-board unit of the manually driven vehicle measures the position of the vehicle itself; A position at which the first travel information is obtained from the first position measurement unit, and a first acceleration detection unit that detects its own acceleration and a first traveling direction detection unit that detects its own traveling direction. The on-vehicle device of the autonomous driving vehicle includes the acceleration obtained from the first acceleration detection unit, the traveling direction obtained from the first traveling direction detection unit, and identification information for identifying that it is a manual operation. A second position measurement unit that measures a position, a second acceleration detection unit that detects its own acceleration, and a second traveling direction detection unit that detects its own traveling direction, and the second travel information includes A position obtained from the two-position measuring unit, Acceleration obtained from degrees detector includes identification information for identifying said second traveling direction detecting unit traveling direction obtained from, and automatic operation.

  In the invention according to any one of claims 1 to 6, the information processing apparatus according to claim 7 is a vehicle installed in a different place and existing within a range defined from each installation place. And a communication unit configured to communicate with a plurality of relays capable of wirelessly communicating with the on-vehicle device, wherein the first travel information collection unit collects the first travel information via each of the plurality of relays; A second travel information collection unit collects the second travel information via each of the plurality of relays.

  On the other hand, in order to achieve the above object, the information processing system according to claim 8 can be wirelessly communicated with an on-vehicle device of a vehicle installed at different places and existing within a defined range from each installation place. First travel information collection that periodically collects first travel information indicating travel status from the relays and the on-board unit of a manually operated vehicle that travels the road by the driver's manual operation via the relays A second travel information collection unit periodically collecting, via the relay, second travel information indicating travel conditions from an on-board unit of an autonomous driving vehicle traveling on the road by automatic driving, The first traveling locus of the manually driven vehicle obtained from the first traveling information collected by the traveling information collecting unit, and the second traveling information acquired from the second traveling information collected by the second traveling information collection unit Difference with the second travel track It includes a point detector for detecting a point of the road to be the threshold value or more, the.

  Furthermore, in order to achieve the above object, the program according to claim 9 periodically executes the computer the first running information indicating the running status from the on-board unit of the manually driven vehicle running on the road by the driver's manual drive. A first travel information collection unit for collecting information, a second travel information collection unit for periodically collecting second travel information indicating traveling conditions from an on-board unit of an autonomous driving vehicle traveling on the road by automatic driving, and The first traveling locus of the manually driven vehicle obtained from the first traveling information collected by the traveling information collecting unit, and the second traveling information acquired from the second traveling information collected by the second traveling information collection unit It functions as a point detection unit that detects a point on the road whose difference with the second travel track is equal to or greater than a threshold.

  According to the present invention, it is possible to quickly detect the point on the road where the difference in behavior between the manually driven vehicle and the automatically driven vehicle occurs.

It is a schematic diagram showing an example of composition of an information processing system concerning an embodiment. It is a block diagram showing an example of an electrical configuration of onboard equipment carried in a manually driven vehicle concerning an embodiment. It is a block diagram showing an example of an electric configuration of onboard equipment carried in an autonomous driving vehicle concerning an embodiment. It is a block diagram showing an example of an electric configuration of a repeater concerning an embodiment. It is a block diagram showing an example of the electric composition of the information processor concerning an embodiment. It is a block diagram showing an example of functional composition of an information processor concerning a 1st embodiment. It is a figure for demonstrating an example of each driving | running | working locus | trajectory of the manually driven vehicle which concerns on embodiment, and an autonomous vehicle. It is the figure which partially expanded an example of the traveling locus of each of the manually driven vehicle and the automatically driven vehicle according to the embodiment. It is a figure showing an example of the map generated by the information processor concerning an embodiment. It is a flowchart which shows an example of the flow of the process by the program of the information processing apparatus which concerns on 1st Embodiment. It is a block diagram showing an example of composition of an information processor concerning a 2nd embodiment. It is a figure which shows an example of the predetermined area | region containing the point of the road which concerns on embodiment. It is a figure which shows an example of the screen which displayed the image information which concerns on embodiment, the cause of abnormality, and the countermeasure plan. It is a flowchart which shows an example of the flow of the process by the program of the information processing apparatus which concerns on 2nd Embodiment. It is a flowchart which shows an example of the flow of the process by the program of the relay which concerns on 2nd Embodiment.

  Hereinafter, an example of an embodiment of the present invention will be described with reference to the drawings. In the drawings, the same or equivalent components and parts are denoted by the same reference numerals. Also, the dimensional proportions of the drawings are exaggerated for the convenience of the description, and may differ from the actual proportions.

FIG. 1 is a schematic view showing an example of the configuration of an information processing system 1 according to the present embodiment.
As shown in FIG. 1, the information processing system 1 according to the present embodiment is an information processing apparatus capable of communicating with a plurality of relays 20 capable of communicating with each of the manually driven vehicle 10M and the autonomous driving vehicle 10A. And 30A.

  The manually driven vehicle 10M is a vehicle capable of traveling on the road by the driver's manual driving, and an automobile or the like is applied as an example. The manually driven vehicle 10M transmits the first travel information indicating the travel status to the information processing device 30A via the relay device 20 while traveling on the road. The manually driven vehicle 10M also includes a camera 11M for photographing the road surface of the road. The manually driven vehicle 10M receives the image information obtained by photographing the road surface of the road using the camera 11M according to the image transmission instruction received from the information processing device 30A via the relay 20, and transmits the information via the relay 20. It transmits to the processing device 30A. In addition, it may replace with camera 11M and may use the laser displacement meter which detects the unevenness | corrugation and shape of a road.

  The autonomous driving vehicle 10A is a vehicle capable of traveling on the road by autonomous driving, and as an example, an automobile or the like provided with an autonomous driving function is applied. The autonomous driving vehicle 10A, for example, has a switchable mode between an automatic driving mode and a manual driving mode, and appropriately switches the mode by a driver to travel. The autonomous driving vehicle 10A transmits second traveling information indicating a traveling condition to the information processing device 30A via the relay device 20 while traveling on the road by automatic driving. The autonomous driving vehicle 10A also includes a camera 11A for photographing the road surface of the road. In accordance with the image transmission instruction received from the information processing apparatus 30A via the relay unit 20, the autonomous driving vehicle 10A uses the camera 11A to image the image information obtained by photographing the road surface via the relay unit 20. It transmits to the processing device 30A. Similarly, in place of the camera 11A, a laser displacement meter may be used which detects the unevenness or the shape of the road. Hereinafter, when it is not necessary to distinguish and explain the manually driven vehicle 10M and the automatically driven vehicle 10A, these are also collectively referred to as the vehicle 10.

  The relay unit 20 relays data transmission between the vehicle 10 and the information processing device 30A. A plurality of repeaters 20 exist and are installed at different places. Each repeater 20 can wirelessly communicate with the vehicle 10 present in the defined range 29 from each place where it is installed. Here, the range 29 is a range in which the relay unit 20 can stably communicate with the vehicle 10. The relay unit 20 transmits the traveling information received from the vehicle 10 to the information processing device 30A. Further, when the relay unit 20 receives the image transmission instruction from the information processing device 30A, the relay unit 20 transmits a signal (hereinafter referred to as a transmission instruction signal) for instructing image transmission to all the vehicles 10 in the range 29. Do. Then, in response to the transmission instruction signal, the relay unit 20 receives, from the vehicle 10, image information obtained by the vehicle 10 in the range 29 by photographing, and transmits the image information to the information processing device 30A.

  The information processing device 30A generates an image transmission instruction for instructing the vehicle 10 to transmit the image information according to the traveling information received from the vehicle 10 via the relay device 20, and generates the generated image transmission instruction. , And transmitted to the vehicle 10 via the relay unit 20. In addition, the information processing device 30A receives, via the relay device 20, the image information obtained by the vehicle 10 taking a picture according to the transmitted image transmission instruction. The information processing device 30A manages the road state using the received image information. In addition, the vehicle 10 which transmits driving information, and the vehicle 10 which transmits image information may be different, and may be the same.

  Next, an example of an electrical configuration of the manually driven vehicle 10M, the automatically driven vehicle 10A, the relay unit 20, and the information processing device 30A will be described.

  FIG. 2 is a block diagram showing an example of an electrical configuration of a vehicle-mounted device mounted on the manually driven vehicle 10M according to the present embodiment. FIG. 3 is a block diagram showing an example of the electrical configuration of the on-board unit mounted on the autonomous driving vehicle 10A according to the present embodiment. FIG. 4 is a block diagram showing an example of an electrical configuration of the relay unit 20 according to the present embodiment. FIG. 5 is a block diagram showing an example of an electrical configuration of the information processing apparatus 30A according to the present embodiment.

  As shown in FIG. 2, the vehicle-mounted device of the manually driven vehicle 10M includes a camera 11M, a GPS (Global Positioning System) receiver 12M, a communication interface (hereinafter referred to as communication I / F) 13M, a storage unit 14M, and a CPU Central Processing Unit) 15M is provided. The camera 11 </ b> M includes an imaging element, and captures an image of the road surface of the road to obtain image information. The GPS receiver 12M is an example of a first position measurement unit, and measures its own position by receiving a signal from a satellite. The GPS receiver 12M also identifies the current time based on the signals from the satellites. The communication I / F 13 M is an interface for receiving a transmission instruction signal from the repeater 20 and transmitting data to the repeater 20. The data to be transmitted to the relay unit 20 is, for example, data in which the photographed position (place) and the photographed time are associated with the image information obtained by photographing with the camera 11M. The storage unit 14M includes various storage media such as a read only memory (ROM), a random access memory (RAM), and a non-volatile memory. The non-volatile memory is a memory that retains data contents even when the power of the manually driven vehicle 10M is turned off, and stores image information and the like obtained by photographing. Further, programs for executing various processes according to the present embodiment are stored in the ROM. The CPU 15M reads the program from the ROM and executes the program using the RAM as a work area.

  The manually driven vehicle 10M also includes an acceleration sensor 16M and an angle sensor 17M. The acceleration sensor 16M is an example of a first acceleration detection unit, and is a sensor that detects its own acceleration. The angle sensor 17M is an example of a first traveling direction detection unit that detects the traveling direction of itself, and is a sensor that detects the angle of steering. That is, it is a sensor which specifies the advancing direction of the manually driven vehicle 10M from the angle of the steering of the manually driven vehicle 10M.

  On the other hand, as shown in FIG. 3, the on-board unit of the autonomous driving vehicle 10A includes a camera 11A, a GPS receiver 12A, a communication I / F 13A, a storage unit 14A, a CPU 15A, an acceleration sensor 16A, and an angle sensor 17A. The configuration of each part included in the on-board unit of the autonomous driving vehicle 10A is the same as each part included on the on-board unit of the manual driving vehicle 10M shown in FIG. The GPS receiver 12A is an example of a second position measurement unit, the acceleration sensor 16A is an example of a second acceleration detection unit, and the angle sensor 17A is an example of a second traveling direction detection unit.

  As shown in FIG. 4, the relay unit 20 includes a communication I / F 21, a storage unit 22, a camera 23, and a CPU 24. The communication I / F 21 is an interface for communicating with the vehicle 10 and the information processing device 30A. The storage unit 22 includes various storage media such as a ROM, a RAM, and a non-volatile memory. The non-volatile memory is a memory in which data contents are retained even when the power of the relay unit 20 is turned off, and data received from the vehicle 10 is stored. Further, programs for executing various processes according to the present embodiment are stored in the ROM. The camera 23 includes an imaging element, and confirms the communicable vehicle 10. The CPU 24 reads the program from the ROM and executes the program using the RAM as a work area.

  As shown in FIG. 5, the information processing device 30 </ b> A includes a communication I / F 31, a storage unit 32, a display unit 33, an input unit 34, and a CPU 35. The communication I / F 31 is an interface for communicating with the relay device 20 as an example of a communication unit having a transmission function and a reception function. The information processing apparatus 30A may be connected to each of the relays 20 by wired communication, or may transmit information by wireless communication.

  The storage unit 32 includes various storage media such as a ROM, a RAM, and a non-volatile memory. The non-volatile memory is a memory that holds data contents even when the power of the information processing device 30A is turned off, and stores data received from the repeater 20, a map created based on the data, and the like. Further, the storage unit 32 stores a place where each repeater 20 is installed and a range 29 defined from each installation place. The range 29 is defined as an area in which the repeater 20 can communicate with the vehicle 10, that is, a range in which radio waves can be stably received from the repeater 20, as described above.

  The display unit 33 includes, for example, a liquid crystal display, an organic EL (Electro Luminescence) display, and the like, and displays various screens such as a map.

  The input unit 34 includes a mouse, a keyboard, and the like, and receives various necessary data and various setting inputs by the user. The user mentioned here is, for example, a road engineer or the like. The input unit 34 may also be used as the display unit 33 that constitutes a touch panel.

First Embodiment
Next, the functional configuration of the information processing device 30A according to the first embodiment will be described with reference to FIG. In the present embodiment, although the case where the information processing device 30A and the vehicle 10 communicate via the relay device 20 will be described, the information processing device 30A and the vehicle 10 communicate with each other without the relay device 20. It is good also as a form to carry out.

FIG. 6 is a block diagram showing an example of a functional configuration of the information processing apparatus 30A according to the first embodiment.
As shown in FIG. 6, the information processing apparatus 30A according to the present embodiment includes a first travel information collection unit 301, a second travel information collection unit 302, a point detection unit 303, and a map generation unit 304. ing.

  In each of the above-described units, the CPU 35 writes the program stored in the ROM into the RAM, and the RAM is executed as a work area.

  The first travel information collection unit 301 according to the present embodiment periodically collects, from the on-board unit of the manually driven vehicle 10M traveling on the road, first travel information indicating a travel situation via the relay unit 20. Here, the first traveling information includes the position obtained from the GPS receiver 12M, the acceleration obtained from the acceleration sensor 16M, the traveling direction obtained from the angle sensor 17M, and identification information for identifying that it is a manual operation. It is information that contains.

  The second travel information collecting unit 302 according to the present embodiment receives the second travel information indicating the travel status from the on-board unit of the autonomous driving vehicle 10A traveling on the same road as the manually driven vehicle 10M via the relay unit 20. Collect regularly. Here, the second travel information includes the position obtained from the GPS receiver 12A, the acceleration obtained from the acceleration sensor 16A, the traveling direction obtained from the angle sensor 17A, and identification information for identifying the automatic driving. It is information that contains. The information processing apparatus 30A that has received the travel information of either the first travel information or the second travel information is based on the identification information included in the travel information, the travel information belongs to the manually driven vehicle 10M or the automatically driven vehicle 10A. Determine if it is Then, as a result of the determination, the first travel information of the manually driven vehicle 10M is stored in the storage unit 32 via the first travel information collection unit 301. On the other hand, the second travel information of the autonomous driving vehicle 10A is stored in the storage unit 32 via the second travel information collection unit 302.

  The point detection unit 303 according to the present embodiment is collected by the second traveling information collection unit 302 and the first traveling locus of the manually driven vehicle 10M obtained from the first traveling information collected by the first traveling information collection unit 301. The point of the road where the difference with the second traveling locus of the autonomous driving vehicle 10A obtained from the second traveling information is equal to or more than the threshold value is detected.

  The map generation unit 304 according to the present embodiment generates a map in which the points of the road detected by the point detection unit 303 are associated. The display unit 33 displays the map generated by the map generation unit 304.

  Next, each part of said point detection part 303 and the map production | generation part 304 is demonstrated concretely. Here, when an event such as road damage occurs, the manually driven vehicle 10M behaves in an adaptive manner according to the driver's intention, whereas the automatically driven vehicle 10A is determined according to a predetermined rule. It may show behavior. The difference between the behavior of the manually driven vehicle 10M and the behavior of the automatically driven vehicle 10A is expressed as a difference between the first traveling trajectory of the manually driven vehicle 10M and the second traveling trajectory of the automatically driven vehicle 10A. In addition. The “traveling track” referred to here is not limited to a trace that the vehicle has just passed, but represents traveling information indicating position, acceleration, speed, traveling direction, etc. integrated as time-series information. Therefore, not only a point at which the trace of the vehicle passes greatly differs is detected, but also at a point at which at least one of the acceleration and the velocity differs greatly.

  FIG. 7 is a view for explaining an example of the traveling track of each of the manually driven vehicle 10M and the automatically driven vehicle 10A according to the present embodiment. Moreover, FIG. 8 is the figure which expanded partially an example of the traveling locus of each of the manually driven vehicle 10M and the automatically driven vehicle 10A according to the present embodiment.

  As shown in FIG. 7, it is assumed that the manually driven vehicle 10 </ b> M and the automatically driven vehicle 10 </ b> A are both traveling on the road Rd. FIG. 8 shows a state in which the part A of the road Rd shown in FIG. 7 is enlarged.

  In the example shown in FIG. 8, the road Rd is a road with one lane on one side, and the event 40 occurs in the left lane. The event 40 is, for example, an event such as road damage as described above. Although the manually driven vehicle 10M and the automatically driven vehicle 10A are shown side by side in the left lane for convenience of explanation, in actuality, the left lane is traveled one by one. In order to avoid the event 40, the manually driven vehicle 10M traveling in the left lane of the road Rd travels, for example, beyond the center white line. The first travel locus Tr1 corresponding to this travel is obtained from the first travel information of the manually driven vehicle 10M. The first traveling locus Tr1 obtained from the first traveling information of the manually driven vehicle 10M is stored in the storage unit 32. On the other hand, the automatically driven vehicle 10A traveling on the left lane of the road Rd travels straight ahead, for example. The second travel locus Tr2 corresponding to this travel is obtained from the second travel information of the autonomous driving vehicle 10A. The second travel locus Tr2 obtained from the second travel information of the autonomous driving vehicle 10A is stored in the storage unit 32.

  In this case, the point detection unit 303 detects, for the road Rd, a point P1 at which the difference between the first traveling locus Tr1 and the second traveling locus Tr2 is equal to or greater than a threshold as a point where abnormality may occur. .

  FIG. 9 is a view showing an example of a map generated by the information processing apparatus 30A according to the present embodiment.

  As shown in FIG. 9, the map generation unit 304 generates a map in which the point P1 of the road Rd detected by the point detection unit 303 is associated. The display unit 33 displays the map generated by the map generation unit 304. Specifically, the map generation unit 304 associates the point P1 with the road information stored in advance in the storage unit 32, and generates a map. The travel information received from the relay unit 20 is added with position information indicating the location where the vehicle 10 traveled and the date and time of travel. The map generation unit 304 associates the point P1 with the road information based on the position information. In this case, the road engineer recognizes that there is a possibility that an abnormality has occurred at the point P1 by checking the map shown in FIG. 9, and takes an appropriate response.

  Next, the operation of the information processing apparatus 30A according to the first embodiment will be described. FIG. 10 is a flow chart showing an example of the flow of processing by a program of the information processing device 30A according to the first embodiment.

  Each step in the present process is executed by the CPU 35 reading a program from the storage unit 32.

  In step 100 of FIG. 10, the first travel information collection unit 301 collects first travel information indicating a travel situation from the manually driven vehicle 10M traveling on the road. Further, the second travel information collection unit 302 collects second travel information indicating a travel situation from the automatically driven vehicle 10A traveling on the same road.

  In step 102, the point detection unit 303 generates a first traveling locus from the first traveling information collected in step 100 and generates a second traveling locus from the second traveling information, as shown in FIG. 8 as an example.

  In step 104, it is determined whether the point detection unit 303 has detected a point on the road where the difference between the first travel locus generated in step 102 and the second travel locus is equal to or greater than a threshold. If it is determined that a point on the road has been detected (in the case of an affirmative determination), the process proceeds to step 106, and if it is determined that a point on the road is not detected (in the case of a negative determination), the process returns to step 100 to repeat the processing.

  In step 106, the map generation unit 304 generates a map in which the points of the road detected in step 104 are associated as shown in FIG. 9 as an example.

  In step 108, the map generation unit 304 causes the display unit 33 to display the map generated in step 106.

  In step 110, the map generation unit 304 determines whether to continue the above series of processing. When it is determined that the above-described series of processing is to be continued (in the case of an affirmative determination), the process returns to step 100 to repeat the processing. On the other hand, when it is determined that the above series of processing is not continued (in the case of a negative determination), the series of processing by this program is ended.

  As described above, according to the present embodiment, on a certain road, a point where the difference between the first traveling locus of the manually driven vehicle and the second traveling locus of the automatically driven vehicle is equal to or greater than the threshold causes an abnormality on the road Detect as a possible point. Thus, it is possible to quickly detect the point on the road where the difference in behavior between the manually driven vehicle and the automatically driven vehicle occurs.

Second Embodiment
In the first embodiment, on a certain road, a point at which an abnormality may occur on the road is detected by taking into consideration the difference in the traveling locus of each of the manually driven vehicle 10M and the autonomously driven vehicle 10A. . In this case, since the cause of the abnormality is not identified, it is left to the road administrator to decide what kind of measures to be taken. On the other hand, in the present embodiment, the image information obtained by photographing the point detected above is collected, the cause of the abnormality is specified based on the collected image information, and further, each specified cause of the abnormality To formulate appropriate measures.

FIG. 11 is a block diagram showing an example of the configuration of an information processing apparatus 30B according to the second embodiment.
As shown in FIG. 11, the information processing apparatus 30B according to the present embodiment further includes, in addition to the first travel information collection unit 301, the second travel information collection unit 302, the point detection unit 303, and the map generation unit 304. A transmission instruction unit 305, an image information collection unit 306, an abnormality factor determination unit 307, and a countermeasure plan derivation unit 308 are provided. In addition, the same code | symbol is attached | subjected to the component same as the information processing apparatus 30A which concerns on the said 1st Embodiment, and description of repetition is abbreviate | omitted.

  In each of the above-described units, the CPU 35 writes the program stored in the ROM into the RAM, and the RAM is executed as a work area.

  The transmission instruction unit 305 according to the present embodiment relates to at least one of the on-vehicle devices of the manually driven vehicle 10M and the automatically driven vehicle 10A existing in a predetermined area including the point of the road detected by the point detection unit 303. It instructs via the relay unit 20 corresponding to the predetermined area to transmit the image information obtained by photographing the point on the road. This instruction corresponds to an image transmission instruction.

  FIG. 12 is a diagram showing an example of the predetermined area 42 including the road point P1 according to the present embodiment.

  As shown in FIG. 12, the transmission instruction unit 305 according to the present embodiment sets a predetermined area 42 including the point P1 of the road detected by the point detection unit 303. As the predetermined area 42, for example, an area of a diameter X (arbitrary) kilometers including the point P1 of the road is set. Then, the transmission instruction unit 303 transmits image information obtained by photographing the point P1 of the road Rd to at least one of the manually-driven vehicle 10M and the automatically-driven vehicle 10A existing in the predetermined area 42. As such, the instruction is given via the relay unit 20 corresponding to the predetermined area 42.

  The image information collecting unit 306 according to the present embodiment collects image information from at least one of the onboard devices of the manually driven vehicle 10M and the automatically driven vehicle 10A that has received the image transmission instruction from the transmission instruction unit 305. The image information collected by the image information collecting unit 306 is stored in the storage unit 32.

  Based on the image information collected by the image information collection unit 306, the abnormality factor determination unit 307 according to the present embodiment determines the cause of the abnormality occurring at the point of the road. As a factor of the abnormality here, the hole of a road surface, a hollow, a crack, a level difference etc. are mentioned, for example. Specific methods for determining the cause of abnormality include, for example, a method based on pattern matching of images, a method based on machine learning using an image indicating the cause of abnormality as a teacher image, and the like.

  The countermeasure plan derivation unit 308 according to the present embodiment derives a countermeasure plan corresponding to the cause of the abnormality determined by the abnormality factor determination unit 307. As a specific method of deriving the countermeasure plan, for example, a method of correlating an appropriate countermeasure plan in advance for each cause of abnormality on the road and storing it in the storage unit 32 is used.

  FIG. 13 is a view showing an example of a screen displaying image information, causes of abnormality, and a countermeasure plan according to the present embodiment.

  As shown in FIG. 13, on the display unit 33, the cause of the abnormality and the countermeasure plan are displayed in association with the image information obtained by photographing the point P1 of the road Rd. In the example illustrated in FIG. 13, the cause of the abnormality is determined to be a “hole”, and a repair measure that is a reference for repairing a hole, for example, is indicated as a countermeasure plan.

  In addition, although the case where the repair plan of road Rd was derived | led-out was explained as a countermeasure plan from the result of having determined the factor of abnormality of road Rd above, it was an automatically driven vehicle from the result of having determined the factor of abnormality of road Rd. The algorithm for controlling the automatic operation of 10A may be changed. For example, when the autonomous driving vehicle 10A detects a "hole" on the road Rd, the autonomous driving algorithm is changed so that the same avoidance travel as the manually driven vehicle 10M can be performed. Specifically, in the automatically driven vehicle 10A, the traveling locus of the manually driven vehicle 10M is learned in association with the cause of the abnormality. Thus, the behavior of the automatically driven vehicle 10A can be made closer to the behavior of the manually driven vehicle 10M with respect to the abnormality on the road.

  Next, the operation of the information processing apparatus 30B according to the second embodiment will be described. FIG. 14 is a flowchart illustrating an example of the flow of processing by a program of the information processing device 30B according to the second embodiment.

  Each step in the present process is executed by the CPU 35 reading a program from the storage unit 32. Note that the processing from step 200 to step 208 is the same as the processing from step 100 to step 108 (see FIG. 10) described in the first embodiment, and thus repetitive description will be omitted here.

  In step 210 of FIG. 14, the transmission instruction unit 305 transmits the road to at least one of the manually operated vehicle 10M and the automatically driven vehicle 10A in the predetermined area including the point of the road detected in step 204. It instructs via the relay 20 corresponding to the predetermined area to transmit the image information obtained by photographing the point of.

  In step 212, the image information collecting unit 306 collects image information from the on-board unit of at least one of the manually driven vehicle 10M and the automatically driven vehicle 10A that has received the image transmission instruction via the relay unit 20.

  In step 214, the abnormality factor determination unit 307 determines the cause of the abnormality at the point where the abnormality may have occurred, based on the image information collected in step 212.

  In step 216, the countermeasure plan derivation unit 308 derives a countermeasure plan corresponding to the cause of the abnormality determined in step 214. As shown in FIG. 13 as an example, the display unit 33 displays image information, causes of abnormality, and a countermeasure plan.

  In step 218, the abnormality factor determination unit 307 determines whether to continue the above series of processing. If it is determined that the above series of processing is to be continued (in the case of a positive determination), the process returns to step 200 to repeat the processing. On the other hand, when it is determined that the above series of processing is not continued (in the case of a negative determination), the series of processing by this program is ended.

  Next, the operation of the repeater 20 according to the second embodiment will be described. FIG. 15 is a flowchart showing an example of the flow of processing by a program of the relay unit 20 according to the second embodiment.

  Each step in this processing is executed by the CPU 24 reading a program from the storage unit 22.

  In step 220, the CPU 24 receives an image transmission instruction from the information processing device 30B.

  In step 222, the CPU 24 confirms at least one of the manually driven vehicle 10M and the automatically driven vehicle 10A within the range 29 covered by the relay unit 20 by the camera 23.

  In step 224, the CPU 24 starts transmitting a transmission instruction signal to the vehicle 10 confirmed in step 222. The transmission instruction signal is transmitted toward the vehicle 10 with a certain degree of directivity. That is, from the relay unit 20, a transmission instruction signal for selectively imaging the imaging location and instructing transmission of an image is transmitted to the vehicle 10 near the imaging location or going to the imaging location. The vehicle 10 having received the transmission instruction signal transmits the image information obtained by photographing the road surface of the road to the repeater 20 with the information on the photographing location and the information on the photographing date and time.

  In step 226, the CPU 24 determines whether or not image information has been collected for all the shooting locations from the on-board unit of the vehicle 10. If it is determined that the image information in all the shooting locations is collected (in the case of a positive determination), the process proceeds to step 228, and if it is determined that the image information in all the shooting locations is not collected (in the case of a negative determination) At step 226, a standby state is established.

  At step 228, the CPU 24 stops the transmission of the transmission instruction signal to the vehicle 10.

  In step 230, the CPU 24 transmits the image information collected from the in-vehicle device of the vehicle 10 in step 226 to the information processing apparatus 30B, and ends the series of processes according to this program.

  As described above, according to the present embodiment, the cause of the abnormality is automatically determined based on the image information of the point at which the abnormality is likely to occur, and further, appropriate for each of the determined causes of the abnormality. Derive a new plan. For this reason, it is not necessary for the road engineer to visually determine the cause of the abnormality and to formulate a countermeasure plan, and the burden on the road engineer can be reduced.

  Also, the image transmission instruction is transmitted only to the relay unit 20 that covers the shooting location within the range 29 where radio waves can reach. Since only the relay unit 20 that has received the image transmission instruction transmits the transmission instruction signal to the vehicle 10, the unnecessary relay unit 20 does not transmit the transmission instruction and responds to the unnecessary transmission instruction signal. Thus, the vehicle 10 does not transmit an image. In other words, the vehicle 10 unnecessarily takes an image and does not transmit image information with a large amount of data through the line. As a result, line pressure can be avoided. There is no pressure on the line and there is no hindrance to the transmission of other information.

  In addition, by the information processing apparatus 30B located at a remote place away from the imaging location, imaging of the road can be instructed and the image information can be referred to. Therefore, it is not necessary for the user such as a road engineer to go to the site, and the cost can be reduced.

  Further, the relay device 20 confirms the presence of the vehicle 10, and selectively transmits a transmission instruction signal to the vehicle 10 which is close to the imaging location or goes to the imaging location. Therefore, it is possible to instruct the vehicle 10 to transmit an image adaptively according to the situation.

  In addition, various processors other than CPU may execute each process which the CPU reads and executes software (program) in each embodiment described above. As a processor in this case, in order to execute specific processing such as PLD (Programmable Logic Device) or ASIC (Application Specific Integrated Circuit) whose circuit configuration can be changed after manufacturing an FPGA (Field-Programmable Gate Array) or the like. A dedicated electric circuit or the like which is a processor having a circuit configuration specially designed is exemplified. Also, the processing according to each embodiment may be performed by one of these various processors, or a combination of two or more processors of the same or different types (for example, a plurality of FPGAs, and a CPU and an FPGA) And so on). Furthermore, the hardware-like structure of these various processors is, more specifically, an electric circuit in which circuit elements such as semiconductor elements are combined.

  In each of the above embodiments, the programs of the information processing devices 30A and 30B are stored (installed) in the storage unit 32 in advance, and the programs of the relay unit 20 are stored in the storage unit 22 in advance. Not limited to this. The program may be provided in the form of being stored in a storage medium such as a Compact Disk Read Only Memory (CD-ROM), a Digital Versatile Disk Read Only Memory (DVD-ROM), and a Universal Serial Bus (USB) memory. Also, the program may be downloaded from an external device via a network.

1 information processing system 10M manually driven vehicle 10A automatic driving vehicle 11M, 11A, 23 camera 12M, 12A GPS receiver 13M, 13A, 21, 31 communication interface 14M, 14A, 22, 32 storage unit 15M, 15A, 24, 35 CPU
16M, 16A Acceleration sensor 17M, 17A Angle sensor 20 Repeater 29 Range 30A, 30B Information processing device 33 Display unit 34 Input unit 40 Event 42 Predetermined area 301 First driving information collecting unit 302 Second driving information collecting unit 303 Point detection unit 304 Map generation unit 305 Transmission instruction unit 306 Image information collection unit 307 Abnormality factor determination unit 308 Countermeasures derivation unit

Claims (9)

A first travel information collection unit that periodically collects first travel information indicating a travel status from an on-board unit of a manually driven vehicle that travels a road by a driver's manual driving;
A second traveling information collection unit that periodically collects second traveling information indicating traveling conditions from an on-board unit of an autonomous driving vehicle traveling on the road by automatic driving;
The first driving track of the manually driven vehicle obtained from the first driving information collected by the first driving information collecting unit, and the automatic driving obtained from the second driving information collected by the second driving information collection unit A point detection unit for detecting a point on the road whose difference with the second travel locus of the vehicle is equal to or greater than a threshold value;
An information processing apparatus provided with A map generation unit that generates a map in which the points of the road detected by the point detection unit are associated;
A display unit for displaying the map generated by the map generation unit;
The information processing apparatus according to claim 1, further comprising: Image information obtained by photographing the point of the road with respect to at least one of the manually driven vehicle and the at least one of the automatically driven vehicle existing in a predetermined area including the point of the road detected by the point detection unit A transmission instruction unit that instructs transmission;
An image information collecting unit that collects the image information from at least one of a manually operated vehicle and an automatically operated vehicle that has received the instruction from the transmission instruction unit;
An abnormality factor determination unit that determines a cause of an abnormality occurring at a point on the road based on the image information collected by the image information collection unit;
The information processing apparatus according to claim 1, further comprising:   The information processing apparatus according to claim 3, further comprising: a countermeasure plan derivation unit that derives a countermeasure plan corresponding to the cause of the abnormality determined by the abnormality cause determination unit. The on-board unit includes a camera for capturing a point on the road,
The information processing apparatus according to claim 3, wherein the image information is image information captured by the camera. The on-board unit of the manually driven vehicle includes a first position measurement unit that measures its own position, a first acceleration detection unit that detects its own acceleration, and a first traveling direction detection unit that detects its own traveling direction. Including
The first traveling information identifies the position obtained from the first position measurement unit, the acceleration obtained from the first acceleration detection unit, the traveling direction obtained from the first traveling direction detection unit, and the manual operation. Containing identification information to
The on-board unit of the autonomous driving vehicle includes a second position measurement unit that measures its own position, a second acceleration detection unit that detects its own acceleration, and a second traveling direction detection unit that detects its own traveling direction. Including
The second travel information identifies the position obtained from the second position measurement unit, the acceleration obtained from the second acceleration detection unit, the traveling direction obtained from the second traveling direction detection unit, and the automatic driving. The information processing apparatus according to any one of claims 1 to 5, including identification information for performing the process. The communication unit further includes a communication unit installed in different places and in communication with a plurality of relays capable of wirelessly communicating with the on-vehicle devices of the vehicle existing within a defined range from each installation place,
The first travel information collection unit collects the first travel information via each of the plurality of relays,
The information processing apparatus according to any one of claims 1 to 6, wherein the second travel information collection unit collects the second travel information via each of the plurality of relays. A plurality of repeaters installed at different locations and capable of wirelessly communicating with the on-vehicle devices of the vehicle within a defined range from each installation location;
A first travel information collection unit that periodically collects, via the relay, first travel information indicating a travel status from an on-board unit of a manually driven vehicle that travels a road by a driver's manual driving;
A second travel information collection unit that periodically collects second travel information indicating a travel status from the on-board unit of the autonomous driving vehicle traveling on the road by automatic driving via the relay;
The first driving track of the manually driven vehicle obtained from the first driving information collected by the first driving information collecting unit, and the automatic driving obtained from the second driving information collected by the second driving information collection unit A point detection unit for detecting a point on the road whose difference with the second travel locus of the vehicle is equal to or greater than a threshold value;
An information processing system equipped with Computer,
A first travel information collection unit that periodically collects first travel information indicating a travel status from an on-board unit of a manually driven vehicle that travels a road by a driver's manual driving;
A second traveling information collection unit that periodically collects second traveling information indicating traveling conditions from an on-board unit of an autonomous driving vehicle traveling on the road by automatic driving;
The first driving track of the manually driven vehicle obtained from the first driving information collected by the first driving information collecting unit, and the automatic driving obtained from the second driving information collected by the second driving information collection unit A point detection unit for detecting a point on the road whose difference with the second travel locus of the vehicle is equal to or greater than a threshold value;
Program to function as.