JP7331399B2 - Sensor facility device and its control method, in-vehicle device and its control method, and traffic support system - Google Patents

Description

This disclosure relates to a sensor facility device and its control method, an in-vehicle device and its control method, and a traffic support system.

When operating a vehicle, it is necessary to pay sufficient attention not only to the movement of the own vehicle but also to the movement of other vehicles. Particular attention should be paid when pedestrians are present in addition to vehicles. Conventionally, as shown in FIG. 1, a moving object existing in such a real space 50 is detected by a large number of sensors such as LiDAR and cameras, and its attributes (adult, child, vehicle, motorcycle, etc.) are estimated, There is a technique for creating a traffic situation bird's-eye view map 52 using high-precision road map data prepared in advance in virtual space.

In order to create such a traffic situation bird's-eye view map 52, sensor data, which are the outputs of a large number of sensors, are collected from vehicles equipped with these sensors and infrastructure sensor equipment such as cameras installed on the roadside. need to collect. For that purpose, it is conceivable to use the fifth generation mobile communication system (so-called “5G”).

Furthermore, in order to increase the reliability of the traffic situation bird's-eye view map 52, it is necessary to integrate the collected data. Quite difficult due to performance differences. A technology for integrating data collected from a plurality of sensors with high reliability is disclosed in Patent Document 1 listed below.

FIG. 2 shows a schematic configuration of the traffic support system disclosed in Patent Document 1. As shown in FIG. Referring to FIG. 2, the conventional traffic support system communicates with, for example, vehicles 82 and 84, infrastructure sensor equipment 80, mobile telephones carried by pedestrians, etc., through a base station 72, and determines traffic conditions. and an edge server 70 that is a traffic support server that performs processing for building and maintaining the bird's-eye view map 52 . Both the vehicle 82 and the vehicle 84 are equipped with LiDAR (Light Detection and Ranging) 92 and 94, which are ranging sensors that scan the surroundings and detect the distance to objects existing in the surroundings, and various sensors (not shown). ing. The in-vehicle devices of the vehicles 82 and 84 upload sensor data from various sensors installed in the vehicles to the edge server 70 via wireless communication with the base station 72 . In conventional traffic assistance systems, infrastructure sensor equipment 80 at fixed locations also includes sensors such as LiDARs and cameras. For example, the LiDAR of the infrastructure sensor equipment 80 always scans the surroundings and detects the distance to the surrounding objects, the camera of the infrastructure sensor equipment 80 scans the surroundings to acquire images, and the base station 72 wirelessly in real time. is uploaded as sensor data to the edge server 70 via communication with .

The edge server 70 intensively analyzes the sensor information transmitted in real time from the vehicles 82 and 84 and the infrastructure sensor equipment 80 in its management area in a constant cycle, and analyzes the moving objects such as vehicles and people. Its attribute, position, moving speed, etc. are detected. The edge server 70 distributes the information about the moving object detected in this manner as driving support information to the on-vehicle devices and the like of the vehicle within the management area via the base station 72 and the like by wireless communication. The edge server 70 repeats this analysis processing and distribution of the driving support information at regular intervals. As a result, the in-vehicle devices of the vehicles existing within the management area of the edge server 70 can use the traffic assistance information on nearby moving bodies almost in real time.

JP 2018-018284 A

In the invention disclosed in Patent Document 1, the edge server 70 centrally uploads sensor data from on-vehicle devices and infrastructure sensor equipment within its management area. The edge server 70 intensively analyzes the sensor data and distributes traffic support information based on the analysis results to on-vehicle devices and the like within the management area. As a result, there is an effect that each in-vehicle device can use traffic assistance information that contributes to traffic safety.

However, since the edge server needs to process sensor data from a large number of devices, it requires high performance and is expensive. Furthermore, when there are almost no base stations for communication with the edge server, such as in mountainous areas, there is also the problem that the vehicle cannot receive traffic assistance from the edge server. In addition, there is also the problem that traffic assistance cannot be received in areas that are not covered by the edge server's traffic assistance target range.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a sensor facility device and its control method, an in-vehicle device and its control method, which can use traffic support information at low cost even in an area where it is difficult to communicate with a server that is the center of a traffic support system. and to provide a traffic support system.
Another object of the present invention is to provide a sensor facility device, a control method thereof, an in-vehicle device, and a control method thereof, which can utilize traffic support information at low cost even in areas where traffic support is not provided by a server that is the center of a traffic support system. It is to provide a method as well as a traffic assistance system.

A sensor facility device according to a first aspect of the present disclosure includes a sensor, a storage device that stores sensor data output by the sensor, a wireless communication device, and a search for searching for a transmission destination of the sensor data via the wireless communication device. and a transmitting device for transmitting sensor data stored in the storage device to the destination via the wireless communication device in response to the search device receiving a response from the destination.

An in-vehicle device according to a second aspect of the present disclosure includes a wireless communication device, a data processing device, and in response to receiving communication for searching for a transmission destination of sensor data via the wireless communication device, received A determination device that determines whether or not to receive sensor data based on the content of communication and the specifications and state of the data processing device, a process of returning a response to communication according to the determination by the determination device, and a communication After the response device returns a response, the sensor data received by the wireless communication device from the transmission source of the communication is processed by the data processing device. and a traffic assistance device that generates and outputs information.

A traffic support system according to a third aspect of the present disclosure is a traffic support system including a sensor equipment and an in-vehicle device, wherein the sensor equipment includes a sensor and a storage device that stores sensor data output by the sensor. a wireless communication device, a search device that searches for a sensor data transmission destination via the wireless communication device, and a sensor stored in a storage device in response to the search device receiving a response from the transmission destination a transmitting device that transmits data to the destination via a wireless communication device, and the in-vehicle device searches for a sensor data transmission destination via the wireless communication device, the data processing device, and the wireless communication device of the in-vehicle device. a determination device for determining whether or not to receive sensor data based on the content of the received communication and the specifications and state of the data processing device in response to receiving the communication to receive the sensor data; a response device for selectively executing a process of returning a response to communication via a wireless communication device of the in-vehicle device and a process of not responding to communication according to the determination; a traffic assistance device for generating and outputting traffic assistance information by causing a data processing device to process sensor data received by the wireless communication device from a transmission source of communication.

A method for controlling a sensor equipment device according to a fourth aspect of the present disclosure is a method for controlling a sensor equipment device by a computer connected to a wireless communication device, comprising: obtaining sensor data from the sensor; However, a step of storing the sensor data in a storage device, a step of searching for a destination to which the sensor data is to be sent via the wireless communication device, and a predetermined step after the searching step of the computer using the wireless communication device Attempting to receive a response from a destination for a period of time; and sensor data stored in a storage device via a wireless communication device to the destination by the computer in response to receiving the response in the attempting step. and sending the

A computer according to a fifth aspect of the present disclosure is a control method for an in-vehicle device by a computer connected to a wireless communication device, wherein the wireless communication device responds to receiving communication for searching for a destination of sensor data. Then, the computer determines whether or not to receive the sensor data based on the content of the received communication and the specifications and state of the data processing device of the on-vehicle device, and according to the determination by the determination device a step of selectively executing a process of returning a response to communication and a process of not responding to communication; and causing the computer to process the data in a data processing device to generate and output traffic assistance information.

As described above, according to the present disclosure, even in areas where it is difficult to communicate with the server that is the center of the traffic support system, a sensor facility device that can use traffic support information at no cost, a control method thereof, an in-vehicle device, and its control A method as well as a traffic assistance system can be provided.

It should be noted that the present disclosure can be realized not only as a device having such a characteristic processing unit, but also as a method in which the characteristic processing described above is performed as steps, or as a method that causes a computer to execute the steps. It can be realized as a program for Moreover, it can be realized as a semiconductor integrated circuit that realizes part or all of the device, or as a system including these devices.

FIG. 1 is a diagram schematically showing the relationship between actual road conditions and a road condition bird's-eye view map. FIG. 2 is a diagram showing a schematic configuration of a conventional traffic support system using an edge server for traffic support. FIG. 3 is a schematic diagram showing a schematic configuration of a system according to the first embodiment of the present disclosure. FIG. 4 is a diagram showing an example of a communication sequence between the infrastructure sensor equipment and the vehicle in the system according to the first embodiment of the present disclosure. FIG. 5 is a diagram schematically showing the configuration of a vehicle used in the system according to the first embodiment of the present disclosure; FIG. FIG. 6 is a block diagram showing the hardware configuration of the in-vehicle device mounted on the vehicle shown in FIG. FIG. 7 is a diagram schematically showing the configuration of an infrastructure sensor equipment provided on the roadside, which is used in the system according to the first embodiment of the present disclosure. FIG. 8 is a block diagram schematically showing the hardware configuration of the infrastructure sensor equipment shown in FIG. 9 is a flow chart showing the control structure of a program for transmitting sensor data, which is executed by the microprocessor shown in FIG. 8. FIG. 10 is a diagram showing a schematic configuration of a hello packet transmitted by the infrastructure sensor equipment shown in FIG. 7. FIG. FIG. 11 is a flow chart showing the control structure of a program for uploading sensor data executed by the microprocessor shown in FIG. FIG. 12 is a diagram showing an environment in which the system according to the second embodiment of the present disclosure is used. FIG. 13 is a block diagram showing the relationship between the in-vehicle device and other devices used in the second embodiment. FIG. 14 is a flowchart showing a control structure of a program for predictive acquisition of an analysis application of sensor data executed by the microprocessor of the in-vehicle device according to the second embodiment.

[Description of the embodiment of the present disclosure]
In the following description and drawings, identical parts are provided with identical reference numerals. Therefore, detailed description thereof will not be repeated. At least part of the following embodiments may be combined arbitrarily.

(1) A sensor facility device according to a first aspect of the present disclosure includes a sensor, a storage device that stores sensor data output by the sensor, a wireless communication device, and a destination of the sensor data via the wireless communication device. A searching device for searching, and a transmitting device for transmitting sensor data stored in a storage device to the destination via a wireless communication device in response to the searching device receiving a response from the destination. .

When the search device finds the destination of the sensor data, the transmitter of the sensor equipment device transmits the sensor data to the destination. At the destination device, the sensor data can be used for traffic assistance. Even if there is no server that aggregates and analyzes sensor data, devices installed in vehicles that have entered an area where wireless communication with the sensor equipment is possible can retrieve sensor data from the sensor equipment without incurring costs. You can use traffic support information using

(2) Preferably, the search device transmits a search packet for searching for a destination via the communication device, and the search packet includes at least a header including information indicating that the packet is a search packet; It contains data format information for the data and specification information required for the processor to process the sensor data.

When receiving the search packet, an in-vehicle device or the like installed in a vehicle that has entered an area capable of wireless communication with the sensor equipment device can determine from the header that the packet is the search packet. Further, data format information of the sensor data and specification information required for the processor for processing the sensor data can also be known from the search packet. Therefore, the in-vehicle device or the like can determine whether or not it can process the sensor data. If processing is not possible, useless communication will not occur unless a response is made to the search packet. If processing is possible, sensor data can be received by responding to the search packet, and traffic assistance information can be used.

(3) More preferably, the search device includes a search repeater that repeatedly searches for the destination by sending search packets, and the sensor equipment device further includes: A transmission terminating device for terminating transmission of sensor data by the transmitting device in response to not receiving a response to any of the search packets transmitted by the search repeater within a predetermined time after initiation.

When the in-vehicle device or the like responds to the search packet, sensor data is transmitted from the sensor equipment to the in-vehicle device or the like. Since this process is repeated, the vehicle-mounted device can use the latest sensor data for traffic support information. For example, when an in-vehicle device or the like leaves an area in which wireless communication with the sensor equipment is possible and the vehicle stops responding to the search packet, the sensor equipment automatically terminates the transmission of the sensor data. Useless communication is not performed, and sensor data can be used effectively.

(4) An in-vehicle device according to a second aspect of the present disclosure includes a wireless communication device, a data processing device, and in response to receiving communication for searching for a sensor data transmission destination via the wireless communication device, a determination device that determines whether or not to receive sensor data based on the content of the received communication and the specifications and status of the data processing device; and a process of returning a response to the communication according to the determination made by the determination device. , a response device that selectively executes processing that does not respond to communication, and a data processing device that processes sensor data received by the wireless communication device from the communication source after the response device returns a response. , and a traffic assistance device that generates and outputs traffic assistance information.

When the determination device receives the communication for searching for the destination of the sensor data, the determination device determines whether or not to receive the sensor data based on the content of the communication and the specification and state of the data processing device. If the sensor data is not received, the sensor data is not transmitted or received by not responding to the communication, and unnecessary communication does not occur. When it is determined that sensor data is received, the sensor data is received from the outside by responding to the communication, and the sensor data is processed by the data processing device to generate traffic support information, which can be used for driving support. . Even if there is no high-performance device such as a server, if there is a device that provides sensor data and an in-vehicle device, the sensor data obtained by the sensor of the device can be used near the device that provides the sensor data. Traffic assistance information is available at low cost.

(5) Preferably, the communication for searching for the destination of the sensor data is a search packet for searching for the destination of the sensor data, and the search packet has a header including at least information indicating that the packet is a search packet. , data format information of the sensor data, and specification information specifying specifications required for a processing device for processing the sensor data, and the determination device, based on the data format information of the sensor data, A processing feasibility determination device for determining whether a data processing device can process sensor data in a data format, a specification sufficiency determination device for determining whether a data processing device satisfies specifications, a processing feasibility determination device and specifications a reception possibility determination device that determines whether or not to receive the sensor data according to whether all the determinations by the sufficiency determination device are affirmative or not.

When the in-vehicle device receives the search packet, it can determine from the header that the packet is the search packet. Further, data format information of the sensor data and specification information required for the processor for processing the sensor data can also be known from the search packet. Therefore, the in-vehicle device can determine whether or not its own data processing device complies with the specifications for processing sensor data in that data format. If the data processing device cannot process the sensor data, useless communication will not occur unless it responds to the search packet. Also, if the data processing device can process sensor data, the in-vehicle device can use the traffic assistance information by receiving the sensor data in response to the search packet and processing it in the data processing device.

(6) More preferably, the data processing device includes a program storage device that stores one or more computer programs (hereinafter referred to as "programs") and any one of the programs stored in the program storage device. and an output device for outputting the results of processing by the central processing unit, and one or more programs each for the central processing unit to process sensor data in a predetermined data format. It's a program.

A program storage device of the data processing device stores a program. Each program is for processing sensor data in a given data format. Therefore, whether or not a data processing device can process sensor data in a certain data format can be determined by checking whether a program capable of processing sensor data in that data format is stored in the program storage device. Also, in order to process sensor data in a certain data format, a program for processing sensor data in that data format may be stored in the program storage device.

(7) More preferably, the process propriety determination device includes a program determination device that determines whether a program for processing sensor data in a data format specified by the data format information is stored in the program storage device; and a format determination device that determines whether or not the data processing device can process the sensor data in the data format specified by the data format information according to the determination by the program determination device.

Whether or not the data processing device can process the sensor data in the data format specified by the data format information is determined by the program determination device as to whether or not a program capable of processing the sensor data in the data format is stored in the program storage device. It can be determined by inspection. According to the determination, the format determination device can determine whether or not the data processing device can process the sensor data in the data format specified by the data format information. A simple criterion can be used to determine whether the sensor data can be processed, and advanced processing is not required.

(8) Preferably, the process propriety determination device is a program storage determination device that determines whether or not a program suitable for processing the sensor data in the data format specified by the data format information is stored in the program storage device. Then, in response to the negative determination by the program storage determination device, it is determined whether or not an appropriate program can be immediately obtained from the outside via the wireless communication device, and if it is available, the program is obtained. Whether the data processing device has the ability to process the sensor data in the data format specified by the data format information according to whether or not the program acquisition device stored in the program storage device and the appropriate program has been acquired by the program acquisition device. and a processing capability determination device for determining whether or not.

Whether or not the data processing device can process the sensor data in the data format specified by the data format information is determined by determining whether a program capable of processing the sensor data in the data format is stored in the program storage device. can be determined by examining If it is determined that the necessary program is not stored in the program storage device, the program acquisition device determines whether or not the appropriate program can be immediately acquired from the outside. If the program is available, the program can be obtained and stored in the program storage device so that the data processing device can process the sensor data in the data format specified by the data format information. If the required program cannot be obtained, the data processor cannot process the sensor data in the data format specified by the data format information. The processing capability determination device makes these determinations to determine whether or not to receive sensor data. If the required program is not stored in the program storage device, the program is obtained and stored in the program storage device, if possible. The possibility of processing sensor data in many data formats is increased, and the judgment for that purpose can also be made based on simple criteria. As a result, sensor data can be used even in areas where it is difficult to communicate with a server that provides traffic support, and the cost required for this can be low.

(9) More preferably, the in-vehicle device further includes a planned travel route specifying device that specifies a planned travel route of the vehicle equipped with the in-vehicle device, and exists along the planned travel route specified by the planned travel route specifying device. a stored program determination device for determining whether or not a program suitable for processing sensor data provided by the sensor equipment is stored in the program storage device; a program acquisition device for acquiring the determined program from the outside and storing it in the program storage device.

When the planned travel route of the vehicle is specified by the planned travel route specifying device, the storage program determination device stores an appropriate program for processing the sensor data provided by the sensor equipment present along the planned travel route. It is determined whether or not it is stored in the storage device. If the appropriate program is not stored in the program storage device, the program acquisition device acquires the program from the outside and stores it in the program storage device. Programs are available for processing sensor data provided by sensor equipment present along a planned travel route prior to actual travel along that route. As a result, even if communication with a server that provides traffic support information is not possible on the planned travel route, traffic support information is generated using sensor data provided by the sensor equipment in areas where communication with the sensor equipment is possible. It is possible to ensure that the vehicle can be operated safely, and the vehicle can be operated safely. The cost required for that purpose is small.

(10) A traffic support system according to a third aspect of the present disclosure is a traffic support system including a sensor equipment and an in-vehicle device, wherein the sensor equipment stores a sensor and sensor data output by the sensor. a wireless communication device; a search device for searching for a destination of sensor data via the wireless communication device; a transmission device for transmitting sensor data to the destination via a wireless communication device, and the in-vehicle device includes a wireless communication device, a data processing device, and the sensor data transmission via the wireless communication device of the in-vehicle device a determination device for determining whether or not to receive sensor data based on the content of the received communication and the specifications and state of the data processing device in response to receiving a communication for searching for a destination; a response device that selectively executes a process of returning a response to communication via a wireless communication device of an in-vehicle device and a process of not responding to communication according to determination by the determination device; and a traffic assistance device for generating and outputting traffic assistance information by causing a data processing device to process sensor data received from a transmission source of communication by a wireless communication device of an in-vehicle device.

A search device of the sensor equipment device searches for a transmission destination of the sensor data via the wireless communication device. When the judgment device of the in-vehicle device receives this communication, it judges whether or not the judgment device of the in-vehicle device receives the sensor data based on the content of the communication and the specification and state of the data processing device of the in-vehicle device. do. When receiving the sensor data, the response device of the in-vehicle device returns a response to this communication. When the search device receives this response, the sensor equipment device has found the destination of the sensor data. Then, the transmitter of the sensor equipment device transmits the sensor data to its destination, that is, the vehicle-mounted device. The in-vehicle device receives sensor data from the sensor equipment and processes the sensor data in the data processing device to generate traffic support information, which can be used for driving support. When it is determined that the sensor data is not to be received, no sensor data is transmitted or received by not responding to the communication, and unnecessary communication does not occur. Even if there is no server that collects and analyzes sensor data, in-vehicle devices installed in vehicles that have entered an area where wireless communication with sensor equipment is possible can use sensor data from sensor equipment. Supporting information is available. Even if there is no high-performance device such as a server for aggregating and processing sensor data from multiple sensor equipment, if there is a sensor equipment and an in-vehicle device, the in-vehicle device can communicate with the sensor equipment. , traffic support information can be used at low cost by using sensor data provided by the sensor equipment.

(11) A method for controlling a sensor equipment device according to a fourth aspect of the present disclosure is a method for controlling a sensor equipment device by a computer connected to a wireless communication device, the computer acquiring sensor data from the sensor. a step of storing the sensor data in the storage device by the computer; a step of searching for a destination to which the sensor data is to be sent via the wireless communication device; and a step of searching by the wireless communication device by the computer. Attempting to receive a response from the destination within a predetermined period of time thereafter, and wirelessly communicating the sensor data stored in the storage device to the destination in response to receiving the response in the attempting step. and transmitting through the device.

When the destination of the sensor data is searched in the searching step and a response is received in the step of trying to receive, the destination of the sensor data has been found. In that case, the sensor data of the sensor equipment is transmitted to its destination via the wireless communication device in the transmitting step. The destination device can use this sensor data for traffic assistance. Even if there is no effective device such as a server that collects and analyzes sensor data, a device installed in a vehicle that has entered an area where wireless communication with the sensor equipment device is possible can be used without cost. Traffic support information using sensor data from equipment can be used.

(12) A computer according to a fifth aspect of the present disclosure is a method of controlling an in-vehicle device by a computer connected to a wireless communication device, wherein the wireless communication device receives communication for searching for a destination of sensor data. In response to this, the computer determines whether or not to receive the sensor data based on the content of the received communication and the specifications and status of the data processing device of the in-vehicle device; a step of selectively executing a process of returning a response to communication and a process of not responding to communication according to the determination; and a step of generating and outputting traffic assistance information by causing the computer to process the received sensor data in a data processing device.

When the wireless communication device receives the communication for searching for the destination of the sensor data, in the determining step, it is determined whether or not to receive the sensor data based on the contents of the communication and the specifications and state of the data processing device. be judged. If the sensor data is not received, the sensor data is not transmitted or received by not responding to the communication in the selectively executed step, and unnecessary communication does not occur. When it is determined that sensor data is to be received, sensor data can be received from the outside by responding to the communication in the selectively executed step. In the receiving step, the received sensor data is processed by the data processing device to generate traffic assistance information, which can be used for driving assistance. Even if there is no high-performance device such as a server, if there is a device that provides sensor data and an in-vehicle device, the sensor data obtained by the sensor of the device can be used near the device that provides the sensor data. Traffic assistance information is available at low cost.

[Detailed description of the embodiment]
<First Embodiment>
<composition>
"overall structure"
Referring to FIG. 3, this embodiment relates to a system for providing traffic assistance on roads 112 through areas where there are no nearby base stations for communication with edge servers. This system includes infrastructure sensor equipment 110 installed at important points such as intersections and three-way intersections of roads 112, and in-vehicle devices (not shown) mounted on vehicles 114 traveling on the roads 112, for example. Both the infrastructure sensor equipment 110 and the in-vehicle equipment of the vehicle 114 cannot communicate with the main part of the traffic assistance system such as the edge server in this area.

Referring to FIG. 4, an example of a communication sequence between infrastructure sensor equipment 110 in this traffic support system and vehicle 114 traveling on road 112 and vehicle 116 traveling in this area after vehicle 114 will first be described. do.

The infrastructure sensor equipment 110 transmits hello packets 130, 132 and the like for searching for a transmission destination of sensor information acquired by the sensors of the infrastructure sensor equipment 110 at regular time intervals. It is assumed that the vehicle 114 enters the wireless communication range of the infrastructure sensor equipment 110 immediately before the infrastructure sensor equipment 110 transmits the hello packet 134 . When the vehicle 114 receives the hello packet 134, the vehicle 114 determines whether or not to receive the sensor data of the infrastructure sensor equipment 110 by performing determination processing as will be described later. When vehicle 114 determines to receive sensor data from infrastructure sensor equipment 110 , vehicle 114 transmits response packet 136 to the hello packet to infrastructure sensor equipment 110 . The infrastructure sensor equipment device 110 transmits a data packet of the sensor data 138 to the vehicle 114 upon receiving this response packet.

, 142, and 144 by such packets, the vehicle 114 does not respond to the hello packet 146 from the infrastructure sensor equipment 110 . This is the case, for example, when the vehicle 114 leaves the area where it can communicate with the infrastructure sensor equipment 110 . Then, the infrastructure sensor equipment device 110 stops transmitting sensor data. The infrastructure sensor equipment 110 repeats sending hello packets 148, . . . , 150 again.

Then, for example, when another vehicle 116 responds to the hello packet, transmission of sensor data is repeatedly performed by communications 152 and 154 between the infrastructure sensor equipment 110 and the vehicle 116 . The same applies hereinafter.

《Vehicle side equipment》
Referring to FIG. 5, in addition to the LiDAR 176, the vehicle 114 includes various sensors such as an in-vehicle camera 174 and a millimeter wave radar 172, and an in-vehicle device for collecting sensor data from these sensors and transmitting it to the outside by wireless communication. 170. The in-vehicle device 170 communicates with the edge server through a base station by wireless communication within an area where communication with the edge server is possible. is waiting to be sent from the outside.

Referring to FIG. 6, in-vehicle device 170 is substantially a processor including computer 180, and serves as a transmission path for data and instructions between microprocessor 200 and each section within microprocessor 200 and computer 180. and bus 210 . The computer 180 further includes a ROM (Read-Only Memory) 202, a RAM (Random Access Memory) 204, a non-volatile auxiliary storage device 206 such as a hard disk or SSD (Solid State Drive), all of which are connected to the bus 210; It includes a wireless communication unit 208 that provides communication with the outside through communication, an input/output interface (I/F) 212, and a voice processing I/F 214 that provides voice interaction with the user.

The in-vehicle device 170 further includes a touch panel 184 connected to the bus 210, a monitor 182 such as a liquid crystal, and various sensors 188 such as various actuators 186 and LiDAR 176 for controlling the vehicle connected to the input/output I/F 212, voice A speaker and microphone 190 connected to the processing I/F 214 and a USB memory 192 connected to the bus 210 can be attached, and data is exchanged between the USB memory 192 and each part of the computer 180. and a semiconductor memory drive 216 . A boot program for the computer 180 and the like are stored in the ROM 202 . RAM 204 is used as a work area for storing programs executed by microprocessor 200 and various variables during processing by microprocessor 200 .

<<Infrastructure sensor equipment 110>>
FIG. 7 shows the configuration of the infrastructure sensor equipment device 110 . Referring to FIG. 7, the infrastructure sensor equipment 110 transmits the image data from the camera 232 and the LiDAR 234, the image data from the camera 232 and the point cloud data from the LiDAR 234 together with the position information of the LiDAR 234 to vehicles passing nearby. of infrastructure sensor equipment 230 .

FIG. 8 shows the hardware configuration of the infrastructure sensor equipment device 230. As shown in FIG. Referring to FIG. 8, infrastructure sensor equipment 230 is substantially a processor including computer 250 . Computer 250 includes a microprocessor 280 and a bus 290 that provides a path for data and instructions between microprocessor 280 and each function within computer 250 . The computer 250 further includes a ROM 282, a RAM 284, a nonvolatile auxiliary storage device 286 such as a hard disk or SSD, and a wireless communication unit 288 that provides communication with the outside by wireless communication, all of which are connected to the bus 290. , an input/output I/F 292 .

Infrastructure sensor equipment 230 further includes various sensors 252 including camera 232 and LiDAR 234 connected to input/output I/F 292 . Auxiliary storage device 286 stores a program for searching for a sensor data transmission destination and transmitting sensor data to the searched transmission destination, and a dedicated program for analyzing sensor data from infrastructure sensor equipment 110. ing.

FIG. 9 shows in flowchart form the control structure of the program stored in the auxiliary storage device 286 of the infrastructure sensor equipment 110 shown in FIG. Referring to FIG. 9, this program consists of step 330 of transmitting a hello packet, and after step 330, it is determined whether or not a response has been received from the vehicle within a predetermined period of time, and the control flow proceeds according to the determination. Step 332 for branching; Step 334 for transmitting sensor data to the vehicle that has sent a response to the hello packet when the determination in step 332 is affirmative; and a step 336 which transfers control to step 330 after sleeping for a period of time.

Microprocessor 280 executes a program for distributing an analysis application program (hereinafter referred to as "analysis application"), which is a computer program for analyzing sensor data, stored in auxiliary storage device 286 in a separate process. are doing. When this process receives a download request for a dedicated analysis application via wireless communication unit 288, microprocessor 280 transmits the analysis application to the other party.

FIG. 10 shows a schematic configuration of a hello packet 360 transmitted by the infrastructure sensor equipment 110 in step 330 of FIG. Note that the configuration of the hello packet is not limited to that shown in FIG.

Referring to FIG. 10, hello packet 360 includes a header 370 consisting of data indicating that this data packet is a hello packet, and the type of sensor data transmitted from infrastructure sensor equipment 110 (point cloud data by LiDAR, image data from a camera, etc.) and its data format; and a field 376 containing required specification information, which is the requested specification information. The required specification information stores information indicating calculation resources (computation capacity or product number of microprocessor, main memory capacity, etc.) and communication band required for the infrastructure sensor equipment 110 to process the sensor data received from the sensor. ing.

FIG. 11 shows the control structure of a program that implements the process of downloading traffic assistance information from the infrastructure sensor equipment 110, executed by the microprocessor 200 of the in-vehicle device 170. As shown in FIG. This program is stored in the auxiliary storage device 206 shown in FIG. Referring to FIG. 11, after starting, this program waits until a hello packet is received from the infrastructure sensor equipment at step 400, and in response to the determination that the hello packet has been received at step 400, the computer Step 402 of confirming the computational resources and communication bandwidth of the computer 180 , and comparing the required specification information stored in the field 376 of the hello packet received in step 400 with the computational resources and communication bandwidth confirmed in step 402 , the computer 180 and a step 404 for determining whether or not the sensor data from the infrastructure sensor equipment 110 can be processed, and returning the control to step 400 when it is determined that the processing is not possible.

The program further checks the format of the sensor data from the infrastructure sensor equipment 110 from the information stored in the field 372 of the hello packet at step 406 when the determination at step 404 is affirmative. Step 408 for determining whether an analysis application for processing formatted sensor data is stored in the auxiliary storage device 206 and branching the flow of control according to the determination; A step 410 of determining whether or not the analysis application can be downloaded from the application server or the infrastructure sensor equipment 110, and if not, returning the control to step 400; downloading 412 from the server or infrastructure sensor equipment 110 and storing in the secondary storage device 206; When the infrastructure sensor equipment 110 is located in an area where there are no base stations, such as mountainous areas, it is difficult to access the application server. Therefore, when an application for analysis does not exist, a dedicated analysis application is normally downloaded from the infrastructure sensor equipment 110 . It should be noted that depending on the type of the infrastructure sensor equipment 110, there may be cases where the analysis application delivery function is not provided. In that case, the vehicle cannot analyze the sensor data from this infrastructure sensor equipment device 110 .

Further, when the determination in step 408 is affirmative or after the process of step 412 is executed, the program further includes step 414 for transmitting a response to the hello packet to the infrastructure sensor equipment 110, and the response transmitted in step 414. is attempted to receive sensor data transmitted from the infrastructure sensor equipment 110, and when received, it is stored in the auxiliary storage device 206; is determined, and if the determination is negative, step 418 returns the control to step 400; to step 400;

When the vehicle-mounted device 170 receives a hello packet from the infrastructure sensor equipment 110 by the program whose control structure is shown in FIG.

<motion>
The system described above operates as follows. 3 and 4, infrastructure sensor equipment 110 accumulates the latest information received from sensors, deletes old information, and transmits hello packets 130, 132, etc. to the surroundings at regular time intervals. repeating the process. If there is no vehicle nearby, the infrastructure sensor equipment 110 repeats this operation (steps 330→332→336→330 in FIG. 9).

Consider immediately before a vehicle (eg, vehicle 114 ) enters an area near infrastructure sensor equipment 110 . Computer 180 in vehicle 114 executes a program whose control structure is shown in FIG. That is, when no hello packet is received, step 400 is repeatedly executed. Assume that vehicle 114 has entered the vicinity of infrastructure sensor equipment 110 and has received, for example, hello packet 134 . The determination at step 400 is then affirmative, and at step 402 computer 180 reads the required specification information stored in field 376 of the hello packet. The computer 180 compares this required specification information with the calculation resources and communication bandwidth of its own microprocessor 200, and determines whether sensor data can be processed (step 404). If its own computational resources do not satisfy the required specifications, or if the available communication band is less than the requested communication band, it is determined that the sensor data cannot be processed (NO in step 404), and control proceeds to step 400. Return and wait for the next hello packet. That is, if processing cannot be performed within the specifications of the microprocessor 200 and the available communication band, the computer 180 ignores the received hello packet and returns no response.

When the determination at step 404 is affirmative, control proceeds to step 406 . At step 406, the data format of the sensor data stored in field 372 of hello packet 360 shown in FIG. 10 is checked. Step 408 determines if the data format can be parsed. This determination is made based on whether or not a dedicated analysis application for processing sensor data in this data format is stored in the auxiliary storage device 206 shown in FIG. If the determination is negative, control proceeds to step 410 to determine whether the required analysis application can be downloaded from the application server or infrastructure sensor equipment 110 . If a download is not possible, computer 180 does nothing and returns control to step 400 . That is, if an application for analyzing sensor data is not stored in auxiliary storage device 206, computer 180 ignores the received hello packet and returns no response.

If the analysis application is downloadable at step 410 , then at step 412 the application is downloaded from the application server or infrastructure sensor equipment 110 and stored in secondary storage device 206 .

When the determination of step 408 is affirmative, and after the processing of step 412 is completed, sensor data from infrastructure sensor equipment 110 can be processed by computer 180 . Computer 180 then sends a response (response packet 136 in FIG. 4) to infrastructure sensor equipment 110 at step 414 .

Referring to FIG. 9 , in the program being executed by infrastructure sensor equipment 110 , the determination at step 332 becomes affirmative when a response to the hello packet is received, and control proceeds to step 334 . At step 334, the latest sensor data from infrastructure sensor equipment 110 (hello packet 130 in FIG. 4) is sent to the vehicle that sent the response.

Next, when the infrastructure sensor equipment device 110 transmits a hello packet, the control of the program running on the computer 180 of the in-vehicle device 170 is performed by referring to FIG. Move along the route 416→418→420→400. As a result, the infrastructure sensor equipment device 110 repeats the transmission of the hello packet and the latest sensor data, and the in-vehicle device 170 repeats the reception and analysis of the sensor data and the processing of driving support.

When the vehicle 114 leaves the area where communication with the infra-sensor equipment 110 is possible, the in-vehicle device 170 no longer receives the hello packet from the infra-sensor equipment 110 . As a result, the program shown in FIG. 11 repeats step 400 and no response to the hello packet is sent. Alternatively, the hello packet is received and the processing up to step 420 is executed, but the response transmitted in step 414 cannot be received by the infrastructure sensor equipment device 110 . As a result, in either case, transmission of sensor data from infrastructure sensor equipment 110 ends, and infrastructure sensor equipment 110 repeats transmission of hello packets until the next vehicle enters the communicable area.

As described above, in the system according to this embodiment, the sensor data of the infrastructure sensor equipment device 110 is transmitted to the in-vehicle device 170 without requiring an edge server that aggregates and analyzes the sensor data from many devices, and the in-vehicle device 170 can be used for driving assistance. Unlike the edge server, the infrastructure sensor equipment 110 may have a relatively simple configuration and does not require a high-performance computer. As a result, vehicle driving assistance can be performed at low cost. The communication sequence between the infrastructure sensor equipment device 110 and the in-vehicle device 170 may also be simple, and there is an effect that it is not necessary to follow complicated procedures. Furthermore, if there is no application that can process the sensor data of the infrastructure sensor equipment 110 in the in-vehicle device 170, if the conditions permit (communication with the application server is possible, or the application program is distributed to the infrastructure sensor equipment 110) If there is a function), the in-vehicle device 170 can download a dedicated analysis application necessary for analyzing sensor data and analyze the sensor data. As a result, for example, even when the sensors of the infrastructure sensor equipment 110 are updated with new types of sensors, the in-vehicle device 170 can obtain the necessary analysis applications without driver intervention and analyze the sensor data. For the driver, the communication between the in-vehicle device 170 and the infrastructure sensor equipment device 110 and the acquisition process of the program for sensor data analysis by the in-vehicle device 170 are transparent, and the necessity of communication with the infra-sensor equipment device 110 is transparent. , and the acquisition of programs for analysis need not be determined by the driver.

<Second Embodiment>
<composition>
In the traffic support system according to the first embodiment, the vehicle determines whether or not to obtain the analysis application based on the contents of the hello packet received from the infrastructure sensor equipment. Also, when it is determined that an analysis application should be obtained, it is not possible to control whether or not the analysis application can be obtained. and whether the infrastructure sensor equipment 110 has a dedicated analysis application distribution function.

However, the invention is not limited to such embodiments. When the in-vehicle device has a so-called navigation function and the vehicle is in an area where it can communicate with the application server, and the driver specifies information from the departure point to the destination, the following will occur. With this mechanism, the in-vehicle device can acquire necessary analysis applications in advance and store them in the auxiliary storage device.

Referring to FIG. 12, it is assumed that the driver designates a starting point 440 and a destination 442 . Then, one or more routes 450 therebetween are determined according to certain criteria, such as the route with the shortest distance, the route with the shortest travel time, the route with the shortest cost, and the route with the least fuel. For all such route 450 candidates, it is known in advance what infrastructure sensor equipment (for example, infrastructure sensor equipment 452 and 456 in FIG. 12) exists along the route, and from those infrastructure sensor equipment If the format of the sensor data to be transmitted can be known in advance, an application for analyzing those sensor data can be obtained in advance while communication with the application server is possible. In this embodiment, equipment necessary for that purpose is prepared as follows. Incidentally, just in case, the infrastructure sensor equipment devices 454, 458, etc., which are not along the route 450 but are deployed near the route, may be processed in the same way.

Referring to FIG. 13, in this embodiment, for this mechanism, infrastructure sensor deployment information is provided in advance for each road regarding what kind of infrastructure sensor equipment is at which point on the road. A sensor deployment information server 510, an infrastructure sensor information server 512 that provides, for each sensor type (product number), information specifying the data format of the sensor and an analysis application for analyzing the data format, and infrastructure sensor information An infrastructure sensor application server 514 is prepared for comprehensively storing and distributing analysis applications registered in the server 512 . In principle, these can also be realized by individual servers in the world. However, in the case of the infrastructure sensor deployment information server 510 and the infrastructure sensor information server 512, for example, it would be more rational to prepare separately for each country, or in the case of Japan, for large areas such as Hokkaido, the Tohoku region, and the Kanto region. In some cases. The infrastructure sensor application server 514 may be managed separately by each manufacturer, or may be managed in the same way as the infrastructure sensor deployment information server 510 and the infrastructure sensor information server 512 .

In the in-vehicle device 500 according to the second embodiment, it is assumed that the driver designates a starting point 440 and a destination 442 using the navigation function. A route between the starting point 440 and the destination 442 can then be identified using the high-precision map held by the high-precision map storage device 502 for driving assistance. In practice, there may be an infinite number of paths, but in many cases it can be narrowed down to the shortest path and a few other paths that are close to the shortest. Comprehensive information can be obtained from the infrastructure sensor deployment information server 510 about the infrastructure sensor equipment deployed in the vicinity of those paths.

Furthermore, the data format of the sensor data of all infrastructure sensor equipment obtained from the infrastructure sensor deployment information server 510 and the types of analysis applications required to process all of them can be obtained from the infrastructure sensor information server 512 . Based on this information, the in-vehicle device 500 accesses the infra-sensor application server 514 and pre-downloads from the in-vehicle sensor application server 514 an analysis application that is not stored in the in-vehicle device 500 .

As described above, the vehicle 480 according to the second embodiment is the in-vehicle device 500 having the navigation function and the function of accessing the infrastructure sensor deployment information server 510, the infrastructure sensor information server 512, and the infrastructure sensor application server 514. , a high-precision map storage device 502 that stores a high-precision map used by the in-vehicle device 500 for navigation, and an auxiliary storage that stores analysis applications necessary for the in-vehicle device 500 to analyze sensor data of infrastructure sensor equipment devices. It includes an analysis application storage device 504 , which is a device, and a touch panel 184 and a monitor 182 for use by the driver when specifying the starting point and destination using the navigation function of the in-vehicle device 500 . The hardware configuration of the in-vehicle device 500 is the same as that shown in FIG.

In FIG. 14, a program that implements the functions of an in-vehicle device 500 for a vehicle 480 according to this embodiment has the following control structure. 13, based on step 550 for receiving designation of the starting point and destination from the driver using the monitor 182 and touch panel 184, and based on the starting point and destination information received at step 550. A step 552 of acquiring road information specifying a road along the route from the high-precision map stored in the high-precision map storage device 502, accessing the infrastructure sensor deployment information server 510 using this road information as a key, and starting on that road. It includes a step 554 of searching for infrastructure sensor equipment existing on the route connecting the destination and the destination, and a step 556 of performing processing 558 described below for each of the infrastructure sensor equipment acquired in step 554 .

A process 558 is a data format of sensor data of a sensor provided in the infrastructure sensor equipment to be processed from the infrastructure sensor information server 512, and information specifying an analysis application for processing the sensor data in the data format. Based on the step 570 of acquiring information and the information specifying the analysis application included in the infrastructure sensor information acquired in step 570, it is determined whether the analysis application is stored in the analysis application storage device 504, that is, whether the analysis application is stored. Step 572 for determining whether or not acquisition has been completed, and branching the flow of control according to the determination, and accessing the infrastructure sensor application server 514 using the information specifying the analysis application as a key when the determination in step 572 is negative. and downloading 574 the analysis application from infrastructure sensor application server 514 and storing it in analysis application storage 504 . When the determination in step 572 is affirmative, the execution of process 558 for the target infrastructure sensor equipment is immediately terminated.

In other respects, the in-vehicle device 500 of the vehicle 480 according to the second embodiment has the same configuration as the in-vehicle device 170 according to the first embodiment.

<motion>
In-vehicle device 500 of vehicle 480 according to the second embodiment operates as follows. Referring to FIG. 13, when the driver designates a starting point 440 and a destination 442 using the navigation function of in-vehicle device 500 (step 550 in FIG. 14), in-vehicle device 500 accesses high-precision map storage device 502. , determine a plurality of (for example, 2 or 3) routes including the shortest route from the departure point 440 to the destination 442 based on the information of the high-precision map, and acquire road information about the roads that constitute these routes ( step 552). Subsequently, the in-vehicle device 500 accesses the infrastructure sensor deployment information server 510 using this road information as a key, and searches for infrastructure sensor equipment existing on the route connecting the departure point and the destination on that road (step 554). . Further, the in-vehicle device 500 performs the following processing 558 for each of the infrastructure sensor equipment acquired in step 554 (step 556).

In process 558, the in-vehicle device 500 acquires the infrastructure sensor information of the infrastructure sensor equipment to be processed from the infrastructure sensor information server 512 (step 570). The infrastructure sensor information consists of the data format of the sensor data and the information specifying the analysis application for processing the sensor data in the data format. The in-vehicle device 500 subsequently determines whether or not the analysis application has been acquired (whether or not the analysis application has already been stored in the analysis application storage device 504) from the information specifying the analysis application acquired in step 570. and branches the flow of control according to the determination (step 572). When the determination in step 572 is negative, the in-vehicle device 500 accesses the infrastructure sensor application server 514 using the information specifying the analysis application as a key, downloads the analysis application, and stores it in the analysis application storage device 504 (step 574). . The in-vehicle device 500 immediately ends execution of the process 558 for the target infrastructure sensor equipment device when the determination in step 572 is affirmative.

The in-vehicle device 500 according to this embodiment can obtain the following effects. By specifying the starting point and the destination in advance by the driver, it is possible to obtain all the infrasensor information related to the infrasensor equipment existing therebetween. Based on the infrastructure sensor information, the analysis data for processing the sensor data of the infrastructure sensor equipment is found, and if it is not stored in the analysis application storage device 504, it is downloaded in advance from the application server. As a result, analysis applications for processing sensor data of all infrastructure sensor equipment present on the route can be stored in the analysis application storage device 504 in advance. For example, even if the path is in a mountainous area and communication with neither the edge server nor the application server is possible, and the infrastructure sensor equipment does not have an analysis application distribution function, any of the analysis applications stored in the analysis application storage device 504 can be used. can be used to analyze the sensor data.

These processes do not require any action by the driver except when specifying the origin and destination. Designation of a departure point and a destination is an operation normally performed when using the navigation function. Therefore, even when the driver moves on a route that passes through an area where it is difficult to communicate with the edge server and the application server, it is possible to receive sensor data from the infrastructure sensor equipment along the way and use it for driving support. .

In the first embodiment described above, sensor data of a fixed sensor called infrastructure sensor equipment is used in a moving body called a vehicle. However, the invention is not limited to such embodiments. Both of them may move like a vehicle. In this case, since the sensor data are exchanged with each other, the processes of the first embodiment may be executed in parallel and symmetrically with each other.

Further, in the first embodiment, the sensor data of the infrastructure sensor equipment is transmitted to the vehicle, and the analysis is also performed by the vehicle. However, the invention is not limited to such embodiments. For example, after the vehicle that has received the infrastructure sensor equipment responds to the infrastructure sensor equipment, the vehicle may transmit the sensor data to the infrastructure sensor equipment. In this case, the analysis of the sensor data is performed on both the sensor data of the infrastructure sensor equipment and the sensor data of the vehicle received from the vehicle. The infrastructure sensor equipment transmits this analysis result to the vehicle, and the vehicle uses this analysis result for driving support.

In this case, the problem is whether or not the infrastructure sensor equipment side can process the sensor data on the vehicle side. For example, if sensor data is standardized, such a problem will not occur, and the response to the search packet may include the data format of the sensor data on the vehicle side and the required specification information required for that purpose. . On the infrastructure sensor equipment side, the sensor data may be received by looking at the information. Alternatively, after receiving the sensor data unconditionally, it may be determined whether or not the sensor data can be processed. Such a method is not only possible between the infrastructure sensor equipment and the vehicle-mounted device, but also between the vehicle-mounted devices. Alternatively, two communicating devices may first negotiate which one will process the sensor data.

Further, in this case, if communication between adjacent infrastructure sensor equipment is possible, the information may be integrated to analyze the sensor data. However, even in this case, if the number of infrastructure sensor equipment that integrates sensor data is too large, analysis may become difficult with the performance of the computer of the infrastructure sensor equipment. Therefore, it is desirable that the number of infrastructure sensor equipment devices that integrate sensor data is a predetermined number (for example, two or three) or less.

In the above embodiment, as shown in FIGS. 9 and 10, the infrastructure sensor equipment transmits sensor data of one sensor data type to the vehicle. However, this disclosure is not limited to such embodiments. If the infrastructure sensor equipment has a plurality of types of sensors like the infrastructure sensor equipment 110 shown in FIG. 7, the series of processes shown in FIG. 9 may be performed for each sensor. In this case, the vehicle may check the type of sensor data included in the hello packet and determine whether to respond to the hello packet for each sensor type.

Each device in the traffic support system has a computer including a microprocessor, ROM, RAM, etc., as shown in FIGS. An arithmetic processing unit such as a microprocessor reads a computer program including part or all of each step of the sequence diagrams or flow charts as shown in FIGS. to run. Computer programs for these devices can be installed from an external server device or the like. Further, the computer programs for these devices are distributed in a state stored in recording media such as CD-ROMs, DVD-ROMs, semiconductor memories, and the like.

[Modification]
The above description includes the features appended below.

Appendix 1
a sensor;
a storage device for storing sensor data output from the sensor;
a wireless communication device;
a searching device that searches for the wireless communication device via a transmission destination of the traffic support information generated from the sensor data;
a sensor data receiving device that receives sensor data of the transmission destination from the transmission destination and stores it in the storage device in response to the search device receiving a response from the transmission destination;
a traffic support information generating device that analyzes the sensor data from the sensor and the sensor data from the destination stored in the storage device and generates traffic support information;
a transmitter that transmits the traffic assistance information generated by the traffic assistance information generation device to the destination via the wireless communication device.

Appendix 2
a sensor;
a storage device for storing sensor data output from the sensor;
a wireless communication device;
a data processing device;
In response to receiving a communication for searching for a destination of sensor data via the wireless communication device, the sensor data based on the content of the received communication and the specifications and state of the data processing device a determination device for determining whether or not to receive the
a response device that selectively executes a process of returning a response to the communication and a process of not responding to the communication according to the determination by the determination device;
a receiving device that stores sensor data received by the wireless communication device from the other transmission source in the storage device after the response device returns the response;
and a traffic assistance device that processes the sensor data from the sensor and the sensor data received by the receiving device stored in the storage device to generate traffic assistance information.

Appendix 3
The on-vehicle vehicle according to appendix 2, wherein the response device further includes a transmission device that transmits sensor data output from the sensor, which is stored in the storage device, to the transmission source of the communication after the response device responds. Device.

Appendix 4
a sensor;
a storage device for storing sensor data output from the sensor;
a wireless communication device;
a data processing device;
a searching device that transmits communication for searching for a destination of the sensor data via the wireless communication;
a transmitting device that, in response to receiving a response to the communication transmitted by the searching device via the wireless communication, transmits the sensor data stored in the storage device to a transmission source of the response;
in response to receiving, via the wireless communication, communication from another vehicle-mounted device for searching for a transmission destination of sensor data of the other vehicle-mounted device, content of the received communication, and the data processing device a determination device for determining whether or not to receive sensor data from the other in-vehicle device based on the specifications and state of
a response device that selectively executes a process of returning a response to the other in-vehicle device and a process of not responding to the other in-vehicle device according to the determination by the determination device;
a receiving device that stores sensor data received by the wireless communication device from the other vehicle-mounted device in the storage device after the response device returns the response;
and a traffic assistance device that processes the sensor data from the sensor and the sensor data received by the receiving device stored in the storage device to generate traffic assistance information.

The embodiments disclosed this time are merely examples, and the present invention is not limited only to the above-described embodiments. The scope of the present invention is indicated by each claim after taking into account the description of the detailed description of the invention, and all changes within the meaning and range equivalent to the wording described therein include.

50 real space 52 traffic situation overhead map 70, 630 edge server 72 base station 80, 110, 230, 452, 454, 456, 458 infrastructure sensor equipment,
82, 84, 114, 116, 480 Vehicles 92, 94, 176, 234 LiDAR
112 roads 130, 132, 134, 146, 148, 150, 360 hello packet 136 response packet 138 sensor data 152, 154 communication 170, 500 in-vehicle device 172 millimeter wave radar 174 in-vehicle camera 180, 250 computer 182 monitor 184 touch panel 186 various actuators 188, 252 various sensors 190 speaker and microphone 192 USB memory 200, 280 microprocessor 202, 282 ROM
204, 284 RAM
206, 286 auxiliary storage devices 208, 288 wireless communication units 210, 290 buses 212, 292 input/output I/F
214 audio processing I/F
216 Semiconductor memory drive 232 Cameras 330, 332, 334, 336, 400, 402, 404, 406, 408, 410, 412, 414, 416, 418, 420, 550, 552, 554, 556, 570, 572, 574 Step 370 headers 372, 374, 376 fields 440 origin 442 destination 450 route 502 high-precision map storage 504 analysis application storage 510 infrastructure sensor deployment information server 512 infrastructure sensor information server 514 infrastructure sensor application server 558 processing

Claims (11)

a sensor;
a storage device for storing sensor data output from the sensor;
a wireless communication device;
a search device that searches for a transmission destination of the sensor data via the wireless communication device;
a transmitting device that transmits the sensor data stored in the storage device to the destination via the wireless communication device in response to the search device receiving a response from the destination ,
The searching device transmits a search packet for searching for the destination via the communication device,
The sensor equipment device , wherein the search packet includes at least specification information required for a processing device for processing the sensor data . 2. The sensor equipment according to claim 1, wherein said search packet further includes a header including information indicating that said packet is a search packet, and data format information of said sensor data. The search device includes a search repeater that repeatedly searches for the destination by transmitting the search packet,
The sensor equipment device further responds that a response to any of the search packets sent by the search repeater device is not received within a predetermined time after the sending device starts sending the sensor data to the destination. 3. The sensor equipment according to claim 2, further comprising a transmission terminating device for terminating transmission of said sensor data by said transmitting device. a wireless communication device;
a data processing device;
In response to receiving a communication for searching for a destination of sensor data via the wireless communication device, the sensor data based on the content of the received communication and the specifications and state of the data processing device a determination device for determining whether or not to receive the
a response device that selectively executes a process of returning a response to the communication and a process of not responding to the communication according to the determination by the determination device;
a traffic assistance device for generating and outputting traffic assistance information by causing the data processing device to process the sensor data received from the transmission source of the communication by the wireless communication device after the response device returns the response; including
the communication for searching for the destination of the sensor data is a search packet for searching for the destination of the sensor data;
The search packet specifies at least a header including information indicating that the packet is a search packet, data format information of the sensor data, and specifications required for a processor for processing the sensor data. including specification information for
The determination device is
a processability determination device that determines whether or not the data processing device can process the sensor data in the data format based on the data format information of the sensor data;
a specification satisfaction determination device that determines whether the data processing device satisfies the specifications;
a reception feasibility determination device that determines whether or not to receive the sensor data according to whether the determinations by the processing feasibility determination device and the specification sufficiency determination device are both affirmative or not . Device. The data processing device is
a program storage device for storing one or more computer programs;
a central processing unit for executing any one of the computer programs stored in said program storage device;
and an output device that outputs a result of processing by the central processing unit,
5. The in-vehicle device according to claim 4 , wherein each of said one or more computer programs is a computer program for said central processing unit to process sensor data in a predetermined data format. The processing feasibility determination device,
a program determination device for determining whether a computer program for processing sensor data in the data format specified by the data format information is stored in the program storage device;
6. The in-vehicle vehicle according to claim 5 , further comprising a format determination device that determines whether or not the data processing device can process the sensor data in the data format specified by the data format information according to the determination by the program determination device. Device. The processing feasibility determination device,
a program storage determination device for determining whether a computer program suitable for processing sensor data in the data format specified by the data format information is stored in the program storage device;
determining whether or not the appropriate computer program is immediately available from the outside via the wireless communication device in response to a negative determination by the program storage determining device; a program acquisition device for acquiring and storing in the program storage device;
A process of determining whether or not the data processing device is capable of processing sensor data in the data format specified by the data format information according to whether or not the appropriate computer program has been obtained by the program obtaining device. 6. The in-vehicle device according to claim 5 , comprising a capability determination device. The in-vehicle device further includes:
a planned movement route identifying device for identifying a planned movement route of a vehicle equipped with the in-vehicle device;
Determining whether a suitable computer program is stored in the program storage device for processing sensor data provided by sensor equipment present along the planned travel route identified by the planned travel route identification device. a stored program judgment device for
6. The in-vehicle device according to claim 5 , further comprising a program acquisition device that acquires from the outside the computer program that is determined not to be stored in the program storage device by the stored program determination device, and stores the computer program in the program storage device. a sensor facility;
A traffic support system including an in-vehicle device,
The sensor equipment is
a sensor;
a storage device for storing sensor data output from the sensor;
a wireless communication device;
a search device that searches for a transmission destination of the sensor data via the wireless communication device;
a transmitting device that transmits the sensor data stored in the storage device to the destination via the wireless communication device in response to the search device receiving a response from the destination,
The in-vehicle device
a wireless communication device;
a data processing device;
in response to receiving a communication for searching for a destination of sensor data via the wireless communication device of the in-vehicle device, based on the content of the received communication and the specifications and state of the data processing device , a determination device for determining whether to receive the sensor data;
a response device that selectively executes a process of returning a response to the communication via the wireless communication device of the in-vehicle device and a process of not responding to the communication, according to the determination by the determination device;
After the response device returns the response, the wireless communication device of the in-vehicle device generates and outputs traffic assistance information by causing the data processing device to process the sensor data received from the transmission source of the communication. a supporting device ;
the communication for searching for the destination of the sensor data is a search packet for searching for the destination of the sensor data;
The search packet specifies at least a header including information indicating that the packet is a search packet, data format information of the sensor data, and specifications required for a processor for processing the sensor data. including specification information for
The determination device is
a processability determination device that determines whether or not the data processing device can process the sensor data in the data format based on the data format information of the sensor data;
a specification satisfaction determination device that determines whether the data processing device satisfies the specifications;
a reception feasibility determination device that determines whether or not to receive the sensor data according to whether the determinations by the processing feasibility determination device and the specification sufficiency determination device are both affirmative or not. system. A method of controlling a sensor equipment device by a computer connected to a wireless communication device, comprising:
a computer acquiring sensor data from a sensor;
a computer storing the sensor data in a storage device;
a computer searching for a destination to which the sensor data is to be sent via the wireless communication device;
a computer attempting to receive a response from a destination during a predetermined time after the searching step by the wireless communication device;
a computer, in response to receiving the response in the attempting step, transmitting sensor data stored in the storage device to the destination via the wireless communication device ;
the communication for searching for the destination of the sensor data is a search packet for searching for the destination of the sensor data;
A control method for a sensor equipment device, wherein the search packet includes at least specification information specifying specifications required for a processing device for processing the sensor data . A control method for an in-vehicle device by a computer connected to a wireless communication device,
In response to the wireless communication device receiving a communication for searching for a sensor data transmission destination, a computer performs , determining whether to receive the sensor data;
a step in which the computer selectively executes a process of returning a response to the communication and a process of not responding to the communication according to the determination by the determining step ;
The computer causes the data processing device to process the sensor data received by the wireless communication device from the transmission source of the communication after returning the response in the selectively executing step, thereby generating and outputting traffic assistance information. and
the communication for searching for the destination of the sensor data is a search packet for searching for the destination of the sensor data;
The search packet specifies at least a header including information indicating that the packet is a search packet, data format information of the sensor data, and specifications required for a processor for processing the sensor data. including specification information for
The determining step includes:
A process availability determination step of determining whether the data processing device can process the sensor data in the data format based on the data format information of the sensor data;
a specification sufficiency determining step for determining whether the data processing device satisfies the specifications;
a reception availability determination step for determining whether or not to receive the sensor data according to whether the determinations in the process availability determination step and the specification sufficiency determination step are affirmative or not. control method.

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