JP2019168437A - Data structure, information processing device, control method, program, and storage medium - Google Patents

Abstract

To provide a data structure suitable for data transmitted to an information processing device collecting information on pedestrians present on roadways, and to provide an information processing device for transmitting such data.SOLUTION: A terminal device 1 generates upload information Iu upon detection of pedestrians or the like by a sensor unit 7 and transmits the upload information Iu to a server device 2. The upload information Iu comprises a basic information portion and a specific information portion. The basic information portion comprises information items pertaining to a vehicle of the terminal device 1 which has detected pedestrians. Specifically, the basic information portion comprises items including the "header," "vehicle metadata," "vehicle location," and "vehicle speed." The specific information portion comprises information items pertaining to pedestrians detected by the terminal device 1. Specifically, the specific information portion comprises items including the "information ID," "object type," "object location, "object moving direction," "object profile," "intrusion distance reference," "intrusion distance," and "object location in a traveling direction."SELECTED DRAWING: Figure 4

Description

  The present invention relates to a technique for acquiring peripheral information of a moving body such as a vehicle.

  Conventionally, a technique for updating map data based on an output of a sensor installed in a vehicle is known. For example, in Patent Literature 1, when a change point of a partial map is detected based on an output of a sensor installed on a moving body such as a vehicle, the driving support device transmits change point information regarding the change point to a server device. Is disclosed. Non-Patent Document 1 discloses specifications related to a data format for collecting data detected by a vehicle-side sensor with a cloud server.

JP 2006-156773 A

here website, Vehicle Sensor Data Cloud Information Interface Specification (v2.0.2), [Search February 5, 2018], Internet <URL: https://lts.cms.here.com/static-cloud- content / Company_Site / 2015_06 / Vehicle_Sensor_Data_Cloud_Ingestion_Interface_Specification.pdf>

  On roads with many pedestrians, such as in front of the station, or roads without sidewalks, pedestrians may pass through the roadway, and on such road sections, the vehicle must travel away from pedestrians that protrude from the roadway. There is. Therefore, it is preferable that information that can be referred to on the vehicle side can be generated so that such a road section can be specified in advance on the vehicle side, and the vehicle can travel around the road section or warn the driver in advance.

  The present invention has been made in order to solve the above-described problems, and has a data structure suitable for data to be transmitted to an information processing apparatus that collects information on a pedestrian that protrudes from a roadway and the data. It is a main object to provide an information transmission apparatus that transmits a message.

  The invention according to the claim is a data structure of data transmitted to an information processing device that collects information about an object detected by a detection device mounted on a mobile body, and includes the position information of the mobile body Information and pedestrian information including information on a pedestrian detected by the detection device and including position information indicating a position of the pedestrian with respect to a boundary between a roadway and a sidewalk, and crossing the boundary This is a data structure of data used for the information processing apparatus to recognize the position on the roadway where there is a danger caused by the vehicle.

  The invention described in the claims is an information transmission device, which is information related to a pedestrian detected by a detection device mounted on a moving body, and indicates the position of the pedestrian with respect to a boundary between a roadway and a sidewalk. Transmission means for generating pedestrian information including position information based on the output of the detection device, transmitting means for transmitting the pedestrian information and mobile body information including the positional information of the mobile body to the information processing apparatus And comprising.

  The invention described in the claims is an information transmission device mounted on a moving body, which is obtained from position estimation means for estimating a position of the moving body and a detection device that detects an object around the moving body. Based on the information, the control means for acquiring the pedestrian information including the distance between the boundary between the roadway and the sidewalk on which the moving body travels and the pedestrian in the width direction of the roadway, and the position estimated by the position estimation unit Transmitting means for transmitting the moving body information in which the position of the moving body and the pedestrian information are associated to the information processing apparatus.

  Further, the invention described in claim is a control method executed by the information transmission device, which is information on a pedestrian detected by a detection device mounted on a moving body, and the walking with respect to a boundary between a roadway and a sidewalk An information processing apparatus comprising: a generation step of generating pedestrian information including position information indicating a position of a person based on an output of the detection apparatus; the pedestrian information; and moving body information including position information of the moving body. And a transmitting step for transmitting to.

It is a schematic structure of a data collection system. The block configuration of a terminal device and a server apparatus is shown. It is the block diagram which showed the process outline | summary which a terminal device performs. The example of the 1st data structure of upload information is shown. The bird's-eye view of the vehicle periphery at the time of detecting a pedestrian is shown. The bird's-eye view of the vehicle periphery at the time of detecting a pedestrian and a bicycle driver is shown. The example of the 2nd data structure of upload information is shown. An example of the data structure of the road data for every link contained in distribution map DB is shown. It is the figure which showed roughly the 1st specific example of the calculation method of the risk in the road area corresponding to the link 1 and the link 2. FIG. It is the figure which showed roughly the 2nd specific example of the calculation method of the risk in the road area corresponding to the link 1 and the link 2. FIG. It is an example of the data structure of download information. It is an example of the flowchart which shows the outline | summary of the process in an Example. It is a schematic structure of the data collection system which concerns on a modification.

  According to a preferred embodiment of the present invention, there is provided a data structure of data transmitted to an information processing device that collects information related to an object detected by a detection device mounted on a mobile body, the position information of the mobile body being obtained. Including moving body information and information on a pedestrian detected by the detection device, the pedestrian information including position information indicating a position of the pedestrian with respect to a boundary between a roadway and a sidewalk, and exceeding the boundary It is the data structure of the data used for the said information processing apparatus to recognize the position in the said roadway where the danger resulting from a pedestrian exists. Here, the “object detected by the detection device” is not limited to the object detected by the detection device performing the detection process alone, and other devices perform predetermined analysis processing on the output data of the detection device. Objects detected by performing are also included. By transmitting data having such a data structure to the information processing apparatus, the information processing apparatus can preferably collect the position information of the pedestrian with respect to the boundary between the roadway and the sidewalk together with the position information of the moving body. It is possible to preferably recognize the position on the roadway where there is a danger due to a pedestrian who has crossed the boundary.

  In one aspect of the data structure, the pedestrian information includes information related to a distance between a boundary between the roadway and a sidewalk and the position of the pedestrian. According to this aspect, the position of the pedestrian relative to the boundary between the roadway and the sidewalk can be suitably recognized from the pedestrian information.

  In another aspect of the data structure, the pedestrian information includes information related to at least one of an estimated age, sex, or movement direction. By receiving such pedestrian information, the information processing apparatus can suitably collect information on the age, sex, and / or direction of movement of pedestrians present on the roadway at each point.

  In another aspect of the data structure, the pedestrian information is a statistic in which the number of pedestrians detected by the detection device is statistically measured by a distance between a boundary between the roadway and a sidewalk and the position of the pedestrian. Information. According to this aspect, it is possible to collectively transmit information about the positions of a plurality of pedestrians detected by the detection device to the information processing device as pedestrian information.

  In another aspect of the data structure, the pedestrian information includes information indicating the number or percentage of pedestrians present on the roadway. According to this aspect, when a plurality of pedestrians detected by the detection device are detected, it is possible to suitably notify the information processing device of the presence of pedestrians present on the roadway.

  In another aspect of the data structure, the data structure further includes date and time information regarding the date and time when the pedestrian was detected by the detection device. According to this aspect, the information processing apparatus can appropriately grasp the date and time when the received pedestrian information is generated, and statistically analyze the pedestrian information for each day of the week or time period.

  In another aspect of the data structure, the moving body information includes information on the speed of the moving body when the pedestrian is detected by the detection device. In general, even when a pedestrian is detected, it can be estimated that the faster the moving body is, the safer the traveling environment is (that is, the less dangerous the traveling environment). Therefore, according to this aspect, it is possible to transmit information suitable for determining safety or risk at a point where a pedestrian is detected to the information processing apparatus.

  According to another preferred embodiment of the present invention, the information transmission device is information relating to a pedestrian detected by a detection device mounted on a moving body, and the position of the pedestrian relative to a boundary between a roadway and a sidewalk is determined. Transmission that generates pedestrian information that includes position information that is indicated based on the output of the detection device, the pedestrian information, and mobile body information that includes positional information of the mobile body is transmitted to the information processing apparatus. Means. According to this aspect, the information transmitting device transmits the position information of the pedestrian with respect to the boundary between the roadway and the sidewalk to the information processing device together with the position information of the moving body, and the information of the pedestrian existing on the roadway at the traveling point Can be collected by the information processing apparatus.

  According to another preferred embodiment of the present invention, there is provided an information transmission device mounted on a moving body, the position estimating means for estimating the position of the moving body, and the detection for detecting an object around the moving body. Based on the information acquired from the device, a control means for acquiring pedestrian information including a distance between a boundary between the roadway on which the mobile body travels and a sidewalk and a pedestrian in the width direction of the roadway, and the position estimation unit Transmitting means for transmitting, to an information processing apparatus, mobile body information that associates the estimated position of the mobile body with the pedestrian information. According to this aspect, the information transmission apparatus can cause the information processing apparatus to appropriately recognize the position of the pedestrian existing on the road at the traveling point in the road width direction.

  According to another preferred embodiment of the present invention, there is provided a control method executed by the information transmission device, which is information relating to a pedestrian detected by a detection device mounted on a moving body, and is a boundary between a roadway and a sidewalk Generating step of generating pedestrian information including position information indicating the position of the pedestrian with respect to the output of the detection device, the pedestrian information, and moving body information including the position information of the moving body, And a transmission step of transmitting to the information processing apparatus. By executing this control method, the information transmitting apparatus can suitably cause the information processing apparatus to collect information on pedestrians present on the roadway at the traveling point.

  According to another preferred embodiment of the present invention, a program causes a computer to execute the control method described above. The computer functions as the information transmission device described above by executing this program. Preferably, the program is stored in a storage medium.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[Outline of data collection system]
FIG. 1 is a schematic configuration of a data collection system according to the present embodiment. The data collection system includes a terminal device 1 that is mounted on each vehicle that is a moving body and moves with the vehicle, and a server device 2 that communicates with each terminal device 1 via a network. Based on the information transmitted from each terminal device 1, the data collection system updates the map held by the server device 2 or a map server device (not shown) connected to the server device via a communication line. In the following, the “map” includes data used for ADAS (Advanced Driver Assistance System) and automatic driving in addition to data referred to by a conventional in-vehicle device for route guidance.

  The terminal device 1 detects a predetermined object based on an output of a sensor unit 7 including a camera, a lidar (LIDAR: Laser Illuminated Detection and Ranging, Laser Imaging Detection and Ranging, or LiDAR: Light Detection and Ranging). In the present embodiment, the terminal device 1 detects a pedestrian and a bicycle driver (or a traveling bicycle) based on the output of the sensor unit 7, and the terminal device 1 provides information on the detected pedestrian and bicycle driver. The upload information Iu is transmitted to the server device 2 together with the attribute information of the mounted vehicle. Further, the terminal device 1 receives download information “Id” for updating the map data from the server device 2.

  The terminal device 1 may be a vehicle-mounted device attached to the vehicle, a part of the vehicle-mounted device, or a part of the vehicle. Alternatively, a portable terminal device such as a notebook PC may be used as long as the sensor unit 7 can be connected. The terminal device 1 is an example of an information transmission device. An external sensor such as a camera or a lidar is an example of a detection device.

  The server device 2 receives and stores the upload information Iu from each terminal device 1. For example, based on the collected upload information Iu, the server device 2 identifies a road section (also referred to as a “risk degree section”) in which a pedestrian or a bicycle driver tends to enter the roadway on which the automobile should travel. A degree of danger (also referred to as “danger degree”) caused by a pedestrian or a bicycle driver when the vehicle travels on the road section is set. And the server apparatus 2 memorize | stores the information (it is also called "risk degree area information") regarding the identified risk level as a part of map data, or delivers to the terminal device 1 as download information Iu. The server device 2 is an example of an information processing device and a map data generation device.

[Configuration of terminal device]
FIG. 2A is a block diagram illustrating a functional configuration of the terminal device 1. As shown in FIG. 2A, the terminal device 1 mainly includes a communication unit 11, a storage unit 12, an input unit 13, a control unit 14, an interface 15, and an output unit 16. Each element in the terminal device 1 is connected to each other via a bus line 98.

  Based on the control of the control unit 14, the communication unit 11 transmits the upload information Iu to the server device 2 and receives map data for updating the map DB 4 from the server device 2. Moreover, the communication part 11 may perform the process which transmits the signal for controlling a vehicle to a vehicle, and the process which receives the signal regarding the state of a vehicle from a vehicle.

  The storage unit 12 stores a program executed by the control unit 14 and information necessary for the control unit 14 to execute a predetermined process. In the present embodiment, the storage unit 12 stores the map DB 4, the sensor data cache 6, and the vehicle attribute information “IV”.

  Various data used in automatic driving, ADAS, and the like are recorded in the map DB 4. The map DB 4 is a database including, for example, road data representing a road network by a combination of nodes and links, facility data, and feature information around the road. The feature information includes information such as signs such as road signs, road markings such as stop lines, road demarcation lines such as center lines, and structures along the road. In addition, the feature information may include highly accurate point cloud information of the feature for use in the vehicle position estimation. In addition, the map DB 4 may store various data necessary for position estimation.

  The sensor data cache 6 is a cache memory that temporarily holds output data (so-called raw data) of the sensor unit 7. The vehicle attribute information IV indicates information related to the attributes of the vehicle on which the terminal device 1 is mounted, such as the type of vehicle, vehicle ID, vehicle length, vehicle width, vehicle height, and vehicle fuel type.

  The input unit 13 is a button operated by the user, a touch panel, a remote controller, a voice input device, and the like. For example, an input for specifying a destination for route search, an input for specifying on / off of automatic driving, and the like And the generated input signal is supplied to the control unit 14. The output unit 16 is, for example, a display or a speaker that performs output based on the control of the control unit 14.

  The interface 15 performs an interface operation for supplying the output data of the sensor unit 7 to the control unit 14 and the sensor data cache. The sensor unit 7 includes a plurality of external sensors for recognizing the surrounding environment of the vehicle such as a rider 31 and a camera 32, and internal sensors such as a GPS receiver 33, a gyro sensor 34, a position sensor 35, and a triaxial sensor 36. Including. The lidar 31 discretely measures the distance to an object existing in the outside world, recognizes the surface of the object as a three-dimensional point group, and generates point group data. The camera 32 generates image data taken from the vehicle. The position sensor 35 is provided for detecting the mounting position of each external sensor, and the triaxial sensor 36 is provided for detecting the posture of each external sensor. The sensor unit 7 may include any external sensor and internal sensor other than the external sensor and the internal sensor shown in FIG. For example, the sensor unit 7 may include an ultrasonic sensor, an infrared sensor, a microphone, and the like as an external sensor. Any external sensor included in the sensor unit 7 functions as a detection device.

  The control unit 14 includes a CPU that executes a predetermined program on one or more platforms, and controls the entire terminal device 1. The control unit 14 functionally includes a position estimation unit 17, an object detection unit 18, an upload data generation unit 19, and a map update unit 20. The control unit 14 functions as a generation unit, a position estimation unit, a control unit, a transmission unit, a computer that executes a program, and the like.

  FIG. 3 is a block diagram illustrating an outline of processing of the position estimation unit 17, the object detection unit 18, the upload data generation unit 19, and the map update unit 20 of the terminal device 1.

  The position estimation unit 17 estimates the vehicle position (including the attitude of the vehicle) based on the output data of the sensor unit 7 held in the sensor data cache 6 and the map DB 4. The position estimation unit 17 can execute various position estimation methods. The position estimator 17 further collates the road data in the map DB 4 with autonomous navigation, a vehicle position estimation method based on dead reckoning (autonomous navigation) based on outputs of autonomous positioning sensors such as the GPS receiver 33 and the gyro sensor 34, and the like. Vehicle position estimation method for performing processing (map matching), output data of external sensors such as the lidar 31 and the camera 32 on the basis of a predetermined object (landmark) existing around, and the land indicated by the feature information of the map DB 4 A vehicle position estimation method based on the mark position information is executed. And the position estimation part 17 performed the position estimation method used as the highest estimation precision among the position estimation methods which can be performed now, for example, and showed the own vehicle position etc. which were obtained based on the performed position estimation method The vehicle position information is supplied to the upload data generation unit 19.

  The object detection unit 18 detects a predetermined object based on point cloud information, image data, audio data, and the like output from the sensor unit 7. In the present embodiment, the object detection unit 18 detects pedestrians and bicycle drivers as predetermined objects based on the data output from the sensor unit 7, and data related to the detected objects (also referred to as “object data”). To the upload data generation unit 19. Here, the object data includes various attribute information such as the position, traveling direction, age, sex, and type of the object recognized by using various pattern recognition techniques.

  The upload data generation unit 19 generates upload information Iu based on the own vehicle position information supplied from the position estimation unit 17, the object data supplied from the object detection unit 18, and the vehicle attribute information IV. Then, the upload data generation unit 19 transmits the generated upload information Iu to the server device 2 through the communication unit 11. The data structure of the upload information Iu transmitted by the upload data generation unit 19 will be described in detail in the section [Data structure].

  The map update unit 20 updates the map DB 4 based on the download information Id received from the server device 2 by the communication unit 11. The data structure of the download information Id will be described in detail in the section [Data structure].

[Configuration of server device]
FIG. 2B is a block diagram illustrating a functional configuration of the server device 2. As illustrated in FIG. 2B, the server device 2 mainly includes a communication unit 21, a storage unit 22, and a control unit 23. Each element in the server device 2 is connected to each other via a bus line 99.

  Based on the control of the control unit 23, the communication unit 21 receives upload information Iu from each terminal device 1, and transmits download information Id for updating the map DB 4 to each terminal device 1.

  The storage unit 22 stores a program executed by the control unit 23 and information necessary for the control unit 23 to execute a predetermined process. In the present embodiment, the storage unit 22 stores a distribution map DB5, a pedestrian information DB8, and a bicycle information DB9.

  The distribution map DB 5 is map data for distribution to each terminal device 1 and has the same data structure as the map DB 4. In the present embodiment, the risk DB information generated by the server device 2 by referring to the pedestrian information DB 8 and the bicycle information DB 9 described later is recorded in the map DB 4 and the distribution map DB 5.

  The pedestrian information DB 8 is a database in which upload information Iu relating to pedestrians is accumulated, and the bicycle information DB 9 is a database in which upload information Iu relating to bicycle drivers is accumulated. Data recorded in the pedestrian information DB 8 and the bicycle information DB 9 is used to update the distribution map DB 5 and is reflected in the distribution map DB 5 after predetermined statistical processing, verification processing, and the like are performed.

  The control unit 23 includes a CPU that executes a predetermined program, and controls the entire server device 2. In the present embodiment, when the upload information Iu is received from the terminal device 1 by the communication unit 21 and the upload information Iu indicates pedestrian information, the control unit 23 stores the upload information Iu in the pedestrian information DB 8. When the upload information Iu indicates the information of the bicycle driver, the upload information Iu is stored in the bicycle information DB 9. Moreover, the control part 23 produces | generates risk level information by referring pedestrian information DB8 and bicycle information DB9 in a predetermined | prescribed timing, and updates delivery map DB5 based on the said risk level information. Further, the control unit 23 transmits download information Id including the generated risk interval information to the terminal device 1 through the communication unit 21. The control unit 23 functions as a generation unit.

[data structure]
Next, the data structure of the upload information Iu, the distribution map DB 5, and the download information Id will be described. Hereinafter, the “object” indicates a pedestrian or a bicycle driver detected by the sensor unit 7 by the terminal device 1.

(1) Upload Information FIG. 4 shows a first data structure example that is a first specific example of the data structure of the upload information Iu. The first data structure example shown in FIG. 4 is a data structure of upload information Iu for transmitting single information (that is, information for one person) of an object (pedestrian or bicycle driver) detected by the terminal device 1. Indicates. As shown in FIG. 4, the upload information Iu includes a basic information part and a unique information part.

  The basic information section includes items related to the vehicle of the terminal device 1 that detected the object. Specifically, the basic information section includes items of “header”, “vehicle metadata”, “vehicle position”, and “vehicle speed”.

  Here, the “header” is an item for designating header information of the upload information Iu, and the terminal device 1 stores information such as version information of the data format of the upload information Iu and a time stamp indicating the time when the object is detected. Specify "Header". The time stamp is an example of “date and time information” in the present invention.

  “Vehicle metadata” is an item that specifies vehicle metadata. The terminal device 1 refers to the vehicle attribute information IV and the like, so that the vehicle type, vehicle ID, vehicle length, vehicle width, vehicle height, etc. Various attribute information of the vehicle on which the terminal device 1 is mounted is designated as “vehicle metadata”. “Vehicle position” is an item for designating vehicle position information, and the terminal device 1 designates the position information of the vehicle when the object is detected as “vehicle position”. The “vehicle speed” is an item for designating vehicle speed information, and the terminal device 1 designates the vehicle speed information measured when the object is detected as the “vehicle speed”. In addition, when the vehicle speed designated as “vehicle speed” is high, even if the vehicle speed at the time of detection of the object is high, the driving environment in which the vehicle can safely drive (ie, the danger is low) around the detection point. Therefore, the information designated as “vehicle speed” is suitably used for generating the risk interval information performed by the server device 2.

  The unique information section includes items related to the object detected by the terminal device 1. Specifically, the specific information section includes “information ID”, “object type”, “object position”, “object traveling direction”, “object profile”, “deviation distance reference”, “deviation distance”. , “Travel direction position”.

  “Information ID” is an item that specifies an identification number or the like for specifying the data structure of the specific information section. In this embodiment, the terminal device 1 is used to specify information about a pedestrian or a bicycle driver. An identification number or the like indicating that the unique information part has a data structure is designated in the “information ID”. “Object type” is an item for specifying type information of the object, and the terminal device 1 specifies information indicating whether the detected object is a pedestrian or a bicycle as “object type”. To do. The “object position” indicates that the object is on the own lane side (that is, near the sidewalk or bicycle path adjacent to the driving lane of the vehicle) or on the opposite lane side (that is, near the sidewalk or bike path adjacent to the opposite lane). The terminal device 1 is an item that specifies information indicating whether or not the terminal device 1 is, for example, based on the positional relationship between the relative position of the detected object with respect to the vehicle and the road on which the vehicle is traveling, on the own lane side or the opposite lane side. Which of the objects is present is determined, and information indicating the determination result is designated as “object position”. “Target object traveling direction” is an item for designating information indicating the traveling direction of the target object, and the terminal device 1 specifies the traveling direction of the target object based on, for example, the transition of the position of the target object detected at a plurality of times. The information on the identified traveling direction is designated as “target traveling direction”. The “object profile” is an item that specifies a profile such as the age and sex of a pedestrian or a bicycle driver as an object. The terminal device 1 is based on the output of an external sensor such as a camera 32 or a lidar 31, for example. By applying a known pattern matching technique or the like, a specific profile of an object is recognized, and information indicating the recognition result is designated as an “object profile”.

  The “deviation distance reference” is an item for designating a deviation distance reference that is a reference position for measuring a deviation distance described later. The deviation distance criterion is a position in the width direction of the road that is a criterion for determining whether or not the object is present at a dangerous position on the vehicle, for example, a curb or a road that serves as a boundary between the roadway and the sidewalk. The outer line, the boundary line between the roadway and the roadside belt, the boundary line between the bicycle road and the roadway, and the like are applicable. The boundary may or may not be actually represented by a line. In the “deviation distance reference”, position information indicating the position in the road width direction such as the above-mentioned boundary line may be specified. When the above-mentioned boundary line or the like is registered in the map, Identification information for identifying the boundary line or the like may be designated.

  The “deviation distance” is an item in which information indicating the deviation distance, which is the distance in the road width direction in which the target object protrudes from the deviation distance standard, is designated. The terminal device 1 is designated by the “deviation distance standard”. Information indicating the distance between the target position and the object is designated as “deviation distance”. The “traveling direction position” is an item for designating information for specifying the position of the object in a direction along the road that is perpendicular to the road width direction (that is, the traveling direction of the vehicle). For example, the terminal device 1 displays information indicating the link ID (road identification information) of the link corresponding to the road on which it is traveling, the distance of the object along the link from the start point position of the link, and the like in the “traveling direction position” Is specified.

  Here, selection of the deviation distance reference and calculation of the deviation distance will be described with reference to FIGS. 5 and 6.

  FIG. 5 shows an overhead view around the vehicle when the terminal device 1 detects the pedestrians 70 to 72. In this case, the terminal device 1 determines the road outer line 60 that is the boundary between the road and the sidewalk as a deviation distance reference, and the distance in the road width direction based on the detected road outer line 60 of each of the pedestrians 70 to 72. Is calculated as the deviation distance. In this case, the terminal device 1 may recognize the roadway outer line 60 based on the output of an external sensor such as the rider 31 or the camera 32, or may recognize it by referring to the map DB 4 based on the own vehicle position information. Good.

  Then, the terminal device 1 designates information specifying the roadway outer line 60 in the “deviation distance reference” of the upload information Iu indicating the detection result of the pedestrian 70, and the “deviation distance” includes the width of the arrow A0. A deviation distance (in this case, a negative value) corresponding to (that is, the distance between the roadway outer line 60 and the pedestrian 70) is designated. Similarly, information specifying the roadway outer line 60 is designated in the “deviation distance reference” of the upload information Iu indicating the detection result of the pedestrian 71, and the deviation corresponding to the width of the arrow A1 is designated in the “deviation distance”. Specify the distance (positive value here). Further, in the “departure distance reference” of the upload information Iu indicating the detection result of the pedestrian 72, information specifying the roadway outer line 60 is designated, and the “deviation distance” is the deviation distance corresponding to the width of the arrow A2. Specify (positive value here). Thereby, the terminal device 1 can suitably notify the server device 2 of the presence and departure distance of the pedestrians 71 and 72 protruding from the sidewalk by the upload information Iu indicating the respective detection results.

  FIG. 6 shows an overhead view of the vicinity of the vehicle when the terminal device 1 detects the pedestrian 73 and the bicycle drivers 74 and 75. In this case, the terminal device 1 determines the boundary 62 between the sidewalk and the bicycle path (bicycle lane) as a deviation distance reference with respect to the pedestrian 73, and the distance of the pedestrian 73 with a positive value on the roadway side with respect to the boundary 62 Is calculated as the departure distance of the pedestrian 73. Therefore, the terminal device 1 designates information specifying the boundary 62 in the “deviation distance criterion” of the upload information Iu indicating the detection result of the pedestrian 73, and the deviation corresponding to the width of the arrow A3 in the “deviation distance”. Specify a distance (in this case, a negative value).

  In addition, the terminal device 1 defines the boundary line 63 between the bicycle road and the roadway as a deviation distance reference with respect to the bicycle drivers 74 and 75, and the bicycle riders 74 and 75 having a positive value on the roadway side with respect to the boundary line 63. Is calculated as these deviation distances. Therefore, the terminal device 1 designates information specifying the boundary line 63 in the “deviation distance reference” of the upload information Iu indicating the detection result of the bicycle driver 74, and the width of the arrow A4 in the “deviation distance”. A deviation distance (in this case, a negative value) corresponding to is designated. Further, the terminal device 1 specifies information for specifying the boundary line 63 in the “deviation distance reference” of the upload information Iu indicating the detection result of the bicycle driver 75, and the width of the arrow A5 in the “deviation distance”. A deviation distance (in this case, a positive value) corresponding to is designated. As described above, the “deviation distance reference” may be specified at a different position depending on whether the detected object is a pedestrian or a bicycle driver.

  FIG. 7 shows a second data structure example which is a second specific example of the data structure of the upload information Iu. The data structure shown in FIG. 7 shows the data structure of upload information Iu for transmitting statistical information of a plurality of detected objects when the terminal device 1 detects a plurality of objects at the same place. The upload information Iu shown in FIG. 7 includes a basic information part having the same data structure as the upload information Iu shown in FIG. 4 and a unique information part having a data structure different from the upload information Iu shown in FIG. In addition, when the terminal device 1 detects the pedestrian and the bicycle driver at the same place, the terminal device 1 separately transmits the upload information Iu regarding the detected pedestrian and the upload information Iu regarding the detected bicycle driver. To do. Similarly, when the terminal device 1 simultaneously detects the object on the own lane side and the object on the opposite lane side, the terminal apparatus 1 uploads the upload information Iu related to the object on the own lane side and the object related to the object on the opposite lane side. It is assumed that the information Iu is transmitted separately.

  The specific information section shown in FIG. 7 includes “information ID”, “object type”, “object position”, “number of objects”, “deviation distance reference”, “deviation distance distribution”, and “distance age distribution”. , “Distance-specific gender distribution” and the like.

  In the “information ID”, the terminal device 1 designates an identification number or the like for specifying the data structure of the unique information section shown in FIG. In the “object type”, the terminal device 1 designates the type information of the object detected by the terminal device 1. In the “object position”, the terminal device 1 designates information indicating whether the object is located on the own lane side or the opposite lane side.

  In the “number of objects”, the terminal device 1 specifies the number of objects to be processed in the upload information Iu. Specifically, the terminal device 1 corresponds to the type indicated by the “object type”, and the total number of objects detected by the terminal device 1 as objects existing at the position indicated by the “object position” Specify the number. In the “departure distance reference”, the terminal device 1 specifies identification information such as a boundary line or position information, which becomes the departure distance reference, in the same manner as the upload information Iu shown in FIG. The “deviation distance distribution” is an item that specifies information related to the deviation distance distribution, and the terminal device 1 indicates, for example, the number or ratio of the objects for each classification when the deviation distances of the respective objects are classified for each predetermined length. Specify the information as “deviation distance distribution”. In another example, the terminal device 1 designates information indicating the number or ratio of the objects whose deviation distance is positive (that is, present on the roadway) as the “deviation distance distribution” with respect to the number indicated by the “number of objects”. May be. In yet another example, the terminal device 1 may consider that the distribution of the deviation distances of the objects follows a normal distribution, and designate the deviation distance average and variance parameters of each object as “deviation distance distribution”.

  “Age-by-distance distribution” is an item that specifies information indicating the distribution of the age of an object for each deviation distance, and the terminal device 1 divides the deviation distance of each object, for example, for each predetermined length. Information on the age distribution of each object is designated as “age distribution by distance”. “Distance-specific gender distribution” is an item for designating information indicating the gender distribution of objects for each deviation distance, and the terminal device 1 classifies, for example, when the deviation distance for each object is classified for each predetermined length. The information regarding the sex ratio of each subject's gender is designated in the “age distribution by distance”.

  The information specified in the basic information part of the upload information Iu shown in FIGS. 4 and 7 is an example of mobile information, and is specified in the unique information part of the upload information Iu shown in FIGS. The information is an example of pedestrian information and bicycle information.

(2) Map DB and distribution map DB
FIG. 8 shows an example of the data structure of road data (link data) for each link included in the distribution map DB 5. FIG. 8 shows an example of a data structure for adding risk range information to link data. The data structure shown in FIG. 8 has a basic information part that includes items (for example, link ID and link length) that specify information related to the target link, and a unique information part that includes items related to risk range information. . Note that the map DB 4 held by the terminal device 1 also includes road data having the same data structure as in FIG.

  The unique information portion includes items of “information ID”, “basic risk”, “number of risk ranges”, and “risk range n” (n = 1, 2,...). “Information ID” is an item that specifies an identification number or the like for specifying the data structure of the specific information section. In this embodiment, the data structure of the specific information section is a data structure that specifies the risk range information. An identification number indicating this is designated as the “information ID”. The “basic risk level” is an item that specifies a risk level for a range that is not included in the risk level range specified by an item to be described later in the target link. The degree of risk is the degree of risk determined by the server device 2 based on the upload information Iu transmitted from the terminal device 1. The “risk level range number” is an item for designating the number of risk range set for the target link.

  Each item of “risk level range n” (n = 1, 2,...) Is an item for specifying information related to an individual risk level range. The number specified in “number of risk level ranges” is provided. Yes. Each “risk level range n” includes a plurality of sub items, and “risk level range ID”, “position”, “length”, “priority”, “day of the week / time zone”, “expiration date” , Each sub-item of “risk level” is included.

  In the “risk level range ID”, a unique ID assigned to each risk range set in the distribution map DB 5 is specified. In “Position”, information indicating the position of the target risk range is designated. For example, information indicating the distance from the start point of the target link to the start point or end point of the risk range may be specified in the “position”. In “Length”, information indicating the length of the target risk level is designated. Information specified in “risk level range ID”, “position”, and “length” is an example of section information.

  In “Priority”, information indicating the priority of the target risk level range is specified. This priority is used in order to determine which risk level or the like should be referenced with priority in a section where the risk range overlaps. In the “day of the week / time zone”, a day of the week and / or a time zone in which the target risk level is valid is designated. In the “expiration date”, an expiration date, which is a time limit that can be used as an effective risk range, is designated. In the “risk level”, the risk level for the target risk level range is specified. The risk level indicates a risk level caused by a pedestrian or a bicycle driver when the vehicle travels in the risk level range, and is determined based on upload information Iu transmitted from the terminal device 1 as described later. The information specified as “risk level” is an example of risk level information.

  In addition, the “risk level range n” may further include information on a pedestrian or the like existing in the target risk range. For example, the “risk level range n” may include statistical information related to pedestrian attributes such as the age group and gender ratio of pedestrians existing in the target risk range.

  The risk range information is not limited to the aspect added to the road data (link data) as the specific information section, and may be managed as data different from the road data. For example, in this case, the server device 2 may store, as part of the distribution map DB 5, a database of risk range information in which link IDs are associated with each risk range or for each unique information part in FIG. Similarly, the terminal device 1 may store the above-described risk range information database as a part of the map DB 4.

  Here, a supplementary description will be given of a method for generating the risk range information specified in the specific information section.

  FIG. 9 is a diagram schematically illustrating a first specific example of a method for calculating the degree of risk in the road section corresponding to link 1 and link 2. In FIG. 9, the position of each object detected on the road corresponding to the link 1 and the link 2 is indicated by an ellipse, and the position of the departure distance reference is indicated by a broken line. In FIG. 9, the area below the deviation distance reference is the roadway area.

  In this case, first, the server device 2 uses the pedestrian information DB 8 and / or the bicycle information DB 9 for the upload information Iu in which the link ID corresponding to the link 1 or the link 2 is specified in the item such as “traveling position” in FIG. Based on the extracted upload information Iu, the position of each object existing around the road of link 1 and link 2 is specified.

  Next, the server device 2 divides the target link 1 and the link 2 into sections of a predetermined length, and an object whose deviation distance is a positive value (that is, the roadway side with respect to the deviation distance criterion) is divided for each section. Calculate the percentage that was present. Then, the server device 2 determines the ratio calculated for each section as the degree of risk in the corresponding section. Each numerical value shown in FIG. 9 indicates the degree of risk set for the corresponding section.

  FIG. 10 is a diagram schematically showing a second specific example of a method for calculating the degree of risk in the road section corresponding to link 1 and link 2. In the example of FIG. 10, the server device 2 divides the target link 1 and the link 2 into sections of a predetermined length, counts the number of objects for each section, and calculates the score as one point per person, for example. . Then, the server device 2 determines the score calculated for each section as the degree of risk in the corresponding section. Each numerical value shown in FIG. 10 indicates the degree of risk set for the corresponding section. At this time, the score may be adjusted according to the deviation distance. Specifically, the calculation may be performed such that the score is increased for an object with a large deviation distance and the score is reduced for an object with a small deviation distance from a reference position that is a predetermined distance away from the deviation distance reference. Good. As a result, a high degree of risk can be determined for roads with many objects that greatly deviate from the roadway.

  As described above, the server device 2 refers to the pedestrian information DB 8 and / or the bicycle information DB 9 in which the upload information Iu transmitted from the terminal devices 1 of a plurality of vehicles is referred to, and thus the degree of risk for each link section. Can be suitably determined. For example, the server device 2 sets the “basic risk” shown in the data structure of FIG. 8 to 0, assigns a risk range ID to a section where the risk is greater than 0, and sets the item “ A danger level n ”may be provided.

  Also, the server device 2 refers to the time stamp included in the item “header” of the upload information Iu, calculates the risk level for each day of the week or / and time, and based on the risk level, the server day or / and time The risk range may be determined for each band. In this case, the server device 2 specifies information regarding the day of the week or / and the time zone corresponding to the determined risk level in the sub-item “day of the week / time zone”. The server device 2 may set an expiration date for the determined risk range. In this case, the server device 2 determines an expiration date (for example, a predetermined number of days from the determination time) for the determined risk range, and designates information on the determined expiration date in the sub-item “expiration date”. Further, the server device 2 refers to the age and sex of the target object included in the item “target object profile” of the upload information Iu, so that the age group of the pedestrian existing in the target risk range, the sex ratio, etc. The calculated statistical information may be included in the sub-item of the item “risk level n”. Information on the age group and gender of the pedestrian may be used to adjust the risk value with reference to the behavioral patterns caused by age and gender.

  The degree of risk may be determined based on upload information Iu indicating pedestrian information, or may be determined based on upload information Iu indicating information on a bicycle driver. For example, the server device 2 calculates the risk based on the upload information Iu indicating the information of the bicycle rider in a section where a bicycle path (bicycle lane) exists, and in a section where there is no bicycle path, The degree of risk may be calculated based on upload information Iu indicating information. In another example, the server device 2 may calculate the risk level without distinguishing between a pedestrian and a bicycle driver. Further, the degree of risk may be calculated to be large according to the magnitude of the departure distance.

(3) Download Information FIG. 11 shows an example of the data structure of the download information Id that the server device 2 transmits to each terminal device 1. The download information Id shown in FIG. 11 is data transmitted for each risk level set by the server device 2 and includes a basic information part and a unique information part including items related to the target risk range. .

  The basic information section includes “header” in which header information similar to the upload information Iu is designated, and “link ID” in which a link ID for specifying a link provided with a target risk range is designated. Provided.

  The special information section includes items of “information ID”, “risk level range ID”, “position”, “length”, “priority”, “day / time zone”, “expiration date”, and “risk level”. including. “Information ID” is an item that specifies an identification number or the like for specifying that the data structure of the download information Id is a data structure that specifies information related to the risk range. This is an item for designating a unique ID assigned to each risk level range. “Position” is an item for specifying information indicating the position of the target risk range, and “Length” is an item for specifying information indicating the length of the target risk range. . “Priority” is an item that specifies information indicating the priority of the target risk range, and “Day of the week / time zone” specifies the day of the week and / or the time zone in which the target risk range is valid. It is an item to be done. The “expiration date” is an item for specifying an expiration date for which the target risk level is valid, and the “risk level” is an item for specifying the risk level for the target risk range.

  For example, when the server device 2 generates the risk level information with reference to the pedestrian information DB 8 and / or the bicycle information DB 9, the server device 2 displays download information Id that represents the risk level information according to the data structure shown in FIG. , And broadcast to each terminal device 1. In another example, when the server apparatus 2 receives a predetermined request signal from the terminal apparatus 1, the server apparatus 2 displays the download information Id representing the risk interval information generated after the date and time specified by the request signal, To the terminal device 1.

  The terminal device 1 updates the map DB 4 based on the download information Id received from the server device 2. Then, for example, in the route search to the destination with reference to the map DB 4, the terminal device 1 determines the recommended route with reference to the risk level for each road section. For example, the terminal device 1 regards a high-risk section as a high-cost section (that is, difficult to be selected as a recommended route) like a traffic jam section, and a route including a section with a low risk is more likely to be selected as a recommended route. To do. By doing in this way, the terminal device 1 can make it difficult to include in the travel route a section where a pedestrian or a bicycle driver runs out of the road and can set a travel route with high safety. In addition, the terminal device 1 may output a warning alert when passing through a section with a high degree of risk, and may use the risk range information for automatic driving control.

[Processing flow]
FIG. 12 is an example of a flowchart showing an outline of processing in the present embodiment.

  First, the terminal device 1 determines whether or not an object (pedestrian or bicycle driver) has been detected (step S101). In this case, for example, the terminal device 1 detects an object based on the output of an external sensor such as the lidar 31 or the camera 32, and applies the known pattern matching technique to the detected object so that the object is a predetermined target object. It is determined whether it corresponds to (that is, a pedestrian or a bicycle driver).

  And when it is judged that the terminal device 1 detected the target object (step S101; Yes), based on the output of the external sensor with respect to the detected target object, the position of the target object, sex, a traveling direction, etc. The attribute is recognized (step S102). In this case, the terminal device 1 determines a deviation distance reference by specifying a vehicle outer line or the like with respect to the road on which the vehicle is traveling, and calculates a deviation distance indicating the position of the object with respect to the deviation distance reference. A vehicle outer line or the like serving as a deviation distance reference can be detected by an external sensor. And the terminal device 1 produces | generates the upload information Iu regarding the detected target object based on the recognition result in step S102, and transmits the said upload information Iu to the server apparatus 2 (step S103). In this case, the terminal device 1 generates upload information Iu having the data structure shown in either FIG. 4 or FIG. On the other hand, the terminal device 1 advances a process to step S104, when the target object (a pedestrian or a bicycle driver) is not detected (step S101; No). These processes are performed by a program executed by the control unit 14.

  The server device 2 receives the upload information Iu transmitted in step S103, and accumulates the upload information Iu in the pedestrian information DB 8 or the bicycle information DB 9 (step S201). In this case, the server device 2 determines whether the upload information Iu is information about a pedestrian or a bicycle driver based on the type information of the object included in the upload information Iu, and walks based on the determination result. The upload information Iu is stored in either the person information DB 8 or the bicycle information DB 9. Then, the server device 2 determines whether it is the generation timing of the risk range information (step S202). The generation timing described above may be determined based on the time length from the previous generation of the risk range information, and is determined based on the cumulative number of upload information Iu received since the previous generation of the risk range information. May be.

  Then, when it is the generation timing of the risk range information (step S202; Yes), the server device 2 refers to the pedestrian information DB8 or / bicycle information DB9 and is dangerous based on the method described in FIG. 9 or FIG. Degree range information is generated, and the distribution map DB 5 is updated using the generated risk degree range information (step S203). Then, the server device 2 transmits download information Id indicating the risk range information generated in step S203 to each terminal device 1 (step S204). The server device 2 may transmit the download information Id only to the terminal device 1 that has requested transmission of the download information Id. On the other hand, if it is not the generation timing of the risk range information (step S202; No), the server device 2 continues to execute step S201. These processes are executed by the control unit 23.

  On the other hand, the terminal device 1 determines whether or not the download information Id is received from the server device 2 after the execution of step S103 or when no object is detected in step S101 (step S104). And the terminal device 1 updates map DB4 using the said download information Id, when download information Id is received (step S104; Yes) (step S105). Accordingly, the map DB 4 records the latest information on the risk level range, and is preferably used for a route search that avoids a section with a high risk level. On the other hand, when the terminal device 1 has not received the download information Id from the server device 2 (step S104; No), the process returns to step S101.

[Modification]
Next, a modified example suitable for the above embodiment will be described.

(Modification 1)
The processing of the server device 2 described in the embodiment may be executed by a server system (so-called cloud server) including a plurality of server devices.

  For example, the server system includes a server that stores the distribution map DB 5, a server that stores the pedestrian information DB 8, a server that stores the bicycle information DB 9, and a server that performs the process of generating the risk range information. Also good. In this case, each server appropriately receives information necessary for executing a process assigned in advance from another server and executes a predetermined process.

  Further, the risk range information and the like may be exchanged between the terminal device 1 and the server device 2, or may be exchanged between the servers. FIG. 13 is a schematic configuration of a data collection system according to a modification. The data collection system illustrated in FIG. 13 includes a plurality of terminal devices 1, a vehicle cloud 2A, and a map cloud 2B. The vehicle cloud 2A is a server group mainly managed by a car vendor, and the map cloud 2B is a server group mainly managed by a map vendor.

  In this case, the vehicle cloud 2A and the map cloud 2B may receive the upload information Iu from the terminal device 1 of each vehicle, similarly to the server device 2 of the embodiment. Thereby, the vehicle cloud 2A and the map cloud 2B can collect information on pedestrians and bicycle riders necessary for generating the risk range information, respectively. Further, the vehicle cloud 2A may transmit the risk range information generated based on the upload information Iu to the map cloud 2B according to the same data structure as the download information Id shown in FIG.

(Modification 2)
The server device 2 may perform route terminal processing with reference to the distribution map DB 5 based on the route search request from the terminal device 1.

  In this example, when the server device 2 receives a route search request including the destination, current position, and other search conditions from the terminal device 1, each road section indicated by the risk range information included in the distribution map DB 5 The recommended route is determined with reference to the risk level. In this case, for example, the server apparatus 2 regards a section with a higher degree of risk as a section that is less likely to pass (that is, has a higher cost), and makes a route including a section with a lower degree of risk easier to select as a recommended route. Then, the server device 2 transmits response information indicating the route search result to the terminal device 1 that is the route search request source. Also according to this aspect, the distribution map DB 5 including the risk range information can be suitably used.

1 terminal device 2 server device 4 map DB
5 distribution map DB
6 Sensor data cache 7 Sensor unit 8 Pedestrian information DB
9 bicycle information DB

Claims (12)

A data structure of data transmitted to an information processing device that collects information on an object detected by a detection device mounted on a moving body,
Mobile object information including position information of the mobile object;
Information on the pedestrian detected by the detection device, and pedestrian information including position information indicating the position of the pedestrian with respect to a boundary between a roadway and a sidewalk;
Including
A data structure of data used for the information processing apparatus to recognize a position on the roadway where there is a danger caused by a pedestrian exceeding the boundary.   The data structure according to claim 1, wherein the pedestrian information includes information related to a distance between a boundary between the roadway and a sidewalk and a position of the pedestrian.   The data structure according to claim 1 or 2, wherein the pedestrian information includes information related to at least one of estimated age, sex, and moving direction.   The pedestrian information is statistical information in which the number of pedestrians detected by the detection device is statistically calculated by a distance between a boundary between the roadway and a sidewalk and the position of the pedestrian. Or the data structure described in one item.   The data structure according to claim 4, wherein the pedestrian information includes information indicating a number or a ratio of pedestrians present on the roadway.   The data structure as described in any one of Claims 1-5 which further contains the date information regarding the date when the said pedestrian was detected by the said detection apparatus.   The data structure according to any one of claims 1 to 6, wherein the moving body information includes information on a speed of the moving body when the pedestrian is detected by the detection device. Based on the output of the detection device, information on the pedestrian detected by the detection device mounted on the moving body and including position information indicating the position of the pedestrian with respect to the boundary between the roadway and the sidewalk is generated. Generating means for
Transmitting means for transmitting the pedestrian information and moving body information including position information of the moving body to an information processing device;
An information transmission device comprising: An information transmission device mounted on a mobile body,
Position estimating means for estimating the position of the moving body;
Based on information acquired from a detection device that detects an object around the moving object, pedestrian information including a distance between a boundary between the roadway and the sidewalk on which the moving object travels and a pedestrian in the width direction of the roadway Control means to obtain;
Transmitting means for transmitting, to the information processing apparatus, mobile body information that associates the position of the mobile body estimated by the position estimation unit and the pedestrian information;
An information transmission device comprising: A control method executed by the information transmitting apparatus,
Based on the output of the detection device, information on the pedestrian detected by the detection device mounted on the moving body and including position information indicating the position of the pedestrian with respect to the boundary between the roadway and the sidewalk is generated. Generating process to
A transmitting step of transmitting the pedestrian information and moving body information including position information of the moving body to an information processing device;
A control method.   A program that causes a computer to execute the control method according to claim 10.   A storage medium storing the program according to claim 11.