JP2019168607A - Map data structure, information processing device, and map data generator - Google Patents

Abstract

To provide a map data structure of map data which allows for properly identifying spots where bicycles might come out to a car lane from a bicycle lane, and to provide an information processing device for storing the map data.SOLUTION: A server device 2 stores delivery map DB 5 containing hazardous spot information. The hazardous spot information comprises elements including "hazardous spot ID," "associated bicycle lane link ID," "hazard level," "range," "absolute location," and "relative location." The "hazard level" specifies hazard levels of a target hazardous spot by day of the week and time of the day. The "relative location" comprises a sub-element "distance from a start point node" and a sub-element "distance from a reference point." The "distance from a start point node" is an item for specifying a distance to an object from a start point node of an associated bicycle lane along the bicycle lane, and the "distance from a reference point" is an item for specifying a distance to an object from a predetermined reference point in a width direction of a bicycle lane.SELECTED DRAWING: Figure 7

Description

  The present invention relates to map data used in 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>

  If there are factors that interfere with bicycle travel such as puddles or falling objects in the bicycle lane, the bicycle that passes through the bicycle lane may pass over the roadway to avoid the obstacle. In such a road section, it is necessary for the vehicle to travel avoiding a bicycle protruding from the roadway. Therefore, information that can be referred to on the vehicle side can be prepared so that the road on which such a factor exists can be specified in advance on the vehicle side, and the vehicle can run avoiding the road section or warn the driver in advance. And preferred.

  The present invention has been made in order to solve the above-described problems, and includes a map data structure of map data that can suitably specify a place where a bicycle may run out of a roadway and travel It is a main object to provide an information processing apparatus that stores map data and a map data generation apparatus that generates the map data.

  The invention described in claim 1 is a data structure of map data, and includes bicycle lane information related to a bicycle lane, and obstacle position information indicating a position where a factor that impedes bicycle progress exists in the bicycle lane. And a map data structure used for recognizing the danger of a bicycle protruding from the bicycle-dedicated lane.

  The invention according to claim is an information processing apparatus, which is bicycle dedicated lane information related to a bicycle dedicated lane, and fault position information indicating a position in the bicycle dedicated lane where there is a factor that hinders the progress of a bicycle. And a storage unit for storing map data including

  The invention described in claim 1 is a map data generation device, and there is a storage unit that stores bicycle-dedicated lane information related to a bicycle-dedicated lane and a factor that obstructs the progress of the bicycle in the bicycle-dedicated lane. An acquisition unit configured to acquire obstacle position information indicating a position from a terminal device mounted on the vehicle; and a generation unit that associates the bicycle-dedicated lane information with the obstacle position information to generate map data.

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. A schematic overhead view around the road is shown. An example of the data structure common to map DB and delivery map DB is shown. The example of a data structure of the object information corresponding to the object which exists in a bicycle exclusive lane is shown. An example of the data structure of dangerous part information is shown below. It is a figure which shows the outline | summary of the data structure of upload information. The data structure of "vehicle metadata" contained in header information is shown. The data structure of the “object recognition event” included in the event information is shown. An example of the data structure of "offset position" in the case of producing | generating the event information regarding the detection of the object which exists on a bicycle exclusive lane is shown. 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, the data structure of the map data includes bicycle lane information relating to a bicycle lane, and a position where a factor that obstructs the progress of the bicycle exists in the bicycle lane. And a map data structure used for recognizing the danger of a bicycle protruding from the bicycle lane. According to the map data having such a map data structure, a mobile object (including a terminal that moves together with the mobile object) can detect a point where a bicycle may run out of the road from the bicycle lane based on the map data. It can be suitably grasped and used for route search, alerting, automatic driving control, and the like.

  In one aspect of the map data structure, the bicycle-dedicated lane information includes a bicycle-dedicated lane link ID that identifies a bicycle-dedicated lane, and an associated road link ID that identifies a road to which the bicycle-dedicated lane belongs, and Fault location information and the bicycle-specific lane link ID are associated with each other. By referring to the map data having such a map data structure, it is possible to suitably specify the bicycle-dedicated lane and the road to which the bicycle-dedicated lane belongs, where there is a factor that hinders the progress of the bicycle.

  In a preferred example, the fault position information may indicate an absolute position of the position that is the factor. In another preferred example, the obstacle position information may indicate a position based on a division line that divides the bicycle-dedicated lane. In still another preferred example, the obstacle position information may indicate a distance from a start node of the bicycle-dedicated lane. According to these examples, by referring to the map data, it is possible to suitably specify the position that becomes the obstacle factor existing in the bicycle-dedicated lane.

  One aspect of the map data structure further includes type information indicating the type of the factor. According to this aspect, by referring to the map data, it is possible to suitably specify the type of the failure factor existing in the bicycle-dedicated lane.

  In another aspect of the map data structure, the obstacle position information includes position information indicating a position where an obstacle, a groove, or a depression exists on the bicycle-dedicated lane. According to this aspect, by referring to the map data, it is possible to appropriately grasp the position of an obstacle, a groove, or a depression existing in the bicycle-dedicated lane, and to grasp in advance the possibility that the bicycle will run out of the roadway. Can do.

  In another aspect of the map data structure, risk information indicating a risk at a position indicated by the failure position information is further included. According to this aspect, by referring to the map data, it is possible to recognize the risk of the obstacle factor existing in the bicycle-dedicated lane and predict the possibility that the bicycle will run out of the road.

  In another aspect of the map data structure, the risk level information is information indicating a risk level at a position indicated by the failure position information for each time zone or day of the week. According to this aspect, it is possible to grasp the appropriate risk level for each time zone or day of the week that is the cause of the failure present in the bicycle lane.

  In another aspect of the map data structure, the failure position information includes information indicating a range or size of the position that is the factor. According to this aspect, by referring to the map data, it is possible to appropriately grasp the range or size of the obstacle factor existing in the bicycle-dedicated lane.

  According to another preferred embodiment of the present invention, the information processing apparatus includes bicycle dedicated lane information relating to a bicycle dedicated lane, and a failure position indicating a position where a factor that obstructs the progress of the bicycle exists in the bicycle dedicated lane. And a storage unit that stores map data including the information. For example, the information processing apparatus can use such map data as a distribution map or use it for route search.

  According to still another preferred embodiment of the present invention, the map data generation device includes a storage unit that stores bicycle-dedicated lane information related to a bicycle-dedicated lane, and a factor that impedes bicycle progress in the bicycle-dedicated lane. An acquisition unit configured to acquire obstacle position information indicating an existing position from a terminal device mounted on a vehicle; and generation means for generating map data by associating the bicycle-dedicated lane information and the obstacle position information. According to this aspect, the map data generation device is a map in which bicycle lane information related to a bicycle lane is associated with obstacle position information indicating a position where there is a factor that impedes bicycle progress in the bicycle lane. Data can be suitably generated.

  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 the occurrence of a predetermined event based on the output of a sensor unit 7 including a camera and a lidar (LIDAR: Laser Illuminated Detection and Ranging, Laser Imaging Detection and Ranging, or LiDAR: Light Detection and Ranging). In this case, information related to the detected event (also referred to as “event information”) is included in the upload information Iu and transmitted to the server device 2. Examples of the event include an “object recognition event” that is an event related to recognition of an object (object) around the vehicle position. In the present embodiment, the terminal device 1 detects at least an object on a bicycle-dedicated lane that is an obstacle to the passage of the bicycle based on the output of the sensor unit 7, and uploads information such as the position and size of the detected object. It is transmitted to the server device 2 as Iu. 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. The server device 2 detects, for example, a change portion (change point) from a reference time point for creating map data to be described later based on the collected upload information Iu, and updates the map data to reflect the detected change point. Do. 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 object information around the road. The object information includes information on obstacles that exist temporarily in addition to road signs such as road signs, road markings such as stop lines, road markings such as center lines, and features such as structures along the road. Obstacles indicate, for example, puddles such as puddles, road depressions, fallen objects, and drainage grooves (including portions blocked by nets) that cause obstacles to pedestrian and bicycle traffic. The object information may include highly accurate point cloud information of the object to be used for vehicle position estimation or the like. In addition, the map DB 4 includes information on dangerous locations that hinder passage in a bicycle-only lane or the like (also referred to as “dangerous location information”). 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, and controls the entire terminal device 1. The control unit 14 performs control for assisting the driver, such as route guidance and automatic driving, and object detection for updating the map based on the map DB 4 and the output data of the sensor unit 7. Functionally, the control unit 14 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 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 this case, for example, the object detection unit 18 extracts feature information corresponding to the object detected by the sensor unit 7 from the map DB 4 based on the vehicle position estimated by the position estimation unit 17. Then, the object detection unit 18 determines that there is a difference between the position and shape of the object detected by the sensor unit 7 and the position and shape of the object indicated by the feature information extracted from the map DB 4, or When the corresponding object information does not exist, information related to the object detected by the sensor unit 7 (also referred to as “object detection data”) is supplied to the upload data generation unit 19.

  The object detection unit 18 detects a specific object regardless of whether the object detected by the sensor unit 7 and the object indicated by the feature information in the map DB 4 are different in shape, position, or the like. The object detection data related to the object may be supplied to the upload data generation unit 19. For example, when the object detection unit 18 detects an obstacle existing on the bicycle-dedicated lane based on the output of the sensor unit 7, the data indicating the position and size of the obstacle is generated as object detection data to generate upload data. You may supply to the part 19. FIG.

  The upload data generation unit 19 generates upload information Iu based on the vehicle position information supplied from the position estimation unit 17, the object detection 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.

[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 DB 5 and an event information DB 9.

  The distribution map DB 5 is map data for distribution to each terminal device 1, and various data used in automatic driving, ADAS, and the like are recorded in the same manner as the map DB 4.

  The event information DB 9 is a database in which event information included in the upload information Iu received from each terminal device 1 is recorded. The data recorded in the event information DB 9 is used for updating the distribution map DB 5, for example, and is reflected in the distribution map DB 5 after performing predetermined statistical processing, verification processing, and the like.

  The control unit 23 includes a CPU that executes a predetermined program, and controls the entire server device 2. In this embodiment, the control unit 23 registers event information in the event information DB 9 when the communication unit 21 receives upload information Iu including event information from the terminal device 1. In addition, the control unit 23 refers to the event information DB 9 at a predetermined timing, generates object information and dangerous part information for an obstacle or the like existing in the bicycle-dedicated lane, and updates the distribution map DB 5 based on the generated information. . Further, the control unit 23 transmits download information Id including the generated object information and dangerous part 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 structures of the map DB 4, the distribution map DB 5, and the upload information Iu will be described.

(1) Map DB and distribution map DB
First, the data structures of the map DB 4 and the distribution map DB 5 will be described with reference to FIG. 4 showing a schematic overhead view around the road and FIGS. 5 to 7 showing examples of various data structures.

  FIG. 4A shows a schematic overhead view of the vicinity of the intersection of the roadway 40 and the roadway 43. Bicycle lanes 41 and 42 are provided adjacent to each other on both sides of the roadway 40 shown in FIG. FIG. 4B is an enlarged view of a part of the bicycle-dedicated lane 41. The bicycle-dedicated lane 41 shown in FIG. 4B has a width of “X” (m), and is formed with a drainage groove 45, a fallen object 46, and a depressed portion 47 that obstruct the passage of the bicycle. .

  FIG. 5A shows an example of a data structure common to the map DB 4 and the distribution map DB 5. As shown in FIG. 5A, the map DB 4 and the distribution map DB 5 include link information, bicycle lane link information, node information, object information, and dangerous part information. In addition to these, the map DB 4 and the distribution map DB 5 record various data used for automatic driving such as facility information and ADAS.

  FIG. 5B shows an example of the data structure of the link information. The link information shown in FIG. 5B includes elements of “road link ID”, “start node ID”, and “end node ID”. FIG. 5B shows, as an example, a specific example of link information corresponding to the roadway 40 shown in FIG. 4A in the column “example of specified information”. According to FIG. 5 (B), the road link ID “L0002” is assigned to the roadway 40, the node with the node ID “N0001” corresponding to the intersection with the roadway 43 is set as the start node, and the node ID “N0002” is set. This node is the end node.

  FIG. 5C shows an example of the data structure of the bicycle lane link information. The bicycle lane link information shown in FIG. 5C includes elements of “bicycle lane link ID”, “affiliated road link ID”, “start node ID”, “end node ID”, and “width”. Here, “affiliated road link ID” is an item for designating a link ID of a road (roadway) adjacent to the target bicycle-dedicated lane.

  FIG. 5C shows, as an example, a specific example of bicycle lane link information corresponding to the bicycle-dedicated lane 41 shown in FIG. 4A in the column “example of specified information”. According to FIG. 5C, the bicycle lane 41 is assigned the bicycle lane link ID “BL0001”, and the link ID “L0002” of the adjacent roadway 40 is associated as the belonging road link ID. The bicycle-dedicated lane 41 has a node of node ID “BN0001” corresponding to the intersection with the roadway 43 as a start node, a node of node ID “BN0002” as an end node, and a width of X [m]. Yes. The bicycle lane link information is an example of bicycle lane information.

  FIG. 6A shows an example of the data structure of object information corresponding to an object existing in a bicycle-dedicated lane. The object information shown in FIG. 6A includes elements of “object ID”, “belonging bicycle lane link ID”, “type ID”, “size”, “absolute position”, and “relative position”. Here, the “object ID” is an item for designating an object ID that is a unique identification number assigned to each object. “Affiliated bicycle lane link ID” is an item that specifies the link ID of a bicycle-dedicated lane in which the target object exists, and “Type ID” is an item that specifies an identification number or the like indicating the type of the target object. . “Absolute position” is an item for designating the position of a target object by latitude and longitude. The “relative position” is an item for designating the relative position of the target object, and has a sub-element “distance from the start point node” and a sub-element “distance from the reference position”. "Distance from start point node" is an item that specifies the distance along the bicycle dedicated lane of the object from the start point node of the dedicated bicycle lane to which it belongs. "Distance from reference position" is the distance from a predetermined reference position. This item specifies the distance in the width direction of the bicycle lane. Here, the above-mentioned reference position is, for example, the position of the boundary line (division line) between the bicycle-dedicated lane and the roadway. Information for specifying the reference position may be specified in the object information. Moreover, it is not necessary to designate both “absolute position” and “relative position”, and only one of them may be designated.

  FIG. 6A shows, as an example, a specific example of object information corresponding to the drainage groove 45 existing on the bicycle-dedicated lane 41 shown in FIG. It shows. Here, the object ID “OB0001” assigned to the drainage groove 45 is designated as the “object ID”, and the link ID “BL0001” of the bicycle-only lane 41 is designated as the “belonging bicycle lane link ID”. Yes. In addition, an identification number “1” indicating that it is a drainage groove is specified for “type ID”, and the size of the drainage groove 45 (for example, a direction along the bicycle-specific lane 41) is specified for “size”. And the length in the width direction of the bicycle-dedicated lane 41). The “absolute position” specifies the latitude and longitude of the center position of the drainage groove 45, and the “distance from the start node” of the “relative position” indicates the intersection of the roadway 43 and the bicycle lane 41. The distance along the road from the corresponding node with the node ID “BN0001” to the drainage groove 45 is designated, and the “distance from the reference position” is from the boundary line (partition line) 49 between the roadway 40 and the bicycle-dedicated lane 41. A distance “Xa” in the road width direction to the drainage groove 45 is designated. The information specified as “absolute position” and “relative position” is an example of failure position information.

  FIG. 6B is an example of a correspondence table between the identification number specified by the “type ID” of the object information and the object type. As shown in FIG. 6B, a type ID is assigned to each type of object that may be detected by the terminal device 1. Such correspondence table information may be included in the map DB 4 and the distribution map DB 5.

  Note that the object information for an object that is not limited to an object on a bicycle-only lane but that is present on a sidewalk, a roadside belt, or the like and that obstructs pedestrian traffic is also a data structure similar to the data structure shown in FIG. May be recorded in the map DB 4 and the distribution map DB 5. In this case, for example, an item for specifying identification information for specifying a sidewalk or a roadside belt where the object exists may be provided instead of the “affiliated bicycle lane link ID”.

  FIG. 7 shows an example of the data structure of the dangerous part information. The dangerous location information shown in FIG. 7 includes elements of “dangerous location ID”, “affiliated bicycle lane link ID”, “risk level”, “range”, “absolute position”, and “relative position”.

  In the “dangerous part ID”, a dangerous part ID, which is unique identification information assigned to a dangerous part existing on a bicycle-dedicated lane, is designated. In the “belonging bicycle lane link ID”, the link ID of a bicycle-dedicated lane where the target dangerous part exists is designated. In the “risk level”, the risk level (in this case, 5 levels from 1 to 5) for the target dangerous location is designated for each day of the week and time zone. The degree of danger is the size of the target dangerous part, the type of object that forms the dangerous part, the amount of traffic due to the time zone and / or day of the week, the width of the adjacent roadway, the width of the target bicycle lane It is determined by comprehensively taking into account such factors. Here, the higher the danger level (that is, the higher the possibility of hindering the passage of bicycles), the higher the possibility that the bicycle will run out of the bicycle lane, resulting in hindering the passage of vehicles. Is likely to be. In the “range”, “absolute position”, and “relative position”, the same information as the “size”, “absolute position”, and “relative position” of the object information shown in FIG. .

  Furthermore, FIG. 7 shows, as an example, a specific example of the danger location information when the position of the drainage groove 45 existing on the bicycle lane 41 shown in FIG. Is shown in the column “Example”. Here, the drainage groove 45 is assigned a danger location ID “DZ0001”, and the “affiliated bicycle lane link ID” is assigned the link ID “BL0001” of the bicycle-only lane 41. In addition, the “risk level” specifies the risk level of the drainage groove 45 in the time zone divided by one hour for each day of the week, and the “range” specifies the length of the drainage groove 45 on the horizontal plane. Yes. Since the traveling bicycle takes an action of avoiding the drainage groove 45 from a little before, a length that covers a range slightly wider than the drainage groove 45 may be designated as “range”. The “absolute position” specifies the latitude and longitude of the center position of the drainage groove 45, and the “distance from the start node” of the “relative position” indicates the intersection of the roadway 43 and the bicycle lane 41. The distance along the road from the corresponding node with the node ID “BN0001” to the drainage groove 45 is designated, and the “distance from the reference position” is from the boundary line (partition line) 49 between the roadway 40 and the bicycle-dedicated lane 41. A distance “Xa” in the road width direction to the drainage groove 45 is designated. If there are other drainage grooves or objects that obstruct the bicycle running near the drainage groove 45 (for example, within 1 meter), the bicycle that travels takes a detailed avoidance action on each object. Instead, an avoidance action is taken for a large area containing all of these objects. Thus, each element of the danger information may be set by regarding the area where the plurality of objects are present as one dangerous place.

  The “risk level” may be divided based on only one of the day of the week or the time zone, or may be set to one value regardless of the day of the week or the time zone. Further, the way of dividing the risk level according to the day of the week and the time zone is not limited to the example of FIG. For example, the risk level may be divided between weekdays and others, and may be divided according to time zones of morning and afternoon.

  Here, a supplementary explanation will be given regarding the use of the dangerous part information.

  For example, in the route search to the destination, the terminal device 1 determines the recommended route with reference to the dangerous part information included in the map DB 4. For example, the terminal device 1 regards a road section including a dangerous part with a high degree of risk at the scheduled passage date and time as a high-cost part (that is, difficult to be selected as a recommended route) in the same way as a traffic jam part and the like. The route that includes it is easier to be selected as the recommended route. By doing in this way, the terminal device 1 can make it difficult to include in the travel route a section where the bicycle runs out of the road due to the presence of the dangerous part, and can set a travel route with high safety. In addition, the terminal device 1 may output a warning alert when passing through a dangerous place where the degree of danger is higher than a predetermined value, and may use the degree-of-risk place information for automatic driving control. Similarly, the terminal device 1 may execute each process such as route search, alerting, and automatic driving control based on the object information having the data structure shown in FIG. For example, the terminal device 1 refers to the object information having the data structure shown in FIG. 6A to identify an object that exists on a bicycle-dedicated lane or sidewalk adjacent to the roadway, and the identified object exists. When traveling on a road or lane adjacent to a bicycle lane or sidewalk at the location, a warning warning may be output so as not to approach the bicycle lane or sidewalk. A route search may be performed so as not to travel on an adjacent road or lane.

(2) Upload Information Next, a specific example of the data structure of the upload information Iu will be described. Hereinafter, as an example, the data structure of the upload information Iu will be illustrated.

  FIG. 8 is a diagram illustrating an outline of the data structure of the upload information Iu transmitted by the terminal device 1. As shown in FIG. 8, the upload information Iu includes header information, travel route information, event information, and media information.

  The header information (Envelop) includes items of “version (Version)”, “transmission source (Submitter)”, and “vehicle metadata (vehicleMetaData)”. The terminal device 1 designates the version information of the data structure of the upload information Iu to be used in “Version”, and the name of the company (OEM name of vehicle or system vendor that transmits the upload information Iu) in “Sender” Name) information. Moreover, the terminal device 1 designates each information of the vehicle attribute information IV and information of the reference table RT as described later in “vehicle metadata”.

  The travel route information (Path) includes an item of “Position Estimate”. The terminal device 1 designates, in this “position estimation”, the time stamp information indicating the position estimation time, the latitude, the longitude, the altitude information indicating the estimated vehicle position, the information regarding the estimation accuracy, and the like. .

  The event information (Path Events) includes items of “object recognition event (Object Detection)”, “signature recognition event (Sign Recognition)”, and “lane boundary recognition event (Lane Boundary Recognition)”. When the terminal device 1 detects an object recognition event, the terminal device 1 designates information as a detection result as an “object recognition event”. In the “object recognition event”, as will be described later with reference to FIG. 10, information related to the recognition result of the object when a specific object other than a sign and a lane boundary is detected is designated. Further, when the terminal device 1 detects a sign recognition event, the terminal device 1 designates information as a detection result as a “sign recognition event”. In the “label recognition event”, for example, information related to the recognition result of the label when the label is detected is designated. When the terminal device 1 detects a lane boundary recognition event, the terminal device 1 designates information as a detection result as a “lane boundary recognition event”. In the “lane boundary recognition event”, for example, information regarding the recognition result of the boundary when the boundary of the lane is detected is designated. Each item of these “object recognition event”, “sign recognition event”, and “lane boundary recognition event” is an optional item. Therefore, the terminal device 1 only needs to specify information as a detection result only for the item corresponding to the detected event.

  The media information (Path Media) is a data type used when transmitting raw data that is output data (detection information) of the sensor unit 7.

  FIG. 9 shows a data structure of “vehicle metadata” included in the header information. FIG. 9 shows information on whether each element is essential or optional for each element (sub-item) included in the “vehicle metadata”.

  As shown in FIG. 9, “vehicle metadata” includes “vehicle type (vehicleTypeGenericNum)”, “vehicle ID”, “vehicle length (vehicleLength_m)”, “vehicle width (vehicleWidth_m)”, “vehicle height (vehicleHeight_m)”. , And “primary fuel type” at least.

  Here, the upload data generation unit 19 of the terminal device 1 stores the elements such as “vehicle type”, “vehicle length”, “vehicle width”, “vehicle height”, “first fuel type”, and the like in the storage unit 12. Information based on the stored vehicle attribute information IV is designated. It should be noted that each element such as “vehicle length”, “vehicle width”, “vehicle height”, “first fuel type”, etc. is an optional item, and there is information when there is no information corresponding to the vehicle attribute information IV. Is not specified. Further, the upload data generation unit 19 designates an identification number of the vehicle included in the vehicle attribute information IV stored in the storage unit 12 in “vehicle ID”. The vehicle ID may be an ID assigned to the terminal device 1 in addition to the unique ID assigned to the vehicle, or may be an ID that identifies the owner of the vehicle.

  FIG. 10 shows a data structure of an “object recognition event” included in the event information. FIG. 10 shows information indicating whether designation of information corresponding to each element is essential or optional for each element (sub-item) included in the “object recognition event”.

  As shown in FIG. 10, the “object recognition event” includes “time stamp (timeStampUTC_ms)”, “object ID (detectedObjectID)”, “offset position (PositionOffset)”, “object type (objectType)”, “object size ( “objectSize_m)”, “object size accuracy (objectSizeAccuracy_m)”, and “media ID (mediaID)”.

  The upload data generation unit 19 of the terminal device 1 generates event information including an “object recognition event” having the data structure shown in FIG. 10 when the object detection data indicating the detection result of the object is received from the object detection unit 18. To do. Here, the upload data generation unit 19 designates the time when the object is detected in “time stamp”, and designates the object ID of the detected object in “object ID”.

  In addition, in the “offset position”, the upload data generation unit 19 designates information on a relative position (for example, a latitude difference and a longitude difference) of the detected object from the vehicle. When the upload data generation unit 19 generates event information related to detection of an object existing on a bicycle-dedicated lane, the “offset position” includes various information in addition to the above-described relative position information from the vehicle. Specify information. The data structure of the “offset position” in this case will be described later with reference to FIG.

  The “object type” is an item for designating information similar to the “class ID” of the object information shown in FIG. 6A. The upload data generation unit 19 sets information indicating the type of the detected object as “object type”. Is specified. When the detected object is a depression hole formed from a plurality of objects, information indicating that the detected object is formed from a plurality of objects may be added to the “object type”. In addition, in the “object type”, information capable of identifying that the object exists on the bicycle-dedicated lane may be designated. For example, even if the objects are the same type, different identification numbers may be designated depending on whether or not they exist on a bicycle-dedicated lane. In this case, the information specified as “object type” is an example of specific information.

  In addition, when the detected object size information and the accuracy information of the size are included in the object detection data supplied from the object detection unit 18, the upload data generation unit 19 displays these pieces of information as “object size”. , And specify for each element of "object size accuracy". When the detected object is a depression hole formed from a plurality of objects, information on the length of the depression zone formed by these may be designated as “object size”. Further, when it is necessary to transmit raw data such as an image, video, or point cloud data output from the sensor unit 7, the upload data generation unit 19 displays the identification information given to the raw data as “Media ID”. Is specified. The detailed information of the media (raw data) specified by the element of “Media ID” is stored separately in the item “Media Information”.

  FIG. 11 shows an example of a data structure of “offset position” when generating event information related to detection of an object existing on a bicycle-dedicated lane. When the upload data generation unit 19 determines that the position of the detected object is on the bicycle-dedicated lane specified by the bicycle lane link information or the like in the map DB 4, the upload data generation unit 19 designates the “offset position” according to the data structure shown in FIG. Determine information. The “object position” shown in FIG. 11 includes “relative position with respect to the vehicle”, “position type”, “first reference position”, “distance from the first reference position”, “second reference position”, “second position”. Each sub-element of “distance from reference position” is included.

  Here, for the “relative position with respect to the vehicle”, the upload data generation unit 19 designates information indicating the relative position of the detected object with the vehicle as a reference. In FIG. 11, the upload data generation unit 19 designates “(xxxx, yyyy)” indicating the latitude difference and the longitude difference as “relative position with respect to the vehicle”. The “relative position with respect to the vehicle” may be expressed by the direction (angle) of the object when the traveling direction of the vehicle position is a reference and the distance to the object when the vehicle position is the reference. In the “position type”, the upload data generation unit 19 designates the type of position where the target object exists (here, the bicycle lane). In the “position type”, when the target object exists in the bicycle-dedicated lane, the bicycle lane link ID of the bicycle-dedicated lane may be designated.

  In the “first reference position”, the upload data generation unit 19 sets a position that serves as a first reference when specifying the position of the detected object (in this case, a section provided at the boundary between the bicycle-dedicated lane and the roadway). Specify line A). In the “distance from the first reference position”, the upload data generation unit 19 specifies the distance from the position (here, the lane line A) specified as the first reference position to the object. In the “second reference position”, the upload data generation unit 19 designates a position that is a second reference (here, object B) when specifying the position of the detected object. In the “distance from the second reference position”, the upload data generation unit 19 specifies the distance from the position (here, object B) specified as the second reference position to the object. In addition, in “position type”, “first reference position”, and “second reference position” in FIG. 11, “bicycle lane”, “partition line A”, and “object B” can be identified in practice. An ID or the like is designated. Information specified in “relative position with respect to vehicle”, “distance from first reference position”, and “distance from second reference position” is an example of position information, and is specified as “position type”. Is an example of specific information.

  Note that the upload data generation unit 19 is not limited to the objects existing on the bicycle-dedicated lane but also the “offset position” of the “object recognition event” for the objects existing on the sidewalk, roadside belt, etc., as shown in FIG. Upload information Iu having the same data structure may be generated. In this case, identification information for specifying a sidewalk or a roadside belt where the detected object exists is specified as “position type”.

[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 a predetermined event has been detected (step S101). For example, the terminal device 1 determines whether an event (an object recognition event or the like) that should be transmitted as event information has occurred based on the output of the sensor unit 7. When the terminal device 1 detects an event (step S101; Yes), the terminal device 1 generates event information, and transmits upload information Iu including the generated event information to the server device 2 (step S102). At this time, when the terminal device 1 transmits the event information of the object recognition event related to the detection of the object on the bicycle lane, the event information including the “object recognition event” according to the data structure of FIG. 10 and FIG. By generating, it is possible for the server device 2 that has received the event information to appropriately recognize the presence of the object on the bicycle-dedicated lane.

  The server device 2 receives the upload information Iu transmitted in step S102, and accumulates the upload information Iu in the event information DB 9 (step S201). And the server apparatus 2 determines whether it is the update timing of distribution map DB5 (step S202). The update timing described above may be determined based on the length of time since the previous update of the distribution map DB 5 or may be determined based on the cumulative number of upload information Iu received since the previous update of the distribution map DB 5. Good.

  And when it is the update timing of delivery map DB5 (step S202; Yes), the server apparatus 2 produces | generates object information and danger location information with reference to event information DB9, and a delivery map is used using these produced | generated information. DB5 is updated (step S203). In this case, for example, the server apparatus 2 refers to the item “offset position” of the event information including “object recognition event”, and extracts and extracts event information indicating information on the object existing on the bicycle-dedicated lane. From the event information, object information having the data structure shown in FIG. 6A and dangerous part information having the data structure shown in FIG. 7 are generated. In this case, after generating the object information having the data structure shown in FIG. 6A, the server device 2 extracts object information satisfying a predetermined condition from the object information, and extracts dangerous part information from the extracted object information. It may be generated. In this case, for example, the server device 2 is estimated to be a hindrance to traffic based on the size of the object existing on the bicycle-dedicated lane, the type of the object, or / and the distance from the reference position. The object information of the object may be extracted, and the dangerous part information may be generated from the object information.

  Then, the server device 2 transmits the download information Id indicating the object information and the dangerous part 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 update timing of the distribution map DB 5 (step S202; No), the server device 2 continues to execute step S201.

  On the other hand, after executing step S102 or when no predetermined event is detected in step S101, the terminal device 1 determines whether or not the download information Id has been received from the server device 2 (step S103). And the terminal device 1 updates map DB4 using the said download information Id, when download information Id is received (step S103; Yes) (step S104). As a result, the map DB 4 records the latest information on objects and the like existing in the bicycle-dedicated lane, and is suitably used for route search, alerting, automatic driving control, and the like. On the other hand, when the terminal device 1 has not received the download information Id from the server device 2 (step S103; 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 may include a server that stores the distribution map DB 5, a server that stores the event information DB 9, and a server that performs processing for generating object information and dangerous part information. In this case, each server appropriately receives information necessary for executing a process assigned in advance from another server and executes a predetermined process.

  In addition, information related to objects existing on the bicycle-dedicated lane (that is, information having the data structure of FIGS. 10 and 11) may be exchanged between the terminal device 1 and the server device 2, and between servers. Exchanges may be made. 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. Accordingly, the vehicle cloud 2A and the map cloud 2B can collect event information necessary for generating object information and dangerous part information, respectively. Further, the vehicle cloud 2A may transmit object information and dangerous part information generated based on the upload information Iu to the map cloud 2B.

(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 risk location indicated by the risk location 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 device 2 regards a road section including a dangerous part with a high degree of risk as a section that is difficult to pass (that is, has a high cost), and recommends a route including a section including a dangerous part with a low degree of risk. Make it easy to select a 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. Similarly, the server device 2 may perform route search processing with reference to object information having a data structure shown in FIG. Also according to this aspect, the distribution map DB 5 including the object information and the dangerous part information generated based on the event information can be suitably used.

(Modification 3)
The map DB 4 and the distribution map DB 5 have only one of object information having the data structure shown in FIG. 6A or danger location information having the data structure shown in FIG. You may have. The data structure of the map DB 4 and the distribution map DB 5 having at least one of the object information having the data structure shown in FIG. 6A or the dangerous part information having the data structure shown in FIG. 7 is an example of the map data structure. .

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

Claims (12)

A data structure of map data,
Bicycle lane information about bicycle lanes,
In the bicycle-only lane, including obstacle position information indicating a position where a factor that hinders the progress of the bike exists,
A map data structure used for recognizing the danger of a bicycle protruding from the bicycle lane. The bicycle-dedicated lane information includes a bicycle-dedicated lane link ID that identifies a bicycle-dedicated lane, and an affiliated road link ID that identifies a road to which the bicycle-dedicated lane belongs,
The map data structure according to claim 1, wherein the obstacle position information is associated with the bicycle-specific lane link ID.   The map data structure according to claim 1 or 2, wherein the failure position information indicates an absolute position of the position that is the factor.   The map data structure according to claim 1, wherein the obstacle position information indicates a position based on a lane marking that divides the bicycle-dedicated lane.   The map data structure according to claim 1 or 2, wherein the obstacle position information indicates a distance from a start node of the bicycle-dedicated lane.   The map data structure according to claim 1, further comprising type information indicating a type of the factor.   The map data structure as described in any one of Claims 1-6 which contains the positional information which shows the position where the obstruction, groove | channel, or depression on the said bicycle exclusive lane exists as said obstacle position information.   The map data structure according to any one of claims 1 to 7, further comprising risk level information indicating a risk level at a position indicated by the failure position information.   The map data structure according to claim 8, wherein the risk information is information indicating a risk at a position indicated by the failure position information for each time zone or day of the week.   The map data structure according to any one of claims 1 to 9, wherein the obstacle position information includes information indicating a range or size of the position that is the factor.   An information processing apparatus comprising: a storage unit that stores map data including bicycle-dedicated lane information related to a bicycle-dedicated lane, and failure position information indicating a position where a factor that causes an obstacle to the progress of a bicycle exists in the bicycle-dedicated lane. A storage unit for storing bicycle lane information related to the bicycle lane;
In the bicycle-dedicated lane, an acquisition unit that acquires, from a terminal device mounted on the vehicle, obstacle position information indicating a position where a factor that obstructs the progress of the bicycle exists;
Generating means for associating the bicycle-specific lane information with the obstacle position information to generate map data;
A map data generation device having

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