JP2024014983A - Data structure, information transmission apparatus, control method, program, and storage medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a data structure of map data that can suitably suppress a fluctuation in a received amount of each point of object detection information transmitted from a moving object traveling on a road.

SOLUTION: A link information included in a map DB 4 and a distribution map DB 5 comprises a basic information part and a specific information part. The basic information part includes items (for example, a link ID, a link length, etc.) that specify information related to a target link. The specific information part includes items of "an information ID", "number of upload points", and "upload point n" (n=1, 2,...). The "upload point n" includes a plurality of sub items such as "an upload point ID", "a position", "a day of the week/time zone", "an expiration date", and "an upload probability". In the "upload probability", an upload probability for a target upload point is designated.

SELECTED DRAWING: Figure 10

COPYRIGHT: (C)2024,JPO&INPIT

Description

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

2. Description of the Related Art Techniques for updating map data based on the output of sensors installed in a vehicle have been known. For example, Patent Document 1 describes a driving support device that, when a changing point of a partial map is detected based on the output of a sensor installed on a moving body such as a vehicle, transmits changing point information regarding the changing point to a server device. is disclosed. Further, Non-Patent Document 1 discloses specifications regarding a data format for collecting data detected by a vehicle-side sensor on a cloud server.

Japanese Patent Application Publication No. 2016-156973

here company homepage, Vehicle Sensor Data Cloud Ingestion Interface Specification (v2.0.2), [searched on 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＞

In systems where a server collects data detected by sensors on mobile objects, the number of data uploads tends to increase on roads with heavy traffic, which can lead to an excessive increase in traffic and put pressure on communication bands.

The present invention has been made to solve the above-mentioned problems, and is a method of using map data that can suitably adjust the amount of detection information received at each point transmitted from a moving object traveling on a road. Its main purpose is to provide data structures.

The claimed invention provides a control device mounted on a moving body, comprising: a detection section that detects the object at the point based on point information indicating a point where the object is detected; and a detection section that detects the object at the point. The present invention is a control device comprising: a control unit that controls transmission of the detected object information based on probability information indicating a probability of whether or not the detected object information, which is information about an object detected by the object, needs to be transmitted to the information processing device.

This is a schematic configuration of the data collection system. The block configuration of a terminal device and a server device is shown. FIG. 2 is a block diagram showing an outline of processing executed by a terminal device. The data structure of link information included in the map DB and distribution map DB of the first embodiment is shown. FIG. 6 is a diagram illustrating information specified in sub-items "position" and "length." FIG. FIG. 7 is a diagram showing, for each section, upload probabilities adopted when there are overlapping upload ranges. An example of the data structure of download information in the first embodiment is shown. An example of the data structure of upload information is shown below. It is an example of a flowchart showing the outline of processing of the terminal device in the first embodiment. The data structure of link information included in the map DB and distribution map DB of the second embodiment is shown. It is an example of the data structure of the download information of 2nd Example. It is an example of the flowchart which shows the processing outline of the terminal device in 2nd Example. It is a schematic structure of the data collection system based on a modification.

According to a preferred embodiment of the present invention, the data structure of map data includes point information indicating a point at which an object is detected by a detection device mounted on a moving body, and information regarding the object detected at the point. A map that includes probability information for controlling transmission of certain detected object information, the probability information indicating a probability of whether or not the detected object information detected by the detection device at the point needs to be transmitted to an information processing device. This is the data structure of the data. Here, "detecting an object by a detection device" does not mean that the detection device detects an object by itself, but also that other devices perform predetermined analysis processing on the output data of the detection device. It also includes detecting objects. When the map data has such a data structure, it becomes possible to suitably adjust the amount of detected object information transmitted to the information processing device for each designated point. Therefore, for example, it is possible to suitably suppress an increase in traffic and pressure on the communication band due to an excessive number of uploads at a road point with heavy traffic.

One aspect of the data structure further includes time designation information that designates a time slot or day of the week for controlling transmission of the detected object information based on the probability. According to this aspect, probability information for controlling transmission of detected object information can be registered in the map data for each time period or day of the week.

In another aspect of the data structure, the data structure further includes expiration date information indicating a deadline for controlling transmission of the detected object information based on the probability. According to this aspect, it is possible to suitably suppress reference and use of old probability information that is not valid.

Preferably, the point information and the probability information are included in road information of a road corresponding to the point, or are associated with identification information of the road.

According to another preferred embodiment of the present invention, the information transmitting device includes point information indicating a point at which an object is detected by a detection device mounted on a moving body, and detection information that is information regarding the object detected at the point. Probability information for controlling transmission of object information, the probability information indicating the probability of whether or not it is necessary to transmit the detected object information detected by the detection device at the point to an information processing device; a generating means for generating the detected object information based on the output of the detecting device; a transmitting means for transmitting the detected object information generated by the generating means to the information processing device; A control means for controlling transmission of the detection object information detected by the detection device based on the probability indicated by the probability information. With this aspect, the information transmitting device can suitably adjust the frequency of transmitting detected object information to the information processing device for each designated point.

According to another preferred embodiment of the present invention, point information indicating a point at which an object is detected by a detection device mounted on a moving body and detected object information that is information about the object detected at the point are transmitted. Storage means for storing map data including probability information for control, which indicates a probability of whether or not the detected object information detected by the detection device at the point needs to be transmitted to an information processing device. A control method executed by an information transmitting device comprising: a generation step of generating the detected object information based on the output of the detection device; and a transmission of transmitting the detected object information generated by the generation step to the information processing device. and a control step of controlling transmission of the detection object information detected by the detection device at the point based on the probability indicated by the probability information. By executing this control method, the information transmitting device can suitably adjust the frequency of transmitting detected object information to the information processing device for each designated point.

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

According to another preferred embodiment of the present invention, the data structure of the map data includes point information indicating a point to be detected by a detection device mounted on a moving body, and detection information that is information detected at the point. Probability information for controlling the transmission of information, the probability information indicating the probability of whether or not the detection information detected by the detection device at the point needs to be transmitted to the information processing device. be. When the map data has such a data structure, it becomes possible to suitably adjust the amount of detection information transmitted to the information processing device for each designated point. Therefore, for example, it is possible to suitably suppress an increase in traffic and pressure on the communication band due to an excessive number of uploads at a road point with heavy traffic.

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

<First example>
[Overview of data collection system]
FIG. 1 shows a schematic configuration of a data collection system according to a first embodiment. The data collection system includes a terminal device 1 that moves together with each vehicle that is a mobile object, and a server device 2 that communicates with each terminal device 1 via a network. Then, the data collection system updates the distribution map DB 5, which is a distribution map held by the server device 2, based on the information transmitted from each terminal device 1. Note that hereinafter, the term "map" includes data used in ADAS (Advanced Driver Assistance System) and automatic driving, in addition to data referenced by conventional in-vehicle equipment for route guidance.

The terminal device 1 has a map DB 4, and has a camera and a lidar (LIDAR: Laser Illuminated Detection and Ranging, Laser Imaging Detection and Ranging or LiDAR: Light Detection a Based on the output of the sensor section 7 consisting of Detect objects. In this embodiment, the terminal device 1 detects a target object such as a terrestrial feature based on the output of the sensor unit 7, and uploads information regarding the detected target object together with attribute information of the vehicle in which the terminal device 1 is installed. It is transmitted to the server device 2 as "Iu". The terminal device 1 also receives request information “Ir”, which is a request signal regarding the transmission of the upload information Iu, from the server device 2, and controls the transmission of the upload information Iu based on the received information. The request information Ir includes information regarding a road section in which an object is detected and the upload information Iu should be transmitted with a predetermined probability, and information regarding the probability (also referred to as "transmission control section information").

Note that the terminal device 1 may be an in-vehicle device attached to a vehicle or a part of an in-vehicle device, or may be a part of the vehicle. Alternatively, it may be a portable terminal device such as a notebook PC, as long as the sensor section 7 can be connected thereto. The terminal device 1 is an example of an information transmitting device. Further, an external sensor such as a camera or a lidar is an example of a detection device.

The server device 2 receives upload information Iu from each terminal device 1 and stores it. The server device 2 updates the distribution map DB 5, for example, based on the collected upload information Iu. Further, the server device 2 transmits request information Ir including transmission control section information to each terminal device 1. The server device 2 is an example of an information processing device.

[Terminal device configuration]
FIG. 2(A) shows a block diagram showing the functional configuration of the terminal device 1. As shown in FIG. As shown in FIG. 2A, the terminal device 1 mainly includes a communication section 11, a storage section 12, an input section 13, a control section 14, an interface 15, and an output section 16. Each element within the terminal device 1 is interconnected via a bus line 98.

The communication unit 11 transmits upload information Iu to the server device 2 and receives map data for updating the map DB 4 from the server device 2 under the control of the control unit 14 . The communication unit 11 may also perform a process of transmitting a signal for controlling the vehicle to the vehicle, and a process of receiving a signal regarding the state of the vehicle from the vehicle.

The storage unit 12 stores programs executed by the control unit 14 and information necessary for the control unit 14 to execute predetermined processes. In this embodiment, the storage unit 12 stores a map DB 4, a sensor data cache 6, and vehicle attribute information "IV".

The map DB 4 records various data used in automatic driving, ADAS, and the like. The map DB 4 is a database that includes, for example, road data representing a road network as a combination of nodes and links, facility data, feature information around roads, and the like. The feature information includes information on signboards such as road signs, road markings such as stop lines, road division lines such as center lines, structures along the road, and the like. The feature information may include highly accurate point cloud information of features for use in estimating the vehicle's position. Moreover, transmission control section information is associated with the road data, as will be described later. 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 section 7. Vehicle attribute information IV indicates information regarding attributes of the vehicle in which the terminal device 1 is mounted, such as vehicle type, vehicle ID, vehicle length, vehicle width, vehicle height, and vehicle fuel type.

The input unit 13 is a button, a touch panel, a remote controller, a voice input device, etc. for the user to operate, and includes, for example, input for specifying a destination for route searching, input for specifying on/off of automatic driving, etc. and supplies the generated input signal to the control unit 14. The output unit 16 is, for example, a display, a speaker, or the like that outputs based on the control of the control unit 14.

The interface 15 performs an interface operation for supplying the output data of the sensor section 7 to the control section 14 and the sensor data cache. The sensor unit 7 includes a plurality of external sensors such as a lidar 31 and a camera 32 for recognizing the surrounding environment of the vehicle, and internal sensors such as a GPS receiver 33, a gyro sensor 34, a position sensor 35, and a 3-axis sensor 36. include. 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 to detect the position of each external sensor, and the 3-axis sensor 36 is provided to detect the attitude of each external sensor. Note that the sensor section 7 may include arbitrary external and internal sensors other than the external and internal sensors shown in FIG. 2(A). For example, the sensor unit 7 may include an ultrasonic sensor, an infrared sensor, a microphone, etc. as an external sensor. Any external sensor included in the sensor section 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 generating means, a transmitting means, a controlling means, a computer that executes a program, and the like.

FIG. 3 is a block diagram showing an outline of processing of the position estimating section 17, object detecting section 18, upload data generating section 19, and map updating section 20 of the terminal device 1.

The position estimating unit 17 estimates the vehicle position (including the attitude of the vehicle) based on the output data of the sensor unit 7 and the map DB 4 held in the sensor data cache 6. The position estimation unit 17 is capable of executing various position estimation methods. The position estimating unit 17 uses, for example, a method of estimating the own vehicle position by dead reckoning (autonomous navigation) based on the output of an independent positioning sensor such as a GPS receiver 33 and a gyro sensor 34, and further collates the autonomous navigation with road data in the map DB 4, etc. A vehicle position estimation method that performs processing (map matching) to determine the land indicated by the output data of external sensors such as the lidar 31 and camera 32 and the feature information of the map DB 4 based on predetermined objects (landmarks) existing in the surroundings. A method of estimating the vehicle's position based on the position information of the mark is executed. Then, the position estimation unit 17 executes, for example, a position estimation method with the highest estimation accuracy among currently executable position estimation methods, and displays the own vehicle position etc. obtained based on the executed position estimation method. The own vehicle position information is supplied to the upload data generation section 19.

The object detection section 18 detects a predetermined object based on the point cloud information, image data, audio data, etc. output by the sensor section 7. In the present embodiment, the object detection unit 18 detects a predetermined object based on the data output by the sensor unit 7, and generates data for uploading data regarding the detected object (also referred to as “object data”). 19. Here, the object data includes various attribute information such as the position, type, and size of the object detected using various pattern recognition technologies, and further includes point cloud information of the object and , image data, and audio data themselves may be included.

The upload data generation section 19 generates upload information Iu based on the vehicle position information supplied from the position estimation section 17, the object data supplied from the object detection section 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. Here, the upload data generation unit 19 refers to the transmission control section information included in the map DB 10, and if it is determined that the current position exists in the section where transmission of the upload information Iu is restricted, the The necessity of transmitting the upload information Iu is determined based on the probability. The transmission control of the upload data generation unit 19 will be explained in the [Processing Flow] section, and the data structure of the upload information Iu transmitted by the upload data generation unit 19 will be explained in detail in the [Data Structure] section.

The map update unit 20 updates the map DB 4 based on the map update information received from the server device 2 through the communication unit 11 . Note that the map update unit 20 may register the transmission control section information included in the request information Ir received from the server device 2 in the map DB 4.

[Server device configuration]
FIG. 2(B) shows a block diagram showing the functional configuration of the server device 2. As shown in FIG. As shown in FIG. 2(B), the server device 2 mainly includes a communication section 21, a storage section 22, and a control section 23. Each element within the server device 2 is interconnected via a bus line 99.

Based on the control of the control unit 23, the communication unit 21 receives the upload information Iu from each terminal device 1, and sends request information Ir to each terminal device 1 for notifying the interval and probability of transmitting the upload Iu. or send it.

The storage unit 22 stores programs executed by the control unit 23 and information necessary for the control unit 23 to execute predetermined processes. In this embodiment, the storage unit 22 stores a distribution map DB5 and an upload information DB9.

The distribution map DB5 is map data to be distributed to each terminal device 1, and has the same data structure as the map DB4. In this embodiment, transmission control section information, which will be described later, is recorded in the map DB4 and distribution map DB5 in association with road data. The upload information DB 9 stores upload information Iu received from each terminal device 1 by the communication unit 21 under the control of the control unit 23 .

The control unit 23 includes a CPU that executes a predetermined program, and controls the entire server device 2 . In this embodiment, when the communication unit 21 receives upload information Iu from the terminal device 1, the control unit 23 stores the upload information Iu in the upload information DB9. Further, the control unit 23 transmits request information Ir including transmission control interval information to the terminal device 1 through the communication unit 21.

[data structure]
Next, each data structure of the map DB4, distribution map DB5, request information Ir, and upload information Iu will be explained.

(1) Map DB and distribution map DB
First, the data structures of the map DB4 and distribution map DB5 will be explained. The map DB4 and the distribution map DB5 contain, as road data, link information regarding links when a road network is represented by links and nodes. In this embodiment, the link information is associated with transmission control section information indicating the probability (also referred to as "upload probability") of the terminal device 1 transmitting the generated upload information Iu to the server device 2 for each road section. ing.

FIG. 4 shows the data structure of link information included in the map DB4 and distribution map DB5. As shown in FIG. 4, the link information includes a basic information section and a unique information section.

The basic information section includes items (eg, link ID, link length, etc.) that specify information regarding the target link.

The specific information section includes each item of "information ID", "basic upload probability", "number of upload ranges", and "upload range n" (n=1, 2, . . . ).

"Information ID" is an item that specifies an identification number, etc. for specifying the data structure of the specific information section, and in this embodiment, the data structure of the specific information section is a data structure that specifies transmission control section information. An identification number or the like indicating this is designated as an "information ID". "Basic upload probability" is an item that specifies the upload probability for the range of the target link that is not included in the road section (also referred to as "upload range") for which the upload probability is individually specified (described later). be. “Number of upload ranges” is an item that specifies the number of upload ranges set for the target link.

Each item of "upload range n" (n=1, 2, . . . ) is an item for specifying information regarding an individual upload range, and the number of items specified in "number of upload ranges" is provided. "Upload range n" each includes multiple sub-items, such as "upload range ID", "position", "length", "priority", "day of the week/time", "expiration date", " Contains each sub-item of ``upload probability''.

In the "upload range ID", a unique ID assigned to each upload range recorded in the map DB 4 and distribution map DB 5 is specified. Information indicating the location of the target upload range is specified in "Position." For example, information indicating the distance from the starting point of the target link to the starting point or ending point of the upload range may be specified in the "position". “Length” specifies information indicating the length of the target upload range. Information specified as "upload range ID", "position", and "length" is an example of section information.

"Priority" specifies information indicating the priority of the target upload range. This priority is used to determine which upload range should be referred to with priority, such as the upload probability, etc., in a section where the upload ranges overlap. The "day of the week/time zone" specifies the day of the week and/or time zone in which the target upload range is valid. The "expiration date" specifies the expiration date for which the target upload range is valid. The "upload probability" specifies the upload probability for the target upload range. The upload probability is set, for example, such that the upload range with higher traffic volume has a lower value. Thereby, it becomes possible to suitably suppress an increase in traffic and pressure on the communication band due to an excessive number of uploads of upload information Iu for roads with heavy traffic volume. The information specified in "upload probability" is an example of probability information.

FIG. 5 is a diagram illustrating information specified in the above-mentioned sub-items "position" and "length". FIG. 5 shows a link Lk1 between a starting point P1 and an ending point P4, and an upload range (a rectangular area labeled "range") between a starting point P2 and an ending point P3 specified in the link Lk1. In this case, for example, the distance corresponding to the length of the arrow 61 (i.e., the distance from the starting point P1 of the link Lk1 to the starting point P2 of the uploading range) is specified in the sub-item "position" corresponding to the illustrated upload range. , the distance corresponding to the arrow 62 (that is, the distance from the start point P2 to the end point P3 of the upload range) is specified in the sub-item "length".

FIG. 6 is a diagram showing, for each section, the upload probability that the terminal device 1 employs when upload ranges A and B that overlap the link Lk2 of the starting point P11 and the ending point P16 are specified. Here, the upload range A is a rectangular area written as "range A" including a starting point P12 and an ending point P15, and has a "priority" of 9 and an "upload probability" of 0.5. Further, the upload range B is a rectangular area written as "range B" and has a starting point P13 and an ending point P14, and has a "priority" of 10 and an "upload probability" of 0.8.

In this case, the terminal device 1 determines that the basic upload probability of the link Lk2 (here, 0 Based on .1), it is determined whether or not to send the upload information Iu. In addition, the terminal device 1 has an upload probability of upload range A (here, 0 Based on .5), it is determined whether or not to send the upload information Iu. Furthermore, in the section from point P13 to point P14, which belong to both upload range A and upload range B, the terminal device 1 determines the upload probability (here, 0. 8), it is determined whether or not to send the upload information Iu. In this way, by attaching priority information to each upload range, the terminal device 1 can suitably determine the upload probability to be referenced even if the upload ranges overlap. .

Note that the transmission control section information is not limited to being added to the road data (link data) as a unique information part, as shown in FIG. 4, but may be managed as data separate from the road data. For example, in this case, the server device 2 may store a database of transmission control section information generated for each upload range or each link ID as part of the distribution map DB 5. Similarly, the terminal device 1 may store the above-described database of transmission control section information as part of the map DB 4.

(2) Request information
FIG. 7 shows an example data structure of request information Ir. As shown in FIG. 7, the request information Ir includes a basic information section and a specific information section. The basic information section includes items of "header" and "link ID". "Header" is an item that specifies header information of the request information Ir, and the server device 2 stores information such as version information of the data format of the request information Ir and a timestamp indicating the time when the object was detected in the "header". Specify.

The specific information section includes items related to specific transmission control section information. Specifically, the specific information section includes "information ID," "upload range ID," "position," "length," "priority," "day of the week/time," "expiration date," and "upload probability." "including.

"Information ID" is an item that specifies an identification number, etc. for specifying the data structure of the specific information section, and in this embodiment, the data structure of the specific information section is a data structure that specifies transmission control section information. An identification number or the like indicating this is designated as an "information ID". The "upload range ID" specifies a unique ID assigned to the target upload range specified in the request information Ir. Information indicating the position of the target upload range is specified in "Position", and information indicating the length of the target upload range, etc. is specified in "Length". "Priority" specifies information indicating the priority of the target upload range. The "day of the week/time zone" specifies the day of the week and/or time zone in which the target upload range is valid. The "expiration date" specifies the expiration date for which the target upload range is valid. The "upload probability" specifies the upload probability for the target upload range.

Note that the data structure of the request information Ir is not limited to that shown in FIG. 7. For example, the server device 2 may distribute link information having the data structure shown in FIG. 4 to each terminal device 1 as the request information Ir. Even in this case, the server device 2 can suitably distribute the request information Ir including the transmission control section information to each terminal device 1. Note that the server device 2 may limit the terminal devices 1 to which the request information Ir is to be transmitted to terminal devices 1 located around the upload range defined in the request information Ir. In this case, the server device 2 recognizes the location of each terminal device 1, for example, based on the location information included in the upload information Iu received from each terminal device 1.

(3) Upload information
FIG. 8 is an example of the data structure of upload information Iu sent from the terminal device 1 to the server device 2. As shown in FIG. 8, the upload information Iu includes a basic information section and a unique information section.

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 the following items: "header", "vehicle metadata", "vehicle position", and "vehicle speed". Here, "header" is an item that specifies 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 timestamp indicating the time when the object was detected. Specify in "Header". In addition, "vehicle metadata" is an item for specifying vehicle metadata, and the terminal device 1 refers to vehicle attribute information IV, etc. to determine the vehicle type, vehicle ID, vehicle length, vehicle width, vehicle height, etc. Various attribute information of a vehicle equipped with the terminal device 1 is designated as "vehicle metadata". Further, "vehicle position" is an item for specifying vehicle position information, and the terminal device 1 specifies the vehicle position information when the target object is detected as "vehicle position." Further, "vehicle speed" is an item that specifies vehicle speed information, and the terminal device 1 designates the vehicle speed information measured when the object is detected as "vehicle speed."

The specific information section includes each item related to the object detected by the terminal device 1. Specifically, the unique information section includes "information ID," "object type," "object position," and the like. “Information ID” is an item for specifying an identification number or the like for specifying the data structure of the specific information section. “Object type” is an item for specifying object type information. “Object position” is an item that specifies information regarding the position of the object.

[Processing flow]
FIG. 9 is an example of a flowchart showing an overview of the processing of the terminal device 1 in the first embodiment.

First, the terminal device 1 determines whether request information Ir has been received from the server device 2 (step S101). Then, when the terminal device 1 receives the request information Ir from the server device 2 (step S101; Yes), the terminal device 1 stores the request information Ir (step S102). Note that the terminal device 1 may register the transmission control section information included in the request information Ir in the map DB 4. On the other hand, if the terminal device 1 has not received the request information Ir from the server device 2 (step S101; No), the process proceeds to step S103.

Next, the terminal device 1 determines whether a predetermined object has been detected (step S103). In this case, the terminal device 1 detects an object based on the output of an external sensor such as a lidar 31 or a camera 32, and applies a known pattern matching technique to the detected object to determine whether the object is a predetermined object. Determine whether or not this applies.

When the terminal device 1 determines that a predetermined object has been detected (step S103; Yes), the terminal device 1 refers to the link information of the map DB 4 corresponding to the current position and the request information Ir stored in step S102, and uploads the It is determined whether a vehicle exists within the section for which the probability (including the basic upload probability) is defined (step S104). Then, if a vehicle exists within the section where the upload probability is defined (step S104; Yes), the terminal device 1 determines whether or not the vehicle exists within the valid upload range (step S105). For example, the terminal device 1 determines whether a vehicle exists within the upload range defined in the map DB 4 or the request information Ir, and which satisfies the conditions regarding the specified expiration date, day of the week, and time zone. judge.

Then, if the vehicle exists within the valid upload range (step S105; Yes), the terminal device 1 transmits the upload information Iu regarding the object detected in step S103 according to the upload probability for the upload range of the current position ( Step S106). Thereby, the terminal device 1 can suitably suppress an increase in communication traffic and pressure on the communication band due to an excessive number of uploads of upload information Iu for roads with heavy traffic. Note that when a vehicle exists at a position where valid upload ranges overlap, the terminal device 1 transmits the upload information Iu according to the upload probability for the upload range with the highest priority.

On the other hand, if there is no vehicle within the valid upload range (step S105; No), the terminal device 1 transmits the upload information Iu regarding the object detected in step S103 according to the basic upload probability ( Step S107).

Further, if a vehicle exists in a section where the upload probability is not defined (step S104; No), the terminal device 1 determines that there is no need to limit the transmission frequency of the upload information Iu based on the upload probability, and steps Upload information Iu regarding the object detected in S103 is transmitted (Step S108). Note that, instead of performing the process in the flowchart of FIG. 9, the terminal device 1 does not need to generate and transmit the upload information Iu when a vehicle exists in a section where the upload probability is not defined. That is, the terminal device 1 may generate and transmit the upload information Iu only when a vehicle exists within a section where the upload probability (including the basic upload probability) is defined.

As described above, in the first embodiment, transmission control section information in which upload probability is defined for each upload section is included in the map DB4, the distribution map DB5, and the request information Ir. Thereby, the server device 2 can suitably adjust the traffic of the upload information Iu so that the amount of received data of the upload information Iu is not uneven for each road section. Furthermore, since each vehicle determines whether or not to upload based on probability using random numbers generated by the vehicle's terminal device, there is no need for server-side management or coordination through vehicle-to-vehicle communication.

<Second example>
In the data collection system of the second embodiment, the map DB4, the distribution map DB5, and the request information Ir include information on detecting objects and transmitting upload information Iu instead of or in addition to the transmission control section information. This embodiment differs from the first embodiment in that it includes information regarding a point and the upload probability at that point (also referred to as "transmission control point information"). In the following, components similar to those of the data collection system of the first embodiment will be given the same reference numerals as appropriate, and their description will be omitted.

[data structure]
First, the respective data structures of the map DB4, distribution map DB5, and request information Ir according to the second embodiment will be explained. Note that the data structure of the upload information Iu is the same as that in the first embodiment, so a description thereof will be omitted.

(1) Map DB and distribution map DB
First, the data structures of the map DB4 and distribution map DB5 will be explained. The map DB4 and the distribution map DB5 contain, as road data, link information regarding links when a road network is represented by links and nodes. In this embodiment, the link information is associated with transmission control point information indicating the upload probability for each point. Hereinafter, points on the road for which upload probabilities are individually defined will also be referred to as "upload points."

FIG. 10 shows the data structure of link information included in the map DB4 and distribution map DB5 in the second embodiment. As shown in FIG. 10, the link information includes a basic information section and a unique information section.

The basic information section includes items (eg, link ID, link length, etc.) that specify information regarding the target link.

The unique information section includes each item of "information ID", "number of upload points", and "upload point n" (n=1, 2, . . . ).

"Information ID" is an item that specifies an identification number, etc. for specifying the data structure of the specific information section, and in this embodiment, the data structure of the specific information section is a data structure that specifies transmission control point information. An identification number or the like indicating this is designated as an "information ID." “Number of upload points” is an item that specifies the number of upload points set for the target link.

Each item of "upload point n" (n=1, 2, . . . ) is an item for specifying information regarding an individual upload point, and the number of items specified in "number of upload points" is provided. Each "upload point n" includes a plurality of sub-items, including the following sub-items: "upload point ID", "location", "day of the week/time zone", "expiration date", and "upload probability".

A unique ID assigned to each upload point recorded in the map DB 4 and distribution map DB 5 is specified in the "upload point ID". "Position" specifies information indicating the location of the target upload point. For example, information indicating the distance from the starting point of the target link to the starting point or ending point of the upload point may be specified in the "position". The information designated as "upload point ID" and "position" is an example of point information.

The "day of the week/time zone" specifies the day of the week and/or time zone in which the target upload point is valid. The "expiration date" specifies the expiration date by which the target upload point is valid. The "upload probability" specifies the upload probability for the target upload point. The upload probability is set, for example, so that the upload point with a higher traffic volume has a lower value. This makes it possible to suitably suppress an increase in communication traffic and pressure on the communication band due to an excessive number of uploads of upload information Iu to road points with heavy traffic. The information designated as "upload probability" is an example of probability information.

(2) Request information
FIG. 11 shows an example data structure of request information Ir. As shown in FIG. 11, the request information Ir includes a basic information section and a specific information section. The basic information section includes items of "header" and "link ID.""Header" is an item that specifies header information of the request information Ir, and the server device 2 stores information such as version information of the data format of the request information Ir and a timestamp indicating the time when the object was detected in the "header". Specify.

The specific information section includes items related to specific transmission control section information. Specifically, the unique information section includes "information ID", "upload range ID", "location", "day of the week/time zone", "expiration date", and "upload probability".

"Information ID" is an item that specifies an identification number, etc. for specifying the data structure of the specific information section, and in this embodiment, the data structure of the specific information section is a data structure that specifies transmission control point information. An identification number or the like indicating this is designated as an "information ID". The "upload point ID" specifies a unique ID assigned to the target upload point specified in the request information Ir. "Position" specifies information indicating the location of the target upload point, and "Day of the week/time zone" specifies the day of the week and/or time zone in which the target upload point is valid. The "expiration date" specifies the expiration date by which the target upload point is valid. The "upload probability" specifies the upload probability for the target upload point.

Note that the data structure of the request information Ir is not limited to that shown in FIG. 11. For example, the server device 2 may distribute link information having the data structure shown in FIG. 10 to each terminal device 1 as the request information Ir. Even in this case, the server device 2 can suitably distribute the request information Ir including the transmission control point information to each terminal device 1.

[Processing flow]
FIG. 12 is an example of a flowchart showing an overview of the processing of the terminal device 1 in the second embodiment.

First, the terminal device 1 determines whether request information Ir has been received from the server device 2 (step S201). Then, when the terminal device 1 receives the request information Ir from the server device 2 (step S201; Yes), the terminal device 1 stores the request information Ir (step S202). Note that the terminal device 1 may register the transmission control point information included in the request information Ir in the map DB 4. On the other hand, if the terminal device 1 has not received the request information Ir from the server device 2 (step S201; No), the process proceeds to step S203.

Next, the terminal device 1 determines whether the vehicle passes through a valid upload point defined by the map DB 4 or the request information Ir stored in step S202 (step S203). For example, the terminal device 1 is an upload point defined in the map DB 4 or the request information Ir, and the vehicle passes through an upload point where conditions regarding a specified expiration date and/or day of the week and time zone are satisfied. Determine whether or not.

Then, when the vehicle passes through a valid upload point defined by the map DB 4 or the request information Ir stored in step S202 (step S203; Yes), the terminal device 1 outputs the output of the external sensor such as the lidar 31 or the camera 32. The upload information Iu of the object detected at the upload point is transmitted based on the upload probability (step S204). Thereby, the terminal device 1 can suitably suppress an increase in communication traffic and pressure on the communication band due to an excessive number of uploads of upload information Iu for roads with heavy traffic. On the other hand, if the vehicle does not pass through a valid upload point defined by the map DB 4 or the request information Ir stored in step S202 (step S203; No), the terminal device 1 returns the process to step S201.

As described above, in the second embodiment, the map DB4, the distribution map DB5, and the request information Ir include transmission control point information in which the upload probability is defined for each upload point. Thereby, the server device 2 can set the point where information on the object is desired as the upload point, and suitably receive the upload information Iu regarding the object detected at the point. Further, the server device 2 can suitably adjust the traffic of the upload information Iu for each upload point so that the amount of received data of the upload information Iu is not uneven for each set upload point.

<Modified example>
Modifications suitable for the first and second embodiments will be described below.

[Modification 1]
The processing of the server device 2 described in the first and second embodiments may be executed by a server system (so-called cloud server) consisting of a plurality of server devices.

For example, the server system may include a server that stores the distribution map DB5 and a server that performs distribution processing of request information Ir including transmission control section information and/or transmission control point information. In this case, each server appropriately receives information necessary to execute the pre-assigned process from other servers and executes the predetermined process.

Furthermore, the transmission control section information and/or the transmission control point information may be exchanged between the terminal device 1 and the server device 2, or between servers. FIG. 13 is a schematic configuration of a data collection system according to a modification. The data collection system shown 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. Further, the vehicle cloud 2A may transmit data having the data structure shown in FIG. 7 or 11 to the map cloud 2B.

[Modification 2]
In the first embodiment, the server device 2 may send request information Ir specifying the upload probability to the terminal device 1 without specifying the upload range, instead of using the data structure shown in FIG.

For example, in this case, the server device 2 transmits the request information Ir specifying the upload probability to the terminal device 1 existing in the section where transmission of the upload information Iu is to be controlled according to a predetermined upload probability. When the terminal device 1 receives the request information Ir, the terminal device 1 transmits the upload information Iu according to the upload probability specified by the request information Ir, for example, within a predetermined time or until the vehicle travels a predetermined distance. In this way, the request information Ir does not need to include information regarding the upload range.

[Modification 3]
Regarding the sections or points where the upload probability described in the first and second embodiments is not set, the terminal device 1 may control the transmission of the upload information Iu based on the preset upload probability. Furthermore, the terminal device 1 may change the upload probability depending on the time period for sections or points for which no upload probability is set. In this case, for example, the terminal device 1 stores table information that associates time periods and upload probabilities, and by referring to the table information, recognizes the upload probability corresponding to the current time period, Transmission control of upload information Iu is performed based on the upload probability.

[Modification 4]
In the first and second embodiments, when a target object is detected, the terminal device 1 transmits upload information Iu including information about the detected target object to the server device 2 based on a predetermined upload probability. . Instead of this, or in addition to this, the terminal device 1 transmits vehicle information and near-miss information based on the output of a speed sensor, acceleration sensor, etc., and/or driver status information detected by a biological sensor, etc. to the server device 1. When transmitting to the map DB 4 or the request information Ir, the transmission may be controlled based on the upload probability specified in the map DB 4 or the request information Ir. In this case, the map DB 4 and the request information Ir include transmission control section information that defines the upload probability and upload range for transmission of the above-mentioned vehicle information, near-miss information, and/or status information, etc., and the terminal device 1 , the necessity of transmitting the above-mentioned vehicle information, near-miss information, and/or status information to the server device 2 is determined based on the above-mentioned transmission control section information. The above-mentioned vehicle information, near-miss information, status information, and the like are examples of detection information.

[Modification 5]
In the first and second embodiments, it was decided that an expiration date could be set for each upload range, but instead of this, the start date or time when the upload range becomes valid, and the end date when the upload range becomes invalid. Alternatively, a valid period indicating time may be set. In this case, if there is an upload range whose validity period or expiration date has expired among the upload ranges recorded in the map DB 4 or the received request information Ir, the terminal device 1 deletes the information on the upload range. Alternatively, it may be possible to confirm with the server device 2 whether or not there has been an update regarding the specific information section. In the latter case, when update information exists for the target specific information section, the terminal device 1 receives the update information from the server device 2, and controls the transmission of the upload information Iu by referring to the received update information.

[Modification 6]
In the "day of the week/time zone" item shown in FIGS. 4, 7, 10, and 11, a plurality of days of the week and/or time zones in which the target upload range is valid may be set.

[Modification 7]
Based on the comparison between the detection result of the target object and the map DB4, the terminal device 1 determines that the detection result of the target different from the map DB4 has been obtained (i.e., when a change is observed in the structure, etc.). A configuration may also be adopted in which the transmission of the upload information Iu is controlled according to the upload probability, and the upload information Iu is not transmitted if no change is observed.

1 Terminal device 2 Server device 4 Map DB
5 Distribution map DB
6 Sensor data cache 7 Sensor section 9 Upload information DB

Claims (1)

A control device mounted on a moving body,
a detection unit that detects objects around the moving body;
Based on point information including a point at which detected object information, which is information regarding the object detected by the detection unit, is transmitted to an information processing measure and information regarding a probability of transmitting the detected object information to the information processing device at the point, a control unit that controls transmission of detected object information;
A control device comprising: