JP5762320B2 - Travel control system and travel control method - Google Patents

Description

  The present invention relates to a travel control system and a travel control method in which an operator remotely controls each vehicle via a server based on positional information of each vehicle acquired by a plurality of vehicles and surrounding image data.

2. Description of the Related Art Conventionally, in an area where humans cannot enter, operations such as collecting information on the surrounding environment and collecting objects are performed by remotely operating a vehicle that can be controlled wirelessly.
At this time, when the operator runs the vehicle by remote operation, the display device on the operation side displays an image captured by the vehicle itself of the surrounding environment of the operation target vehicle so that the operator can easily perform the remote operation. It is done to display.
Here, an apparatus that performs remote operation in real time by reducing the display delay of an image of the surrounding environment by compressing the captured image and transmitting it with a small amount of data is disclosed (for example, Patent Document 1). reference).

JP 2009-118072 A

However, as shown in FIG. 15, different operators A, B, and C may operate each of a plurality of vehicles in the same work range, for example, the vehicles 1000_A, 1000_B, and 1000_C, by their servers. In this case, in each vehicle, the travel information acquisition unit of each vehicle acquires the position information of the vehicle and the image around the vehicle, and transmits the acquired information to the server. Moreover, the autonomous control part of each vehicle is used for autonomous traveling based on the acquired position information, and transmits the vehicle traveling map created by the server to the corresponding operator's server. On the other hand, the server generates an image for displaying the environment in which each vehicle is traveling on the display screen of the server based on the supplied position information and images around the vehicle, and displays this image on the display device of the server. . Then, the operators A, B, and C perform traveling control of the vehicle in charge using images displayed on the respective servers.
In this way, when performing processing such as information collection in the same work range using a plurality of vehicles, the position information data of different positions is created for each vehicle, so that the operation of each vehicle can be performed. The position information data used is different for each server.

For this reason, each operator operates the vehicle only with environmental information from the vehicle in charge of traveling control, and there is sufficient surroundings for organically operating a plurality of vehicles. Environment information cannot be shared between operators.
In addition, since a plurality of vehicles transmit position information and image data to each operator's server, each of the plurality of vehicles transmits the same position information at the same point to different servers. Therefore, there is a problem that communication resources between the information integration center where the server is installed and each vehicle cannot be used effectively.

  The present invention has been made in view of such circumstances, and by collecting the position information and surrounding image data in a plurality of vehicles under the traveling control system in cooperation between the vehicles, An object of the present invention is to provide a travel control system and a travel control method capable of reducing the total amount of data transmitted and received between the vehicle and the center, effectively using communication resources, and capable of performing a plurality of vehicles in an organic manner. And

The travel control system of the present invention is a travel control system that performs travel control of a plurality of vehicles, and is provided in each of the vehicles, and acquires first vehicle information indicating a surrounding travel environment according to the travel position of the vehicle. is the second and the map data storage unit for storing the car both information, the vehicle information of the vehicle each traveling direction of a region of the said second vehicle information used in common with the traveling information acquisition unit, to the plurality of vehicles A request area selection unit that transmits third vehicle information to each of the plurality of vehicles, and provided in each of the vehicles, the first vehicle information and the third vehicle information are compared, and the first vehicle information And a travel information difference extraction unit that extracts difference vehicle information that is a difference between the third vehicle information, an information update unit that adds the difference vehicle information to the second vehicle information, and updates the second vehicle information. Characterized by comprising To.

  In the travel control system of the present invention, each of the first vehicle information, the second vehicle information, and the third vehicle information includes three-dimensional information indicating the position and height of a three-dimensional object at each coordinate in a map traveled by the vehicle, Texture information indicating data information of the image of the three-dimensional object associated with the three-dimensional information, and the travel information acquisition unit measures the position and height of the three-dimensional object to determine the three-dimensional information. The texture information is generated by capturing an image of the three-dimensional object.

  In the travel control system of the present invention, the requested area selecting unit includes three-dimensional information in the traveling direction of each vehicle and requested texture information indicating three-dimensional information without the texture information from the three-dimensional information. Extracted from the map data storage unit and transmitted to the vehicle as the third vehicle information.

  In the travel control system of the present invention, the travel information difference extraction unit includes the three-dimensional information and texture information in the first vehicle information acquired by the travel information acquisition unit, and the three-dimensional information and texture information in the third vehicle information. And the three-dimensional information and texture information in the first vehicle information not included in the third vehicle information are extracted as the difference vehicle information.

  In the travel control system of the present invention, the travel information acquisition unit extracts the coordinates that exceed a height threshold at which the vehicle cannot travel as 3D information of the three-dimensional object.

  The travel control system of the present invention is characterized in that the request area selection unit, the information update unit, and the map data storage unit are provided in an information integration device that controls the plurality of vehicles in an integrated manner.

  In the travel control system of the present invention, the request area selection unit, the information update unit, and the map data storage unit are provided in the vehicle, and an information integration device that controls the plurality of vehicles in an integrated manner The information update unit and the other map data storage unit, the information update unit transmits the difference vehicle information to the information integration device, and the other information update unit includes the other map data storage unit. The second vehicle information stored in is updated with the difference vehicle information.

The travel control method of the present invention is a method of operating a travel control system that performs travel control of a plurality of vehicles, and a travel information acquisition unit provided in each of the vehicles has a peripheral position corresponding to the travel position of the vehicle. A travel information acquisition process for acquiring first vehicle information indicating a travel environment, and a travel of each of the vehicles in the second vehicle information used by the request area selection unit that is stored in the map data storage unit. A request area selection process for transmitting third vehicle information, which is vehicle information in a direction area, to each of the plurality of vehicles; and the first vehicle information and the third vehicle information provided in each of the vehicles. additional comparison, a travel information difference extraction process for extracting difference vehicle information which is a difference between the first vehicle information and the third vehicle information, the difference vehicle information to said second vehicle information of the map data storage unit , Characterized in that it comprises an information updating step of updating the second vehicle information.

According to this invention, in each vehicle under the traveling control system, by sharing vehicle information that is information on the surrounding traveling environment, it is possible to collect information that is coordinated between the vehicles, In addition, a plurality of vehicles do not transmit the same driving environment information to the information integration device, and the total amount of data transmitted / received between the vehicles or between the information integration devices that integrate information with each vehicle is reduced. The communication resources can be used effectively by reducing the communication resources.
In addition, according to the present invention, since each vehicle under the traveling control system uses the traveling environment information in common, it is possible to cause each of the plurality of vehicles to perform a process associated with another vehicle. It is possible to perform organic work between the vehicles.

1 is a schematic block diagram illustrating a configuration example of a travel control system according to a first embodiment of the present invention. It is a bird's-eye view which shows vehicle 200_A (moving body) provided with the data transmission / reception part 206, and its surrounding environment. It is a figure which shows the example of a height grid map. In FIG. 3, the intersection of a horizontal line and a vertical line is a grid. It is a figure for demonstrating the cutout process of a model image. An example of a height grid map in which a corrected model range (texture range information) is defined is shown. It is a figure explaining the synthesis | combination of the map area | region memorize | stored in the memory | storage part 207, and an information incomplete area | region. 3 is a diagram showing a configuration example of a D map master table stored in the map data storage unit 105 of FIG. It is a figure which shows the structural example of the texture master table memorize | stored in the map data storage part 105 of FIG. It is a figure which shows the structural example of the texture matrix table memorize | stored in the map data storage part 105 of FIG. It is a figure which shows the structural example of the area matrix table memorize | stored in the map data storage part 105 of FIG. It is a figure which shows the example of the bird's-eye view of a height map. It is a flowchart which shows the operation example of the acquisition process of the driving information in the driving control system by the 1st Embodiment of this invention. It is a schematic block diagram which shows the structural example of the traveling control system by 2nd Embodiment of this invention. It is a flowchart which shows the operation example of the acquisition process of the driving information in the driving control system by the 2nd Embodiment of this invention. It is a figure explaining the structure of the traveling control system which performs the traveling control of the conventional multiple vehicles.

<First Embodiment>
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic block diagram showing a configuration example of a travel control system according to the first embodiment of the present invention. In FIG. 1, the travel control system of the present embodiment includes a plurality of mobile bodies (vehicles, land drones, etc.), for example, vehicles 200_A, 200_B, 200_C,. It is comprised with the information integration apparatus 100 to perform. Here, between each of the vehicles 200_A, 200_B, 200_C,... And the information integration apparatus 100, data necessary for control is transmitted / received, for example, by wireless communication.

Each of the vehicles 200_A, 200_B, 200_C,... Has a similar configuration, and a travel information acquisition unit 201, a travel information synthesis unit 202, a travel information difference extraction unit 203, a travel control unit 204, a position information acquisition unit 205, and data transmission / reception. Unit 206, storage unit 207, autonomous control unit 208, clipping unit 209, and extraction unit 210.
Hereinafter, in the present embodiment, the description will be continued assuming that the three-dimensional information is represented by the three-dimensional position coordinates (x, y, z) in a predetermined coordinate system. In the following description, the vehicle 200_A is described as an example of the vehicle, but the same processing is performed in the other vehicles 200_B, vehicles 200_C.

  Here, the coordinate component z is a height component of the subject. Also, the three-dimensional position coordinates of the subject measured by the travel information acquisition unit 201 with respect to the two-dimensional coordinates (x, y) of the vehicle measured by the position information acquisition unit 205 described later (that is, the xy coordinates indicating the ground plane). It corresponds to the two-dimensional coordinates (x, y) in (x, y, z). That is, the two-dimensional coordinates (x, y, z) acquired by the travel information acquisition unit 201 with respect to the position coordinates of the two-dimensional coordinates (x, y) acquired by the position information acquisition unit 205. It is assumed that the relative distance and posture between the position information acquisition unit 205 and the travel information acquisition unit 201 are calibrated in advance so that the position coordinates of y) match. Similarly, the two-dimensional coordinates in the image frame including the image data of the subject imaged by the imaging unit 2011 and the two-dimensional coordinates in the three-dimensional position coordinates of the subject measured by the object detection unit 2012 are the same coordinates. It is assumed that the relative distance and posture between the imaging unit 2011 and the object detection unit 2012 are calibrated in advance.

The travel information acquisition unit 201 includes an image (hereinafter referred to as a model image) of an object (for example, a structure, a person, a road, a white line, and a curb) existing around the vehicle on which the vehicle is mounted, and 3 of the object. A data set corresponding to the two-dimensional coordinates (x, y) with the three-dimensional position information (x, y, z) indicating the position in the dimensional space is acquired.
The travel information acquisition unit 201 includes an imaging unit 2011 and an object detection unit 2012.
The imaging unit 2011 is a digital camera, for example, and images a subject existing around the vehicle and acquires a model image of the captured subject. Here, the imaging unit 2011 may capture the subject in any format of a moving image or a still image as the model image. In addition, the travel information acquisition unit 201 outputs the obtained model image to the cutout unit 209.

The object detection unit 2012 is a laser radar device that measures the three-dimensional coordinates of the surrounding environment of the moving body. The object detection unit 2012 irradiates the surrounding environment of the moving body with laser light. Then, the object detection unit 2012 determines the vehicle 200_A based on the time until the irradiated laser light is reflected by the subject in the surrounding environment and returns to itself, and the irradiation direction of the laser light (the posture of the object detection unit 2012). The three-dimensional position information (three-dimensional coordinates) of the surrounding environment is repeatedly measured while scanning the surrounding environment.
That is, the object detection unit 2012 detects the distance of the subject and the irradiation direction (irradiation angle) of the laser light when each distance is measured, and the position information (two-dimensional coordinates (x, y)) supplied from the position information acquisition unit 205. And the three-dimensional coordinates (x, y, z) of the subject existing around the vehicle.
In addition, about an example of a laser radar apparatus, Unexamined-Japanese-Patent No. 2011-99742 can be referred, for example.

  Next, FIG. 2 is a bird's-eye view showing the vehicle 200_A (moving body) including the data transmission / reception unit 206 and its surrounding environment. In FIG. 2, the data transmission / reception unit 206 and the travel information acquisition unit 201 are mounted on the vehicle 200_A. When the vehicle 200_A travels on the road 400, the travel information acquisition unit 201 exists in the environment around the vehicle 200_A. The subject 500, the subject 510, the subject 520, the road 400, and the like are imaged. In addition, the travel information acquisition unit 201 measures the three-dimensional position coordinates (x, y, z) of the subject 500, the subject 510, the subject 520, the road 400, and the like in the surrounding environment of the vehicle 200_A, along with the vehicle 200_A. 400 is moving.

  In FIG. 2, measurement points 300-1 to 300-19 indicate positions (hereinafter referred to as “measurement points”) where the laser light from the object detection unit 2012 is reflected in the surrounding environment. Among the measurement points, measurement points 300-1 to 300-9 and 300-19 are measurement points in which each coordinate component z (height component) is less than a predetermined height threshold. . On the other hand, the measurement points 300-10 to 300-18 are measurement points at which the coordinate component z of the measurement point is not less than the height threshold. This height threshold is set in advance by experiments or the like as a height at which the vehicle 200_A cannot travel.

  That is, since the subject 520 is three-dimensional (because it has a height equal to or higher than the height threshold), the measurement points 300-10 and 300-11 have the coordinate component z of the surrounding measurement points 300-1 to 300-9, etc. Is detected by the object detection unit 2012 as a higher measurement point. The same applies to the measurement points 300-12 and 300-13 of the subject 510 and the measurement points 300-11 and 300-12 of the subject 500. Information indicating the three-dimensional position coordinates (x, y, z) of each measurement point is output to the extraction unit 210 by the object detection unit 2012.

  In FIG. 2, since the distance between the subject 530 and the vehicle 200_A is too far away, the subject 530 is not irradiated with laser light, or even if the laser light is irradiated, it is less than the height threshold. . For this reason, the state in which the object detection unit 2012 does not measure the three-dimensional position coordinates of the subject 530 is shown. When the vehicle 200_A further moves on the road 400 and the subject 530 and the vehicle 200_A come closer to each other, the subject 530 is irradiated with a laser beam at a place equal to or higher than the height threshold. As a result, the object detection unit 2012 can measure the three-dimensional position coordinates (x, y, z) of the subject 530. Similarly, for the imaging unit 2011, the vehicle 200_A further moves on the road 400, and the subject 530 and the vehicle 200_A come closer to each other, so that the imaging unit 2011 can capture the subject 530.

Returning to FIG. 1, the position information acquisition unit 205 periodically measures the position where the vehicle exists (the coordinate value in the two-dimensional coordinates (x, y)) and the direction indicating the traveling direction of the vehicle. Position information indicating the direction is output to the travel information acquisition unit 201. Here, the position information acquisition unit 205 may measure the two-dimensional coordinates and direction of the vehicle by, for example, GPS (Global Positioning System). At this time, the position information acquisition unit 205 may measure the direction (movement direction) of the vehicle based on the temporal change of the coordinate component in which the vehicle exists at each time obtained from the GPS.
The position information acquisition unit 205 transmits position information indicating the position and orientation to the information integration apparatus 100 via the data transmission / reception unit 206.

  Further, the position information acquisition unit 205 may include a speed sensor, a triaxial acceleration sensor, and a triaxial gyro (rotation angle sensor) as an IMU (Internal Measurement Unit) instead of the GPS described above. The position information acquisition unit 205 may measure the two-dimensional coordinates and the orientation of the three-dimensional position coordinates of the vehicle 200_A based on at least one of the sensing results of the speed sensor, the three-axis acceleration sensor, and the three-axis gyro. . Here, the movement speed of the vehicle 200_A is detected by integrating the acceleration detected by the position information acquisition unit 205, for example, an acceleration sensor, and the detected movement speed is further integrated to obtain the three-dimensional position coordinates of the vehicle 200_A. Two-dimensional coordinates may be measured.

Information indicating the three-dimensional position coordinates of each measurement point is input from the object detection unit 2012 to the extraction unit 210. Further, position information (information indicating two-dimensional coordinates and direction (traveling direction of the vehicle 200_A)) of the vehicle 200_A is input to the extraction unit 210 from the position information acquisition unit 205.
Here, the extraction unit 210 is a map indicating the position of the measurement point represented by the three-dimensional position coordinate based on the information indicating the three-dimensional position coordinate of each measurement point and the position information of the vehicle 200_A, that is, a plane. A map arranged in a grid (hereinafter referred to as a “height grid map”) is generated.

  In addition, the extraction unit 210 extracts measurement points whose coordinate component z (height component) is greater than or equal to a height threshold value from the measurement points constituting the height grid map described above, and obtains the three-dimensional coordinates of each measurement point. A height grid map is generated based on the indicated information. The extraction unit 210 outputs information indicating the height grid map generated by extracting the measurement points having the coordinate component z equal to or higher than the height threshold to the cutout unit 209. Here, the information indicating the height grid map is represented, for example, by an array of three-dimensional position coordinates (such as a table of two-dimensional coordinates (x, y) and heights at the respective two-dimensional coordinates (x, y)). May be.

  Next, FIG. 3 is a diagram illustrating an example of a height grid map. In FIG. 3, the intersection of a horizontal line and a vertical line is a grid. The extraction unit 210 virtually connects a plurality of extracted measurement points (measurement points having a height exceeding the height threshold), and associates the range connecting the measurement points with a model image (hereinafter referred to as “model range”). ”). Here, the model range may be defined as a straight line or a curved line (fan shape) on the ground plane (two-dimensional coordinates, that is, the xy plane) of the height grid map.

  In FIG. 3, a model range 620a is provisionally defined in a range where measurement points 300-10 and 300-11 are connected by a straight line. In addition, a model range 610a is provisionally defined in a range where measurement points 300-12 and 300-13 are connected by a straight line. In addition, a model range 600a is provisionally defined in a range where the measurement points 300-14 and 300-18 are connected by a curve.

The clipping unit 209 acquires an image including a model image that the imaging unit 2011 supplies at a predetermined cycle. Further, the cutout unit 209 acquires information on the height grid map from which the measurement points having the coordinate component z equal to or higher than the height threshold are extracted from the extraction unit 210.
The cutout unit 209 includes a two-dimensional coordinate (x, y) in an image supplied from the imaging unit 2011 (hereinafter referred to as “captured image”) and a three-dimensional position of a measurement point where the coordinate component z is greater than or equal to a height threshold. Based on the correspondence with the coordinates (x, y, z), a provisionally determined model range is determined in the captured image. Here, when it is assumed that the frame indicating the tentatively defined model range actually exists in the surrounding environment, the cutout unit 209 uses the range in which the frame is captured in the captured image as the captured image. Determine.

  Further, the cutout unit 209 roughly corrects the model range so as to include the model image. Further, the cutout unit 209 determines the model range so as to include the model image by determining the strength of the contour (edge) of the model image with respect to the model range defined in the captured image and a predetermined range around the model range. Further correction. Here, the model range may be represented by three-dimensional position coordinates (x, y, z) of each vertex of the model range. The cutout unit 209 cuts out a model image included in the corrected model range from the captured image.

  Next, FIG. 4 is a diagram for explaining a model image cut-out process. FIG. 4A shows a captured image supplied from the imaging unit 2011. In FIG. 4A, the model image 700, the model image 710, the model image 720, and the image of the road 400 are included in the captured image. Here, the model image 700 is an image of the subject 500. The model image 710 is an image of the subject 510. The model image 720 is an image of the subject 520.

  FIG. 4B shows a captured image including a model image and a frame image indicating a provisionally determined model range. In FIG. 4B, a frame image showing the model range 600a, a frame image showing the model range 610a, and a frame image showing the model range 620a are further added to the captured image shown in FIG. include.

  FIG. 4C shows a captured image including a model image and a frame image indicating a model range corrected based on the contour of the model image. In FIG. 4C, a frame image showing the corrected model range 600a, a frame image showing the corrected model range 610a, and a frame image showing the corrected model range 620a are captured images shown in FIG. Is further included.

  Returning to FIG. 1, the cutout unit 209 cuts out the model image 700 included in the model range 600a corrected based on the contour of the model image 700 with respect to FIG. 4C described above. The cutout unit 209 cuts out the model image 710 included in the model range 610a corrected based on the contour of the model image 710. In addition, the cutout unit 209 cuts out the model image 720 included in the model range 620a corrected based on the contour of the model image 720.

  The cutout unit 209 includes information indicating the corrected model range (hereinafter referred to as texture range information), a cutout model image (hereinafter referred to as texture), and information indicating the height grid map (hereinafter referred to as three-dimensional information). Is output to the travel information difference extraction unit 203. Here, the cut-out unit 209 uses the combination of the texture range information and the cut-out texture as texture information, and adds texture identification information for identifying the texture information to each of the texture information. Hereinafter, the three-dimensional information and the texture information are vehicle information for each vehicle as information indicating a driving environment around the vehicle. In addition, coordinates indicating the bottom of the range frame in the texture range information (hereinafter, texture range bottom information) are added to the above-described three-dimensional information. The cutout unit 209 extracts the texture range bottom information from the texture range information.

  Next, FIG. 5 shows an example of a height grid map in which the corrected model range is defined. In FIG. 5, the model range 600a is corrected by the cutout unit 209 so as to be a straight line parallel to the x axis on the ground plane (xy plane) of the height grid map. The model range 610a is corrected by the cutout unit 209 so as to be parallel to the model range 600a on the ground plane (xy plane) of the height grid map. Similarly, the model range 620a is corrected by the cutout unit 209 so as to be parallel to the model range 600a on the ground plane (xy plane) of the height grid map.

Further, the cutout unit 209 extracts information indicating the coordinates of the vertices constituting the bottom side in the texture range information frame (that is, the two-dimensional coordinates in the three-dimensional position coordinates) from the texture range information as the texture range bottom side information.
For example, in the height grid map, the cutout unit 209 determines, from the three-dimensional position information (x, y, z) of the measurement points 300-16 and 200-18 constituting the model range 600a, xy indicating the base of this range. Two-dimensional coordinates (x, y) on the plane, that is, two-dimensional coordinates of the vertices at both ends of the bottom of the frame are extracted.

Returning to FIG. 1, the travel information composition unit 202 transmits and receives data request information including transmission area information set by three-dimensional coordinates in the height grid map and requested texture information for requesting texture information in vehicle information. Supplied via the unit 206. This information request information is transmitted from the information integration apparatus 100 (details will be described later).
Further, the travel information combining unit 202 includes the three-dimensional information included in the supplied transmission area information and the three-dimensional information of the height grid map already stored in the storage unit 207 and currently used by the vehicle. Are synthesized corresponding to the coordinate values of the two-dimensional coordinates in the three-dimensional position information. Here, although the transmission area information will be described in detail later, the transmission area information indicates an aggregate of three-dimensional information of an area that the vehicle 200_A does not have in the storage unit 207 and is in the traveling direction of the vehicle 200_A.

  Next, FIG. 6 is a diagram for explaining the combination of the map area stored in the storage unit 207 and the information incomplete area in the two-dimensional coordinates. In FIG. 6, map areas 1001 and 1002 are areas where vehicle information in which both three-dimensional information and texture information exist is completely filled. On the other hand, the information incomplete area 1003 is an area added to the information request information transmitted from the information integration apparatus 100, and is information indicating an area where texture information is not acquired, that is, an area where vehicle information is incomplete. This incomplete information area is information retrieved from the map data storage unit 105 by the information integration apparatus 100, as will be described later.

  Returning to FIG. 1, the travel control unit 204 receives the operation information transmitted from the information integration device 100 via the data transmission / reception unit 206, and receives a control instruction described in the operation information, for example, the handle of the vehicle 200_A. The vehicle 200_A is controlled in accordance with the operation state of the operation device such as the accelerator, the brake, the clutch, the gear shift device, the engine starting device, and the instructions such as the vehicle speed and the acceleration.

The travel information difference extraction unit 203 compares the 3D information acquired by the travel information acquisition unit 201 with the 3D information included in the transmission area information added to the information request information, and the travel information acquisition unit 201 acquires the information. Three-dimensional information not included in the three-dimensional information included in the transmission area information is extracted from the three-dimensional information.
That is, the travel information difference extraction unit 203 extracts the three-dimensional information to be transmitted to the information integration apparatus 100 in response to the vehicle information request information from the region where the travel information acquisition unit 201 has acquired the three-dimensional information. The travel information difference extraction unit 203 transmits the extracted three-dimensional information to the information integration device 100 via the data transmission / reception unit 206.

Further, the travel information difference extraction unit 203 compares the texture range base information corresponding to the texture information acquired by the travel information acquisition unit 201 with the texture range base information included in the requested texture information added to the information request information. .
Then, the travel information difference extraction unit 203 extracts texture range base information that matches the texture range base information included in the requested texture information from the texture range base information corresponding to the texture information acquired by the travel information acquisition unit 201.
That is, the travel information difference extraction unit 203 extracts texture information to be transmitted to the information integration apparatus 100 from the texture information acquired by the travel information acquisition unit 201 in response to the information request information. The travel information difference extraction unit 203 transmits the extracted texture information to the information integration apparatus 100 via the data transmission / reception unit 206.

When the operation information from the information integration device 100 is not received, the autonomous control unit 208 determines the steering wheel, accelerator, brake, clutch, gear shift device, and the like of the vehicle 200_A based on the three-dimensional information of the area stored in the storage unit 207. Autonomous operation information to be operated is output to the travel control unit 204.
That is, the autonomous control unit 208 detects a three-dimensional object that cannot be traveled from the three-dimensional information of the area stored in the storage unit 207, and outputs the three-dimensional information and the position information acquisition unit 205 itself. By supplying autonomous operation information to the traveling control unit 204 within the area stored in the storage unit 207 using the three-dimensional position information of the vehicle, the information integrating device is allowed to travel while avoiding the height where it cannot travel. The vehicle 200 </ b> _A is allowed to travel autonomously until operation information is received from 100.

Next, the information integration apparatus 100 in FIG. 1 includes a request area selection unit 101, a 3D information update unit 102, a texture data update unit 103, a display image creation unit 104, a map data storage unit 105, an image display unit 106, and a data transmission / reception unit. 107.
The request area selection unit 101 extracts the three-dimensional information in the traveling direction of the vehicle 200_A estimated from the change in the vehicle position information received from the vehicle 200_A from the 3D map master table stored in the map data storage unit 105.
The requested area selection unit 101 compares the three-dimensional information extracted from the 3D map master table with the three-dimensional information in the area matrix table stored in the map data storage unit 105.

  Here, the request area selection unit 101 extracts the three-dimensional information that the vehicle 200_A does not hold from the three-dimensional information extracted from the 3D map master table. For example, the request area selection unit 101 extracts three-dimensional information of a plurality of grids in the traveling direction of the vehicle 200_A from the 3D map master table. Then, the requested area selection unit 101 selects, for the three-dimensional information extracted from the 3D map master table, three-dimensional information that is not stored corresponding to its own vehicle identification information, and selects the selected three-dimensional information. To the vehicle 200_A as transmission area information. Here, the request area selection unit 101 estimates the traveling direction of the vehicle 200_A from the traveling direction included in the position information of the vehicle 200_A periodically transmitted from the vehicle 200_A.

  In addition, the request area selection unit 101 extracts texture range bottom information for which texture identification information is not stored correspondingly from the texture master table stored in the map data storage unit 105. The requested area selection unit 101 selects the texture range bottom information included in the transmission area described above from the extracted texture range bottom information, and sets the selected texture range bottom information as requested texture information.

  Further, the request area selection unit 101 periodically extracts transmission area information and request texture information, adds the extracted transmission area information and request texture information to the information request information, and transmits the vehicle 200_A via the data transmission / reception unit 107. Send to. Here, the request area selection unit 101 writes and stores the transmission area information transmitted to the vehicle 200_A in the area matrix table of the data map storage unit 105 as D map area information.

  Next, FIG. 7 is a diagram illustrating a configuration example of a 3D map master table. The 3D map master table shown in FIG. 7 includes, for example, latitude and longitude (position information on the grid in the grid map, that is, two-dimensional coordinates (x, y) in three-dimensional position coordinates (x, y, z)), It is a table which shows a response | compatibility with the height information (z coordinate in three-dimensional position coordinate (x, y, z)) in a grid.

  Next, FIG. 8 is a diagram illustrating a configuration example of a texture master table stored in the map data storage unit 105 of FIG. The texture master table shown in FIG. 8 includes, for example, the texture identification information and the coordinates of both ends of the bottom side of the three-dimensional object indicated by the two-dimensional coordinates of the xy plane in the three-dimensional position coordinates (that is, the above-mentioned texture range bottoms). Information) and a texture index. Here, with respect to all the bottoms of the three-dimensional object existing in the 3D map master table, fields of the bottom texture range base information, texture identification information, and texture index are generated. The texture index indicates an address at which model image data as each texture is stored in a texture storage area provided in the map data storage unit 105.

  Here, the texture range bottom information is generated by the extraction unit 210 of the vehicle 200_A. As already described, the extraction unit 210 extracts texture range bottom information from the texture range information in the texture information. Then, the travel information difference extraction unit 203 extracts the difference between the texture range bottom information stored in its own storage unit 207 and the solid object bottom information transmitted from the information integration apparatus 100, and extracts the extracted texture range bottom. The three-dimensional information to which the information is added is output to the information integration apparatus 100. Further, “NOD” in the texture identification information column indicates that there is no texture image data. Therefore, although there is a three-dimensional object indicated by the three-dimensional position information in the 3D map master, there is no texture information for this three-dimensional object.

  Next, FIG. 9 is a diagram illustrating a configuration example of a texture matrix table stored in the map data storage unit 105 of FIG. The texture matrix table shown in FIG. 9 uses, for example, texture identification information and the size of the texture of the texture identification information, that is, the three-dimensional coordinates (x, y, z) used in the 3D map. It is a table | surface which shows a response | compatibility with the information (namely, texture range information) of the range shown by dimension position coordinate (x, y, z).

  Next, FIG. 10 is a diagram showing a configuration example of an area matrix table stored in the map data storage unit 105 of FIG. The area matrix table shown in FIG. 10 includes, for example, vehicle identification information added for each vehicle and information indicating a 3D map area stored in the storage unit 207 of the vehicle indicated by the vehicle identification information (hereinafter, It is a table which shows a response | compatibility with (3D map area information). Here, the 3D map area information is information indicating a range in the two-dimensional coordinates of the xy plane in the three-dimensional position coordinates of the 3D map.

Returning to FIG. 1, the 3D information update unit 102 supplies the map data storage unit 105 with new three-dimensional information outside the transmission area for the transmission area added to the vehicle information request information supplied from the vehicle 200_A. The 3D map master table is additionally written, and the 3D map master table is updated.
Further, the request area selection unit 101 writes new 3D information outside the transmission area to the 3D map master table of the map data storage unit 105 and updates the 3D map master table.

The texture data updating unit 103 is supplied with texture information, texture identification information for identifying the texture information, and texture range bottom information corresponding to the texture identification information from the vehicle 200_A. Here, the texture data updating unit 103 searches the same texture range bottom information from the texture master table in the map data storage unit 105.
Then, the texture data update unit 103 writes the texture identification information of the texture information in the texture identification information column corresponding to the searched texture range bottom information. Further, the texture data update unit 103 writes and stores texture data in the texture information indicated by the texture identification information in the texture storage area of the map data storage unit 105, and stores the stored address in the texture index column. Write.

  Further, the texture data update unit 103 performs the update process of the texture matrix table in the map data storage unit 105 based on the texture information transmitted in response to the information request information by the vehicle 200_A and the texture identification information for identifying the texture information. Do. That is, the texture data update unit 103 writes the texture range information in the texture information transmitted in response to the information request information by the vehicle 200_A in association with the texture identification information for identifying the texture information in the texture matrix table. Remember.

  In the image storage unit 108, a bird's-eye view image (for example, an aerial image, aerial photograph, satellite image) associated with the two-dimensional coordinates (x, y) of the ground plane of the height grid map is written and stored in advance. ing.

  The display image creation unit 104 reads the 3D information indicating the height grid map from the 3D map master table of the map data storage unit 105. Here, the display image creation unit 104 generates an overhead image associated with the two-dimensional coordinates (x, y) of the ground plane of the height grid map based on the information indicating the height grid map, as an image storage unit. Read from 108.

  In addition, the display image creation unit 104 connects contour points to the height grid map by connecting measurement points having the same coordinate component z (height component) based on the three-dimensional information indicating the height grid map. Determine. In addition, the display image creation unit 104 pastes an overhead image on a height grid map in which contour lines are defined, and generates an overhead view of the height grid map as an overhead view of the height map. Hereinafter, a height grid map in which contour lines are defined and an overhead image is pasted is referred to as a “height map”.

Further, the display image creation unit 104 reads 3D map coordinate information and texture identification information corresponding to the 3D map coordinate information from the texture matrix table of the map data storage unit 105. Then, the display image creation unit 104 reads a texture index indicating a texture storage destination corresponding to the read texture identification information from the texture master table of the map data storage unit 105. The display image creation unit 104 reads texture data stored at the address indicated by the read texture index.
The display image creation unit 104 determines a texture pasting range to which the texture is pasted in an overhead view of the height map based on the 3D map coordinate information. Further, the display image creation unit 104 pastes the texture associated with the texture identification information to the texture pasting range set in the overhead view of the height map with the same texture identification information. The display image creation unit 104 also pastes the bird's-eye view image of the vehicle 200_A on the predetermined coordinates of the bird's-eye view of the height map.

  FIG. 11 is a diagram illustrating an example of an overhead view of the height map. In FIG. 11, the model image 700 previously associated with the model range 600a is pasted on the model range 600a (see FIG. 5) in the overhead view of the height map. Further, the model image 710 previously associated with the model range 610a is pasted on the model range 610a (see FIG. 5) in the overhead view of the height map. Further, the model image 720 previously associated with the model range 620a is pasted on the model range 620a (see FIG. 5) in the overhead view of the height map. Moreover, the bird's-eye view image of the moving body 900 is pasted at predetermined coordinates in the bird's-eye view of the height map. Further, the images showing the contour lines 800-1 to 800-5 are pasted on the overhead view of the height map so as to overlap the contour lines defined in the height map.

Returning to FIG. 1, the image display unit 106 displays an overhead view of a height map in which a texture image, an image showing contour lines, and an overhead image of the vehicle 200_A are pasted, as shown in FIG. 11 described above. To do.
The image display unit 106 may further display various information necessary for remote operation (for example, the three-dimensional coordinates of the vehicle 200_A). Here, the image display unit 106 is, for example, a liquid crystal display device.

  Next, vehicle information acquisition processing in the travel control system according to the first embodiment of the present invention will be described with reference to FIGS. FIG. 12 is a flowchart showing an operation example of travel information acquisition processing in the travel control system according to the first embodiment of the present invention. In the present embodiment, the following travel control process is repeatedly performed in a preset cycle. Hereinafter, as an example of data exchange between the vehicle and the information integration device 100, processing between the vehicle 200_A and the information integration device 100 in the vehicles 200_A, 200_B, 200_C,... Will be described. ,... And the information integration apparatus 100 are similarly processed as described below.

Step S1:
The request area selection unit 101 estimates the traveling direction of the vehicle 200_A from the traveling direction included in the position information of the vehicle 200_A periodically transmitted from the vehicle 200_A.
Then, the request area selection unit 101 extracts the three-dimensional information in the traveling direction of the vehicle 200_A from the 3D map master table stored in the map data storage unit 105.
Here, for example, an angle with respect to the traveling direction of the vehicle may be set as a texture information and three-dimensional information acquirable area that can be acquired in advance by the travel information acquisition unit 201 mounted on each vehicle. In this case, the request area selection unit 101 is included in this range based on the current position and traveling direction of the vehicle 200_A and the above obtainable area from the 3D map master table stored in the map data storage unit 105. Dimension information is extracted as transmission area information.
Further, the requested area selection unit 101 writes and stores the three-dimensional information included in the transmission area information for the vehicle 200_A in the area corresponding to the vehicle 200_A in the area matrix table in the map data storage unit 105, and updates the area matrix table. I do.

Step S2:
Next, the request area selection unit 101 extracts texture range bottom information for which texture identification information is not stored correspondingly from the texture master table stored in the map data storage unit 105.
Then, the requested area selecting unit 101 extracts the texture range bottom information included in the transmission area described above from the extracted texture range bottom information, and uses the extracted texture range bottom information as requested texture information.

Step S3:
Next, the request area selection unit 101 transmits the extracted transmission area information and request texture information to the vehicle 200_A as information request information via the data transmission / reception unit 107.

Step S4:
The data transmission / reception unit 206 receives information request information from the information integration device 100 and supplies the received information request signal to the travel information synthesis unit 202 and the travel information difference extraction unit 203.

Step S5:
Next, the travel information combining unit 202 combines the three-dimensional information supplied from the data transmitting / receiving unit 206 with the three-dimensional information already stored in the storage unit 207.
Then, the travel information synthesis unit 202 sequentially writes the three-dimensional information, texture range bottom information, and texture information newly acquired by the travel information acquisition unit 201 to the storage unit 207 and temporarily accumulates them.

Step S6:
Next, the travel information difference extraction unit 203 compares the 3D information stored in the storage unit 207 with the 3D information newly acquired by the travel information acquisition unit 201.
Then, the travel information difference extraction unit 203 extracts 3D information not included in the 3D information stored in the storage unit 207 from the 3D information newly acquired by the travel information acquisition unit 201, Let it be three-dimensional information.

Step S7:
Next, the travel information difference extraction unit 203 compares the texture range base information in the requested texture information with the texture range base information stored in the storage unit 207.
Then, the travel information difference extraction unit 203 extracts the texture range bottom information that is not included in the requested texture information from the texture range bottom information stored in the storage unit 207, and sets the difference as the texture range bottom information of the difference.
Further, the travel information difference extraction unit 203 reads texture information corresponding to the difference texture range bottom information from the storage unit 207 as difference texture information.

Step S8:
Next, the travel information difference extraction unit 203 transmits / receives the extracted three-dimensional information of the difference and the set of the texture information of the difference and the texture range bottom information corresponding to each of the texture information to the information integration apparatus 100. The data is transmitted via the unit 206.

Step S9:
The data transmitting / receiving unit 107 receives the extracted difference three-dimensional information and the set of the difference texture information and the texture range bottom information corresponding to each of the texture information from the vehicle 200_A.
Then, the data transmitting / receiving unit 107 updates the received extracted three-dimensional information of the difference and the set of the texture information of the difference and the texture range bottom information corresponding to each of the texture information to the request area selecting unit 101, 3D information update Is supplied to the unit 102 and the texture data update unit 103.

Step S10:
Next, the 3D information update unit 102 additionally writes the difference 3D information supplied from the vehicle 200_A to the 3D map master table of the map data storage unit 105, and performs update processing of the 3D map master table. Do.

Step S11:
Next, the texture data update unit 103 additionally writes the texture range base information included in the difference three-dimensional information in the texture master table of the map data storage unit 105.
Then, the texture data update unit 103 writes the texture image data in the difference texture information in the texture storage area of the map data storage unit 105, and the texture identification information of the texture and the texture image data written therein. The address of the storage area is stored internally.

In addition, the texture data update unit 103 sets the texture range bottom information that matches the texture range bottom information of the set in the set of the difference texture information and the texture range bottom information corresponding to each of the texture information. Search from the texture master table.
Then, the texture data update unit 103 writes the address where the texture identification information and the texture image data are written in the texture master table of the map data storage unit 105 in association with the searched texture range bottom information. The texture master table is updated.
The texture data update unit 103 additionally writes and stores texture identification information and texture range information in the texture information written in the texture master table of the map data storage unit 105 in the texture matrix table of the map data storage unit 105. Perform update processing.

Step S12:
Next, the requested area selection unit 101 writes the three-dimensional information of the difference from the vehicle 200_A into the area corresponding to the vehicle 200_A in the area matrix table of the map data storage unit 105, and updates the area matrix table. I do.

Step S13:
Next, the display image creation unit 104 creates the overhead image shown in FIG. 11 using the texture matrix and the texture master table in the map data storage unit 105.

Step S14:
Next, as shown in FIG. 11 described above, the image display unit 106 displays an overhead view of a height map to which a texture image, an image showing contour lines, and an overhead image of the vehicle 200_A are pasted.

As described above, in the present embodiment, the three-dimensional information and texture information individually acquired by a plurality of vehicles are integrated in the map data storage unit 105 in the information integration apparatus 100 and used in common by the plurality of vehicles. It is said.
For this reason, according to the present embodiment, the three-dimensional information and texture information acquired by one of the vehicles and transmitted to the information integration device 100 are transmitted to the information integration device 100 by another vehicle. There is no need to do it.
Therefore, according to this embodiment, since the transmission / reception of the overlapping 3D information and texture information between the information integration apparatus 100 and each vehicle is reduced, the amount of communication data between the information integration apparatus 100 and each vehicle is reduced. Can be reduced.

<Second Embodiment>
The second embodiment of the present invention will be described below with reference to the drawings. FIG. 13 is a schematic block diagram showing a configuration example of a travel control system according to the second embodiment of the present invention.
The second embodiment shown in FIG. 13 is similar to the traveling control system of the first embodiment, such as a plurality of moving bodies (vehicles, land drones, etc.), such as vehicles 200_A, 200_B, 200_C,. And an information integration device 100 that performs the travel control of each vehicle by remote control. In FIG. 13, the same components as those in the first embodiment are denoted by the same reference numerals, description thereof is omitted, and the configurations and operations different from those in the first embodiment will be described below.

The present embodiment is different from the first embodiment in that one of a plurality of vehicles, for example, the vehicle 200_A, has a function of collecting vehicle information (texture information and three-dimensional information). is there. Then, by transmitting the vehicle information aggregated by the vehicle 200_A to the information integration apparatus 100, in this embodiment, the amount of data transmitted and received between each vehicle and the information integration apparatus 100 is compared with that of the first embodiment. This is further reduced.
Each of the map data storage unit 105_A of the vehicle 200_A and the map data storage unit 105 of the information integration device 100 includes a 3D map master table, a texture master table, and a texture matrix table in which the same data is stored. Yes. Here, an area matrix table is stored in the map data storage unit 105_A in order to manage the three-dimensional information that the vehicle_200A has in each vehicle. On the other hand, unlike the first embodiment, the map data storage unit 105 is not provided with an area matrix table because it does not manage the three-dimensional information of each vehicle.

For this reason, in this embodiment, since the information integration apparatus 100 does not control acquisition of vehicle information, a request area selection part becomes unnecessary.
On the other hand, in order to control acquisition of vehicle information, the vehicle 200_A includes a request area selection unit 101_A, a 3D information update unit 102_A, a texture data update unit 103_A, and a map data storage unit 105_A in addition to the configuration of the first embodiment. Is newly provided. Each of these request area selection unit 101_A, 3D information update unit 102_A, texture data update unit 103_A, and map data storage unit 105_A is respectively requested area selection unit 101, 3D information update unit 102, texture data update in the first embodiment. The configuration is the same as that of the unit 103 and the map data storage unit 105, and the same processing is performed. Each of the vehicles 200_B, 200_C,... Has the same configuration as the vehicle 200_A in the first embodiment.

The requested area selection unit 101_A uses each of the 3D map master table, the texture master table, and the area matrix table in the map data storage unit 105_A to generate 3D information and requested texture information to be output to each vehicle including itself. , Each is added to the information request information and output. Here, when supplying the information request signal to the vehicle 200_A, the vehicle 200_A directly outputs the three-dimensional information and the requested texture information to each unit without using the data transmission / reception unit 206. On the other hand, when supplying the information request signal to other vehicles, the vehicle 200_A transmits the three-dimensional information and the requested texture information to each vehicle via the data transmission / reception unit 206.
Further, after receiving this information request information, the three-dimensional information and texture information acquisition process in each vehicle, and the difference three-dimensional information and difference information to be transmitted to the vehicle 200_A from the acquired three-dimensional information and texture information. The texture information extraction process is the same as in the first embodiment.

The 3D information update unit 102_A additionally writes the three-dimensional information of the difference supplied from each vehicle including itself to the 3D map master table of the map data storage unit 105_A corresponding to the information request information. This 3D map master table is updated.
The texture data update unit 103_A writes additional data based on the difference texture information to the texture master table and the texture matrix table of the map data storage unit 105_A, and updates the texture master table and the texture matrix table.
The requested area selection unit 101_A additionally writes the three-dimensional information transmitted to each vehicle including itself and the difference three-dimensional information supplied from each vehicle to the area matrix table of the map data storage unit 105_A. The area matrix table is updated.

  Next, vehicle information acquisition processing in the travel control system according to the second embodiment of the present invention will be described with reference to FIGS. 13 and 14. FIG. 14 is a flowchart showing an operation example of travel information acquisition processing in the travel control system according to the second embodiment of the present invention. In the present embodiment, the following travel control process is repeatedly performed in a preset cycle. In the following, an example of processing in which vehicle information of each vehicle is acquired and accumulated is 200_A, and the vehicle 200_A acquires vehicle information from the vehicle 200_B will be described as an example. In addition, the vehicle 200_A similarly performs the process described below between each of the vehicles 200_B, 200_C,..., Other than the vehicle 200_B, and the information integration device 100.

Step S21:
In the vehicle 200_A, the request area selection unit 101_A estimates the traveling direction of the vehicle 200_B from the traveling direction included in the position information of the vehicle 200_B that is periodically transmitted from the vehicle 200_B.
Then, the request area selection unit 101_A extracts the three-dimensional information in the traveling direction of the vehicle 200_B from the 3D map master table stored in the map data storage unit 105_A.
Here, for example, the texture information and the three-dimensional information that can be acquired by the travel information acquisition unit 201 previously installed in each vehicle have an angle with respect to the traveling direction of the vehicle as in the first embodiment. You may set it. In this case, the request area selection unit 101_A is included in this range based on the current position and traveling direction of the vehicle 200_B and the above-described acquirable area from the 3D map master table stored in the map data storage unit 105_A. Dimension information is extracted as transmission area information.
Further, the requested area selection unit 101_A writes and stores the three-dimensional information included in the transmission region information for the vehicle 200_B in the region corresponding to the vehicle 200_B in the area matrix table in the map data storage unit 105_A, and updates the area matrix table. I do.

Step S22:
Next, in the vehicle 200_A, the request area selection unit 101_A extracts texture range bottom information in which the texture identification information is not stored correspondingly from the texture master table stored in the map data storage unit 105_A.
Then, the requested area selection unit 101_A extracts the texture range bottom information included in the transmission area described above from the extracted texture range bottom information, and uses the extracted texture range bottom information as requested texture information.

Step S23:
Next, in the vehicle 200_A, the request area selection unit 101_A transmits the extracted transmission area information and request texture information to the vehicle 200_B via the data transmission / reception unit 107 as information request information.

Step S24:
In the vehicle 200_B, the data transmission / reception unit 206 receives the information request signal from the vehicle 200_A, and supplies the received information request signal to the travel information synthesis unit 202 and the travel information difference extraction unit 203.

Step S25:
Next, in the vehicle 200_B, the traveling information combining unit 202 combines the three-dimensional information supplied from the data transmitting / receiving unit 206 with the three-dimensional information already stored in the storage unit 207.
Then, the travel information synthesis unit 202 sequentially writes the three-dimensional information, texture range bottom information, and texture information newly acquired by the travel information acquisition unit 201 to the storage unit 207 and temporarily accumulates them.

Step S26:
Next, in the vehicle 200_B, the travel information difference extraction unit 203 compares the three-dimensional information stored in the storage unit 207 with the three-dimensional information newly acquired by the travel information acquisition unit 201.
Then, the travel information difference extraction unit 203 extracts 3D information not included in the 3D information stored in the storage unit 207 from the 3D information newly acquired by the travel information acquisition unit 201, Let it be three-dimensional information.

Step S27:
Next, in the vehicle 200 </ b> _B, the travel information difference extraction unit 203 compares the texture range bottom information in the requested texture information with the texture range bottom information stored in the storage unit 207.
Then, the travel information difference extraction unit 203 extracts the texture range bottom information that is not included in the requested texture information from the texture range bottom information stored in the storage unit 207, and sets the difference as the texture range bottom information of the difference.
Further, the travel information difference extraction unit 203 reads texture information corresponding to the difference texture range bottom information from the storage unit 207 as difference texture information.

Step S28:
Next, in the vehicle 200_B, the travel information difference extraction unit 203 uses the extracted difference three-dimensional information and the set of the difference texture information and the texture range bottom information corresponding to each of the texture information to the vehicle 200_A. The data is transmitted via the data transmission / reception unit 206.

Step S29:
Next, in the vehicle 200_A, the data transmitting / receiving unit 107 receives the extracted difference three-dimensional information and the set of the difference texture information and the texture range bottom information corresponding to each of the texture information from the vehicle 200_B.
Then, the data transmitting / receiving unit 107 updates the received three-dimensional information of the extracted difference and the set of the texture information of the difference and the texture range bottom information corresponding to each of the texture information to the request area selecting unit 101_A, 3D information update To the unit 102_A and the texture data update unit 103_A.

Step S30:
Next, in the vehicle 200_A, the 3D information update unit 102_A additionally writes the difference 3D information supplied from the vehicle 200_B to the 3D map master table of the map data storage unit 105_A, and this 3D map master table Update processing is performed.

Step S31:
Next, in the vehicle 200_A, the texture data update unit 103_A additionally writes the texture range base information included in the difference three-dimensional information to the texture master table of the map data storage unit 105_A.
Then, the texture data update unit 103_A writes the texture image data in the difference texture information to the texture storage area of the map data storage unit 105_A, and the texture identification information of the texture and the texture image data written therein The address of the area is stored internally.

Further, in the vehicle 200_A, the texture data update unit 103_A maps the texture range bottom information that matches the texture range bottom information of this set in the set of the difference texture information and the texture range bottom information corresponding to each of the texture information. Search from the texture master table of the data storage unit 105_A.
Then, the texture data update unit 103_A writes the address at which the texture identification information and the texture image data are written in the texture master table of the map data storage unit 105_A in association with the searched texture range bottom information. The texture master table is updated.
The texture data updating unit 103_A additionally writes and stores texture identification information and texture range information in the texture information written in the texture master table of the map data storage unit 105_A in the texture matrix table of the map data storage unit 105_A. Perform update processing.

Step S32:
Next, in the vehicle 200_A, the requested area selection unit 101_A writes the three-dimensional information of the difference from the vehicle 200_B in the area corresponding to the vehicle 200_B in the area matrix table of the map data storage unit 105_A. Update processing is performed.

Step S33:
Next, in the vehicle 200_A, the travel information difference extraction unit 203 sends the extracted three-dimensional information of the difference, the difference texture information, and the set of the texture range bottom information corresponding to each of the texture information to the information integration device 100. On the other hand, the data is transmitted via the data transmission / reception unit 206.

Step S34:
Next, in the information integration apparatus 100, the data transmitting / receiving unit 107 receives the extracted difference three-dimensional information and the set of the difference texture information and the texture range bottom information corresponding to each of the texture information from the vehicle 200_A. .
Then, the data transmitting / receiving unit 107 converts the received extracted three-dimensional information of the difference, the texture information of the difference and the set of the texture range bottom information corresponding to each of the texture information, the 3D information update unit 102 and the texture data update Supplied to the unit 103_A.

Step S35:
Next, in the information integration device 100, the 3D information update unit 102 additionally writes the difference 3D information supplied from the vehicle 200_A to the 3D map master table of the map data storage unit 105, and this 3D map. Update the master table.

Step S36:
Next, in the information integration device 100, the texture data update unit 103 additionally writes the texture range base information included in the difference three-dimensional information to the texture master table of the map data storage unit 105.
Then, the texture data update unit 103 writes the texture image data in the difference texture information in the texture storage area of the map data storage unit 105, and the texture identification information of the texture and the texture image data written therein. The address of the area is stored internally.

Further, in the vehicle 200_A, the texture data update unit 103_A maps the texture range bottom information that matches the texture range bottom information of this set in the set of the difference texture information and the texture range bottom information corresponding to each of the texture information. Search from the texture master table of the data storage unit 105_A.
Then, the texture data update unit 103_A writes the address at which the texture identification information and the texture image data are written in the texture master table of the map data storage unit 105_A in association with the searched texture range bottom information. The texture master table is updated.
The texture data updating unit 103_A additionally writes and stores texture identification information and texture range information in the texture information written in the texture master table of the map data storage unit 105_A in the texture matrix table of the map data storage unit 105_A. Perform update processing.

Step S37:
Next, in the information integration apparatus 100, the display image creation unit 104 creates the overhead image shown in FIG. 11 using the texture matrix and the texture master table in the map data storage unit 105.

Step S38:
Next, in the information processing integrated device 100, as shown in FIG. 11 described above, the image display unit 106 is a height map in which a texture image, an image showing contour lines, and an overhead image of the vehicle 200_B are pasted. Is displayed (similar to other vehicles including the vehicle 200_A).

As described above, in the present embodiment, the three-dimensional information and texture information acquired individually by a plurality of vehicles are temporarily accumulated in the map data storage unit 105_A in the vehicle 200_A in the plurality of vehicles, and the accumulated data is collected. Each time is updated, only the updated vehicle data (difference three-dimensional information and difference texture information) is transmitted to the information integration device 100 and used for traveling control of a plurality of vehicles.
For this reason, according to this embodiment, since any vehicle acquires and accumulate | stores the vehicle information of each vehicle, and transmits with respect to the information integration apparatus 100, each vehicle overlaps three-dimensional information and texture information. Thus, the information is not transmitted to the information integration apparatus 100.

Therefore, according to this embodiment, since the transmission / reception of the overlapping 3D information and texture information between the information integration apparatus 100 and each vehicle is reduced, the amount of communication data between the information integration apparatus 100 and each vehicle is reduced. Can be reduced.
That is, according to the present embodiment, by transmitting the vehicle information aggregated by the vehicle 200_A to the information integration device 100, the amount of data transmitted and received between each vehicle and the information integration device 100 can be reduced to the first embodiment. It is further reduced in comparison.

In addition, according to the present embodiment, even when communication between each vehicle and the information integration device 100 cannot be performed due to the surrounding environment, the three-dimensional information can be shared between the vehicles, and thus autonomous traveling is performed. At this time, compared with the first embodiment, the range in which each vehicle can autonomously travel can be expanded.
Here, in the travel control system of the present embodiment, a vehicle information integration function for acquiring vehicle information of each vehicle in the vehicle 200_A is provided for a plurality or all of the vehicles, rather than one of the plurality of vehicles, so that the communication status or failure For example, the vehicle that activates the vehicle information accumulation function may be changed sequentially.

  1 for realizing the functions of the respective parts of each vehicle in FIG. 1 and the functions of the respective parts of the information integrating device 100, or the functions of the respective parts of the respective vehicles in FIG. The program may be recorded on a computer-readable recording medium, the program recorded on the recording medium may be read into a computer system, and executed to control each vehicle. Here, the “computer system” includes an OS and hardware such as peripheral devices.

Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used.
The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory in a computer system serving as a server or a client in that case, and a program that holds a program for a certain period of time are also included. The program may be a program for realizing a part of the functions described above, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes design and the like within a scope not departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 100 ... Information integration apparatus 101,101_A ... Request area selection part 102,102_A ... 3D information update part 103,103_A ... Texture data update part 104 ... Display image creation part 105,105_A ... Map data storage part 106 ... Image display part 107, 206 ... Data transmission / reception unit 108 ... Image storage unit 200_A, 200_B, 200_C ... Vehicle 201 ... Running information acquisition unit 202 ... Running information composition unit 203 ... Running information difference extraction unit 204 ... Running control unit 205 ... Position information acquisition unit 207 ... Storage 208: Autonomous control unit 209 ... Extraction unit 210 ... Extraction unit 2011 ... Imaging unit 2012 ... Object detection unit

Claims (8)

A traveling control system that performs traveling control of a plurality of vehicles.
A travel information acquisition unit that is provided in each of the vehicles and acquires first vehicle information indicating a surrounding travel environment according to the travel position of the vehicle;
A map data storage unit for storing the second car both information used in common for the plurality of vehicles,
A request area selection unit that transmits third vehicle information that is vehicle information of a region in the traveling direction of each of the vehicles in the second vehicle information to each of the plurality of vehicles;
A travel information difference extraction that is provided in each of the vehicles, compares the first vehicle information with the third vehicle information, and extracts differential vehicle information that is a difference between the first vehicle information and the third vehicle information. And
An information update unit that adds the difference vehicle information to the second vehicle information and updates the second vehicle information. Each of the first vehicle information, the second vehicle information, and the third vehicle information is associated with three-dimensional information indicating the position and height of a three-dimensional object at each coordinate in a map traveled by the vehicle, and the three-dimensional information. And texture information indicating data information of the image of the three-dimensional object,
The travel information acquisition unit measures the position and height of the three-dimensional object to generate the three-dimensional information, captures an image of the three-dimensional object, and generates the texture information. The travel control system according to. The request area selection unit
The three-dimensional information in the traveling direction of each vehicle and the requested texture information indicating the three-dimensional information without the texture information from the three-dimensional information are extracted from the map data storage unit, and are used as the third vehicle information. The traveling control system according to claim 2, wherein the traveling control system transmits to the vehicle. The travel information difference extraction unit is
The three-dimensional information and texture information in the first vehicle information acquired by the travel information acquisition unit is compared with the three-dimensional information and texture information in the third vehicle information, and is not included in the third vehicle information. The three-dimensional information and texture information in 1st vehicle information are extracted as said difference vehicle information. The travel control system of Claim 2 or Claim 3 characterized by the above-mentioned. The travel information acquisition unit
The travel control system according to any one of claims 2 to 4, wherein the coordinates that exceed a height threshold at which the vehicle cannot travel are extracted as three-dimensional information of the three-dimensional object. The said request | requirement area selection part, the said information update part, and the said map data memory | storage part are provided in the information integration apparatus which integrates and controls these several vehicles. Any one of Claims 1-5 characterized by the above-mentioned. The travel control system according to claim 1. The request area selection unit, the information update unit, and the map data storage unit are provided in the vehicle,
The information integration device that integrates and controls the plurality of vehicles has another information update unit and another map data storage unit,
The information update unit transmits the difference vehicle information to the information integration device,
The other information update unit
The travel control system according to any one of claims 1 to 6 , wherein the second vehicle information stored in the other map data storage unit is updated with the difference vehicle information. A method of operating a traveling control system that performs traveling control of a plurality of vehicles,
A travel information acquisition process in which a travel information acquisition unit provided in each of the vehicles acquires first vehicle information indicating a surrounding travel environment according to the travel position of the vehicle;
The request area selection unit is configured to obtain third vehicle information that is vehicle information of a region in the traveling direction of each of the vehicles in second vehicle information that is commonly used for the plurality of vehicles stored in the map data storage unit. A request area selection process to be transmitted to each of the vehicles;
A travel information difference extraction that is provided in each of the vehicles, compares the first vehicle information with the third vehicle information, and extracts differential vehicle information that is a difference between the first vehicle information and the third vehicle information. Process ,
An information update process of adding the difference vehicle information to the second vehicle information in the map data storage unit and updating the second vehicle information.

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