JP7686839B2 - Information transmission device, control method, program, and storage medium - Google Patents

Description

The present invention relates to map data used in moving objects such as vehicles.

Technology for updating map data based on the output of a sensor installed in a vehicle has been known for some time. For example, Patent Document 1 discloses a driving assistance device that, when a change point in a partial map is detected based on the output of a sensor installed in a moving body such as a vehicle, transmits change point information regarding the change point to a server device. In addition, Non-Patent Document 1 discloses specifications regarding a data format for collecting data detected by a sensor on the vehicle side on a cloud server.

JP 2016-156973 A

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

On roads with many pedestrians, such as in front of train stations, or on roads without sidewalks, pedestrians may walk onto the roadway, and on such road sections, vehicles must avoid pedestrians. Therefore, it is preferable for the vehicle to provide information on the dangers of such road sections to the outside .

The present invention has been made to solve the above-mentioned problems, and its main object is to provide an information transmission device that can output to the outside information about the danger posed by pedestrians stepping out onto the roadway.

The invention described in the claims is an information transmission device comprising: a generation means for generating object information based on the output of a detection device mounted on a moving body, the object information including position information indicating the position of the object relative to the boundary between the roadway and the object's private road; and a transmission means for transmitting the object information, moving body information including the position information of the moving body , and date and time information to an information processing device provided outside the moving body .

The invention described in the claims is an information transmission device mounted on a moving body, and comprises: a position estimation means for estimating a position of the moving body; a control means for acquiring object information including a boundary between a roadway on which the moving body is traveling and a road reserved for objects which are pedestrians or cyclists, and a distance in the width direction of the roadway between the object and the roadway based on information acquired from a detection device for detecting objects around the moving body; and a transmission means for transmitting moving body information which associates the position of the moving body estimated by the position estimation means with the object information, and date and time information , to an information processing device provided outside the moving body .

The invention described in the claims is a control method executed by an information transmission device, and includes a generation step of generating object information based on the output of a detection device, the object information being information about an object, which is a pedestrian or a cyclist, detected by a detection device mounted on a moving body, the object information including position information indicating the position of the object relative to the boundary between the roadway and a road reserved for the object, and a transmission step of transmitting the object information, moving body information including the position information of the moving body , and date and time information to an information processing device provided outside the moving body .
The invention described in the claims is a control method executed by an information transmission device mounted on a moving body, and includes a position estimation process for estimating the position of the moving body, a control process for acquiring object information including the boundary between the roadway on which the moving body is traveling and a road reserved for objects that are pedestrians or cyclists, and the distance in the width direction of the roadway between the object and the roadway based on information acquired from a detection device that detects objects around the moving body, and a transmission process for transmitting moving body information that associates the position of the moving body estimated by the position estimation process with the object information , and date and time information, to an information processing device provided outside the moving body .

1 is a schematic configuration of a data collection system. 2 shows block configurations of a terminal device and a server device. FIG. 2 is a block diagram showing an outline of processing executed by a terminal device. 13 shows a first example data structure of upload information. 1 shows an overhead view of the area around the vehicle when a pedestrian is detected. 1 shows an overhead view of the area around the vehicle when a pedestrian and a cyclist are detected. 13 shows a second example data structure of upload information. 4 shows an example of a data structure of road data for each link included in a delivery map DB. 1 is a diagram illustrating a first specific example of a method for calculating a risk level in a road section corresponding to link 1 and link 2. FIG. 13 is a diagram illustrating a second specific example of a method for calculating a risk level in a road section corresponding to link 1 and link 2. FIG. 13 is an example of a data structure of download information. 1 is a flowchart showing an overview of a process according to an embodiment of the present invention. 13 is a schematic configuration of a data collection system according to a modified example.

According to a preferred embodiment of the present invention, the data structure of map data used when a mobile body travels includes section information indicating road sections that divide a road into predetermined lengths, and risk information indicating the degree of risk to the mobile body when traveling due to pedestrians crossing the sidewalk in the road section, and is used to recognize the degree of risk when the mobile body travels. With map data having such a data structure, a mobile body (including a terminal traveling with the mobile body) can recognize the degree of risk for each road section in advance based on the map data, and can be suitably used for route search, warning, automatic driving control, and the like.

In one aspect of the above data structure, the data structure of the map data further includes priority information indicating the priority of the risk level information when multiple road sections overlap. According to this aspect, even if road sections indicated by multiple section information with different risk levels overlap when referring to the map data, the risk level of the overlapping section can be appropriately recognized.

In another aspect of the above data structure, the data structure of the map data further includes time designation information that designates, for each road section, the time period or day of the week during which the risk level information is valid. According to this aspect, the traveling risk level of a mobile object can be accurately registered in the map data for each time period or day of the week.

In another aspect of the above data structure, the data structure further includes expiration date information indicating the period during which the risk level information is valid for each road section. According to this aspect, it is possible to effectively prevent reference and use of old, invalid section information.

In another aspect of the above data structure, the data structure further includes pedestrian information regarding pedestrians who were present in the road section identified by the section information. According to this aspect, when referring to the map data, it is possible to appropriately grasp the tendency of pedestrians present in each road section.

In another aspect of the above data structure, the risk information is generated based on the number of pedestrians who crossed the sidewalk onto the roadway in the road section. This aspect allows risk information that accurately reflects the risk caused by pedestrians on the roadway to be included in the map data.

Preferably, the section information and the risk level information are included in the road information of the road corresponding to the road section, or are associated with the identification information of the road.

According to another preferred embodiment of the present invention, the information processing device has a storage means for storing map data including section information indicating road sections that divide a road into predetermined lengths, and risk level information indicating the degree of risk to the traveling object caused by a pedestrian crossing the sidewalk and being present in the road section. The information processing device can use such map data, for example, as a distribution map or for route search.

According to another preferred embodiment of the present invention, the map data generating device has an acquisition means for acquiring pedestrian information including position information indicating the position of the pedestrian relative to the boundary between the roadway and the sidewalk, detected by a detection device mounted on a mobile body, and a generation means for generating map data that associates section information indicating a road section where a pedestrian crosses the sidewalk onto the roadway, generated based on the pedestrian information and mobile body information including the position information of the mobile body, with risk level information indicating the traveling risk of the mobile body caused by the pedestrian crossing the sidewalk onto the roadway in the roadway in the road section. According to this aspect, the map data generating device can suitably generate map data in which the section information indicating the road section where a pedestrian crosses the sidewalk onto the roadway and the risk level information for the road section are associated.

In another aspect of the map data generating device, the generating means generates map data by associating multiple road sections and risk level information corresponding to each road section with a road that includes the road section. With this aspect, the map data generating device can suitably generate map data that associates information on a road section that is dangerous due to a pedestrian crossing the sidewalk onto the roadway and the corresponding risk level information with a road that includes the road section.

In another aspect of the map data generating device, the pedestrian information includes the distance between the boundary between the roadway and the sidewalk and the pedestrian as the position information, and the risk level is determined based on the distance between the boundary between the roadway and the sidewalk and the pedestrian. With this aspect, the map data generating device can suitably generate map data including risk level information indicating the risk level determined based on the distance between the boundary between the roadway and the sidewalk and the pedestrian.

Below, a preferred embodiment of the present invention will be described with reference to the drawings.

[Data collection system overview]
1 is a schematic configuration of a data collection system according to the present embodiment. The data collection system includes a terminal device 1 that is mounted on each vehicle, which is a moving body, and moves with the vehicle, and a server device 2 that communicates with each terminal device 1 via a network. The data collection system updates a map held by the server device 2 or a map server device (not shown) that is connected to the server device via a communication line, based on information transmitted from each terminal device 1. In the following description, the term "map" includes data used in an ADAS (Advanced Driver Assistance System) and automated driving, in addition to data referenced by a conventional onboard device for route guidance.

The terminal device 1 detects a specific object based on the output of the sensor unit 7, which is composed of a camera and a lidar (LIDAR: Laser Illuminated Detection and Ranging, Laser Imaging Detection and Ranging, or LiDAR: Light Detection and Ranging). In this embodiment, the terminal device 1 detects pedestrians and cyclists (or traveling bicycles) based on the output of the sensor unit 7, and transmits information about the detected pedestrians and cyclists to the server device 2 as upload information Iu together with attribute information of the vehicle in which the terminal device 1 is mounted. The terminal device 1 also receives download information "Id" for updating map data from the server device 2.

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

The server device 2 receives and stores the upload information Iu from each terminal device 1. For example, based on the collected upload information Iu, the server device 2 identifies road sections (also called "risk sections") where pedestrians and cyclists tend to enter the roadway on which an automobile should travel, and sets the degree of danger (also called "risk level") posed by pedestrians and cyclists when a vehicle travels on the road section. The server device 2 then stores information about the identified risk sections (also called "risk section information") as part of the map data, or distributes it to the terminal device 1 as download information Iu. The server device 2 is an example of an information processing device and a map data generating device.

[Terminal Device Configuration]
Fig. 2(A) shows a block diagram representing the functional configuration of the terminal device 1. As shown in Fig. 2(A), the terminal device 1 mainly has a communication unit 11, a storage unit 12, an input unit 13, a control unit 14, an interface 15, and an output unit 16. The elements in the terminal device 1 are connected to each other via a bus line 98.

The communication unit 11 transmits upload information Iu to the server device 2 and receives map data for updating the map DB 4 from the server device 2 under the control of the control unit 14. The communication unit 11 may also transmit a signal for controlling the vehicle to the vehicle and receive a signal related to the vehicle's state from the vehicle.

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

Map DB4 stores various data used in autonomous driving, ADAS, and the like. Map DB4 is a database that includes, for example, road data that represents a road network as a combination of nodes and links, facility data, and information on features around the roads. The feature information includes information on signs such as road signs, road markings such as stop lines, road dividing lines such as center lines, and structures along the roads. The feature information may also include highly accurate point cloud information of features to be used for estimating the vehicle's position. In addition, map DB4 may store various data necessary for position estimation.

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

The input unit 13 is a button, touch panel, remote controller, voice input device, etc. that is operated by the user, and accepts, for example, an input specifying a destination for route search, an input specifying whether autonomous driving is on or off, etc., and supplies the generated input signal to the control unit 14. The output unit 16 is, for example, a display, speaker, etc. that outputs based on the control of the control unit 14.

The interface 15 performs an interface operation for supplying the output data of the sensor unit 7 to the control unit 14 and the sensor data cache. The sensor unit 7 includes a plurality of external sensors for recognizing the surrounding environment of the vehicle, such as a lidar 31 and a camera 32, and internal sensors, such as a GPS receiver 33, a gyro sensor 34, a position sensor 35, and a three-axis sensor 36. The lidar 31 discretely measures the distance to an object existing in the external world, recognizes the surface of the object as a three-dimensional point cloud, and generates point cloud data. The camera 32 generates image data captured from the vehicle. The position sensor 35 is provided for detecting the mounting position of each external sensor, and the three-axis sensor 36 is provided for detecting the attitude of each external sensor. The sensor unit 7 may have any external sensor and internal sensor other than the external sensor and internal sensor shown in FIG. 2(A). For example, the sensor unit 7 may include an ultrasonic sensor, an infrared sensor, a microphone, etc. as an external sensor. Any external sensor included in the sensor unit 7 functions as a detection device.

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

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

The position estimation unit 17 estimates the vehicle position (including the vehicle's attitude) based on the output data of the sensor unit 7 stored in the sensor data cache 6 and the map DB 4. The position estimation unit 17 is capable of executing various position estimation methods. For example, the position estimation unit 17 executes a vehicle position estimation method using dead reckoning (autonomous navigation) based on the output of autonomous positioning sensors such as the GPS receiver 33 and the gyro sensor 34, a vehicle position estimation method that performs a process (map matching) of further matching road data in the map DB 4 with autonomous navigation, and a vehicle position estimation method based on output data from external sensors such as the lidar 31 and the camera 32 and position information of the landmark indicated by the feature information in the map DB 4, using a predetermined object (landmark) existing in the surroundings as a reference. Then, the position estimation unit 17 executes, for example, a position estimation method with the highest estimation accuracy among the currently executable position estimation methods, and supplies the vehicle position information indicating the vehicle position, etc. obtained based on the executed position estimation method to the upload data generation unit 19.

The object detection unit 18 detects a specified object based on the point cloud information, image data, audio data, etc. output by the sensor unit 7. In this embodiment, the object detection unit 18 detects pedestrians and cyclists as specified objects based on the data output by the sensor unit 7, and supplies data on the detected objects (also called "object data") to the upload data generation unit 19. Here, the object data includes various attribute information such as the position, direction of travel, age, sex, and type of the object recognized using various pattern recognition techniques, etc.

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

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

[Server Device Configuration]
Fig. 2(B) is a block diagram showing the functional configuration of the server device 2. As shown in Fig. 2(B), the server device 2 mainly has a communication unit 21, a storage unit 22, and a control unit 23. The elements in the server device 2 are connected to each other via a bus line 99.

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

The memory unit 22 stores the programs executed by the control unit 23 and information necessary for the control unit 23 to execute predetermined processes. In this embodiment, the memory unit 22 stores a delivery map DB5, a pedestrian information DB8, and a bicycle information DB9.

The distribution map DB5 is map data to be distributed to each terminal device 1, and has the same data structure as the map DB4. In this embodiment, the map DB4 and distribution map DB5 store risk level section information generated by the server device 2 by referencing the pedestrian information DB8 and bicycle information DB9 described below.

The pedestrian information DB8 is a database that accumulates uploaded information Iu related to pedestrians, and the bicycle information DB9 is a database that accumulates uploaded information Iu related to bicycle riders. The data recorded in the pedestrian information DB8 and bicycle information DB9 is used to update the delivery map DB5, and is reflected in the delivery map DB5 after predetermined statistical processing, verification processing, etc. are performed.

The control unit 23 includes a CPU that executes a predetermined program, and controls the entire server device 2. In this embodiment, when the control unit 23 receives upload information Iu from the terminal device 1 via the communication unit 21, if the upload information Iu indicates information about a pedestrian, the control unit 23 stores the upload information Iu in the pedestrian information DB 8, and if the upload information Iu indicates information about a bicycle rider, the control unit 23 stores the upload information Iu in the bicycle information DB 9. The control unit 23 also generates risk level section information by referencing the pedestrian information DB 8 and the bicycle information DB 9 at a predetermined timing, and updates the delivery map DB 5 based on the risk level section information. The control unit 23 also transmits download information Id including the generated risk level section information to the terminal device 1 via the communication unit 21. The control unit 23 functions as a generating means.

[Data Structure]
Next, the data structures of the uploaded information Iu, the delivery map DB 5, and the downloaded information Id will be described. In the following description, the term "object" refers to a pedestrian or a cyclist detected by the sensor unit 7 of the terminal device 1.

(1) Upload information
Fig. 4 shows a first data structure example, which is a first specific example of the data structure of the upload information Iu. The first data structure example shown in Fig. 4 shows a data structure of the upload information Iu for transmitting information on a single object (pedestrian or bicycle rider) detected by the terminal device 1 (i.e., information on a per-person basis). As shown in Fig. 4, the upload information Iu includes a basic information section and a specific information section.

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

Here, the "header" is an item that specifies the header information of the upload information Iu, and the terminal device 1 specifies information such as version information of the data format of the upload information Iu and a timestamp indicating the time when the object was detected in the "header." The timestamp is an example of "date and time information" in the present invention.

"Vehicle metadata" is an item that specifies vehicle metadata, and the terminal device 1 specifies various attribute information of the vehicle equipped with the terminal device 1, such as the vehicle model, vehicle ID, vehicle length, vehicle width, and vehicle height, in the "vehicle metadata" by referring to the vehicle attribute information IV, etc. "Vehicle position" is an item that specifies vehicle position information, and the terminal device 1 specifies the vehicle position information when the object is detected in the "vehicle position". "Vehicle speed" is an item that specifies vehicle speed information, and the terminal device 1 specifies the vehicle speed information measured when the object is detected in the "vehicle speed". If the vehicle speed specified in the "vehicle speed" is fast, even if the vehicle speed at the time of detecting the object is fast, it can be estimated that the surrounding position of the detection point is a driving environment in which the vehicle can travel safely (i.e., has little danger), and therefore the information specified in the "vehicle speed" is preferably used for generating risk level section information performed by the server device 2.

The unique information section includes each item related to the object detected by the terminal device 1. Specifically, the unique information section includes "information ID," "object type," "object position," "object traveling direction," "object profile," "deviation distance standard," "deviation distance," and "traveling direction position."

"Information ID" is an item that specifies an identification number or the like for specifying the data structure of the specific information section. In this embodiment, the terminal device 1 specifies an identification number or the like indicating that the specific information section has a data structure for specifying information about a pedestrian or a bicycle rider in "Information ID". "Object type" is an item that specifies object type information, and the terminal device 1 specifies information indicating whether the detected object is a pedestrian or a bicycle in "Object type". "Object position" is an item that specifies information indicating whether the object is on the own vehicle lane (i.e., near a sidewalk or bicycle path adjacent to the vehicle's lane) or on the opposite lane (i.e., near a sidewalk or bicycle path adjacent to the opposite lane). The terminal device 1 determines whether the object is on the own vehicle lane or the opposite lane based on, for example, the relative position of the detected object to the vehicle and the positional relationship with the road on which the vehicle is traveling, and specifies information indicating the determination result in "Object position". "Object travel direction" is an item that specifies information indicating the object travel direction, and the terminal device 1 identifies the object travel direction based on, for example, the transition of the object's position detected at multiple times, and specifies the identified travel direction information as "object travel direction." "Object profile" is an item that specifies the profile of the object, such as the age and gender, of a pedestrian or cyclist, and the terminal device 1 recognizes a specific profile of the object by applying known pattern matching technology based on the output of an external sensor such as the camera 32 or the lidar 31, and specifies information indicating the recognition result as "object profile."

"Deviation distance standard" is an item that specifies a deviation distance standard, which is a reference position for measuring the deviation distance described below. The deviation distance standard is a position in the width direction of the road that is a standard for whether or not an object is in a dangerous position for vehicle travel, and examples of this include the curb or outer lane that is the boundary between the roadway and the sidewalk, the boundary between the roadway and the shoulder strip, and the boundary between the bicycle path and the roadway. The boundary may or may not be represented by an actual line. Note that the "deviation distance standard" may specify position information that indicates the position of the above-mentioned boundary line in the width direction of the road, and if the above-mentioned boundary line is registered on a map, identification information for identifying the boundary line on the map may be specified.

"Deviation distance" is an item that specifies information indicating the deviation distance, which is the distance in the road width direction that an object deviates from the deviation distance standard toward the roadway, and the terminal device 1 specifies information indicating the distance between the position specified in the "deviation distance standard" and the object in "deviation distance". "Progression direction position" is an item that specifies information identifying the position of the object in the direction along the road (i.e., the vehicle's traveling direction), which is perpendicular to the road width direction. For example, the terminal device 1 specifies information indicating the link ID (road identification information) of the link corresponding to the road currently being traveled on, and the distance of the object along the link from the start position of the link in "progression direction position".

Here, the selection of the deviation distance criteria and the calculation of the deviation distance will be explained with reference to Figures 5 and 6.

Figure 5 shows an overhead view of the area around the vehicle when the terminal device 1 detects pedestrians 70-72. In this case, the terminal device 1 defines the outer roadway line 60, which is the boundary between the roadway and the sidewalk, as the deviation distance reference, and calculates the distance in the road width direction of each of the detected pedestrians 70-72 based on the outer roadway line 60 as the deviation distance. In this case, the terminal device 1 may recognize the outer roadway line 60 based on the output of an external sensor such as the lidar 31 or the camera 32, or may recognize it by referring to the map DB 4 based on the vehicle position information.

The terminal device 1 specifies information that identifies the outer roadway line 60 in the "deviation distance standard" of the uploaded information Iu indicating the detection result of the pedestrian 70, and specifies a deviation distance (here, a negative value) equivalent to the width of the arrow A0 (i.e., the distance between the outer roadway line 60 and the pedestrian 70) in the "deviation distance". Similarly, the terminal device 1 specifies information that identifies the outer roadway line 60 in the "deviation distance standard" of the uploaded information Iu indicating the detection result of the pedestrian 71, and specifies a deviation distance (here, a positive value) equivalent to the width of the arrow A1 in the "deviation distance". The terminal device 1 specifies information that identifies the outer roadway line 60 in the "deviation distance standard" of the uploaded information Iu indicating the detection result of the pedestrian 72, and specifies a deviation distance (here, a positive value) equivalent to the width of the arrow A2 in the "deviation distance". This allows the terminal device 1 to suitably notify the server device 2 of the presence and deviation distance of the pedestrians 71 and 72 protruding from the sidewalk onto the roadway, using the uploaded information Iu indicating the respective detection results.

Figure 6 shows an overhead view of the area around the vehicle when a pedestrian 73 and bicyclists 74 and 75 are detected by the terminal device 1. In this case, the terminal device 1 defines the boundary 62 between the sidewalk and the bicycle path (bicycle lane) as the deviation distance standard for the pedestrian 73, and calculates the distance of the pedestrian 73 with the roadway side of the boundary 62 being a positive value as the deviation distance of the pedestrian 73. Therefore, the terminal device 1 specifies information identifying the boundary 62 as the "deviation distance standard" in the uploaded information Iu indicating the detection result of the pedestrian 73, and specifies a deviation distance equivalent to the width of the arrow A3 (here, a negative value) as the "deviation distance".

The terminal device 1 also defines the boundary 63 between the bicycle lane and the roadway as the deviation distance standard for the bicycle riders 74, 75, and calculates the distance of the bicycle riders 74, 75 with the roadway side of the boundary 63 being a positive value as their deviation distance. Therefore, the terminal device 1 specifies information that identifies the boundary 63 as the "deviation distance standard" of the uploaded information Iu showing the detection result of the bicycle rider 74, and specifies a deviation distance equivalent to the width of the arrow A4 (here, a negative value) as the "deviation distance". The terminal device 1 also specifies information that identifies the boundary 63 as the "deviation distance standard" of the uploaded information Iu showing the detection result of the bicycle rider 75, and specifies a deviation distance equivalent to the width of the arrow A5 (here, a positive value) as the "deviation distance". In this way, the "deviation distance standard" may be specified to a different position depending on whether the detected object is a pedestrian or a bicycle rider.

Figure 7 shows a second data structure example, which is a second specific example of the data structure of the upload information Iu. The data structure shown in Figure 7 shows the data structure of the upload information Iu for transmitting statistical information of multiple detected objects when the terminal device 1 detects multiple objects at the same location. The upload information Iu shown in Figure 7 includes a basic information section having the same data structure as the upload information Iu shown in Figure 4, and a specific information section having a data structure different from that of the upload information Iu shown in Figure 4. Note that when the terminal device 1 detects a pedestrian and a cyclist at the same location, the terminal device 1 transmits the upload information Iu relating to the detected pedestrian and the upload information Iu relating to the detected cyclist separately. Similarly, when the terminal device 1 detects an object on the own lane and an object on the opposite lane at the same time, the terminal device 1 transmits the upload information Iu relating to the object on the own lane and the upload information Iu relating to the object on the opposite lane separately.

The unique information section shown in FIG. 7 includes items such as "information ID," "object type," "object position," "number of objects," "deviation distance standard," "deviation distance distribution," "age distribution by distance," and "gender distribution by distance."

In "information ID", the terminal device 1 specifies an identification number or the like for identifying the data structure of the unique information section shown in FIG. 7. In "object type", the terminal device 1 specifies information on the type of object detected by the terminal device 1. In "object position", the terminal device 1 specifies information indicating whether the object was located on the own lane or the opposite lane.

In the "number of objects", the terminal device 1 specifies the number of objects targeted in this upload information Iu. Specifically, the terminal device 1 specifies the total number of objects detected by the terminal device 1 as objects that correspond to the type indicated by the "object type" and are present at the position indicated by the "object position" in the "number of objects". In the "deviation distance criterion", the terminal device 1 specifies identification information or position information such as a boundary line that serves as the deviation distance criterion, as in the upload information Iu shown in FIG. 4. The "deviation distance distribution" is an item that specifies information regarding the distribution of deviation distances, and the terminal device 1 specifies, for example, information indicating the number or proportion of objects for each division when the deviation distance of each object is divided into predetermined lengths in the "deviation distance distribution". In another example, the terminal device 1 may specify, in the "deviation distance distribution", information indicating the number or proportion of objects whose deviation distance is a positive value (i.e., present on the roadway) relative to the number indicated by the "number of objects". In yet another example, the terminal device 1 may assume that the distribution of deviation distances of objects follows a normal distribution, and specify the average and variance parameters of the deviation distances of each object as the "deviation distance distribution."

"Age distribution by distance" is an item for specifying information showing the distribution of ages of objects for each deviation distance, and the terminal device 1 specifies, for example, information on the distribution of ages of objects for each division when the deviation distance of each object is divided into predetermined lengths in "age distribution by distance". "Gender distribution by distance" is an item for specifying information showing the distribution of gender of objects for each deviation distance, and the terminal device 1 specifies, for example, information on the male-to-female ratio of the gender of objects for each division when the deviation distance of each object is divided into predetermined lengths in "age distribution by distance".

The information specified in the basic information section of the upload information Iu shown in Figures 4 and 7 is an example of mobile object information, and the information specified in the specific information section of the upload information Iu shown in Figures 4 and 7 is an example of pedestrian information and bicycle information.

(2) Map DB and distribution map DB
Fig. 8 shows an example of the data structure of road data (link data) for each link included in the delivery map DB 5. Fig. 8 shows an example of a data structure in which risk level range information is added to link data. The data structure shown in Fig. 8 has a basic information section including each item (e.g., link ID, link length, etc.) that specifies information about the target link, and a specific information section including each item related to risk level range information. Note that the map DB 4 held by the terminal device 1 also includes road data having the same data structure as that shown in Fig. 8.

The unique information section includes the items "information ID", "basic risk level", "number of risk level ranges", and "risk level range n" (n = 1, 2, ...). "Information ID" is an item that specifies an identification number or the like for identifying the data structure of the unique information section. In this embodiment, an identification number or the like indicating that the data structure of the unique information section is a data structure that specifies risk level range information is specified as the "information ID". "Basic risk level" is an item that specifies the risk level for the range of the target link that is not included in the risk level ranges specified by the items described below. Note that the risk level is the degree of risk determined by the server device 2 based on the upload information Iu sent from the terminal device 1. "Number of risk level ranges" is an item that specifies the number of risk level ranges set for the target link.

Each item in "Risk range n" (n = 1, 2, ...) specifies information about an individual risk range, and is provided in the same number as specified by the "Number of risk ranges." Each "Risk range n" contains multiple sub-items, including "Risk range ID," "Location," "Length," "Priority," "Day of the week/time period," "Expiration date," and "Risk."

In "Risk range ID", a unique ID assigned to each risk range set in the delivery map DB5 is specified. In "Position", information indicating the position of the target risk range is specified. For example, in "Position", information indicating the distance from the start point of the target link to the start point or end point of the risk range may be specified. In "Length", information indicating the length of the target risk range is specified. The information specified in "Risk range ID", "Position", and "Length" are examples of section information.

In "priority", information indicating the priority of the target risk range is specified. This priority is used to determine which risk range should be given priority for reference in a section where risk ranges overlap. In "day of week/time period", the day of the week and/or time period when the target risk range is valid is specified. In "expiration date", the expiration date during which the target risk range can be used as valid is specified. In "risk level", the risk level for the target risk range is specified. The risk level indicates the risk level posed by pedestrians and cyclists when a vehicle is traveling through a risk range, and is determined based on the upload information Iu sent from the terminal device 1, as described below. The information specified in "risk level" is an example of risk level information.

In addition, "risk range n" may further include information about pedestrians and the like present within the target risk range. For example, "risk range n" may include statistical information about the attributes of pedestrians present within the target risk range, such as the age group and gender ratio.

The risk range information is not limited to being added to the road data (link data) as a unique information section, but may be managed as data separate from the road data. For example, in this case, the server device 2 may store a database of risk range information in which a link ID is associated with each risk range or each unique information section in FIG. 8 as part of the delivery map DB 5. Similarly, the terminal device 1 may store the above-mentioned database of risk range information as part of the map DB 4.

Here we provide additional information on how to generate the risk range information to be specified in the unique information section.

Figure 9 is a diagram showing a first specific example of a method for calculating the degree of risk in the road sections corresponding to links 1 and 2. In Figure 9, the positions of objects detected on the roads corresponding to links 1 and 2 are indicated by ellipses, and the position of the deviation distance standard is indicated by a dashed line. Note that in Figure 9, the area below the deviation distance standard is the roadway area.

In this case, the server device 2 first extracts from the pedestrian information DB 8 and/or bicycle information DB 9 the upload information Iu in which the link ID corresponding to link 1 or link 2 is specified in an item such as "Progression direction position" in FIG. 4, and identifies the positions of each object that exists around the road of link 1 and link 2 based on the extracted upload information Iu.

The server device 2 then divides each of the target links 1 and 2 into sections of a predetermined length, and calculates the percentage of objects for which the deviation distance is a positive value (i.e., closer to the roadway than the deviation distance standard) for each section. The server device 2 then determines the percentage calculated for each section as the risk level for the corresponding section. Each numerical value shown in FIG. 9 indicates the risk level set for the corresponding section.

Figure 10 is a diagram showing a schematic diagram of a second specific example of a method for calculating the risk level in road sections corresponding to links 1 and 2. In the example of Figure 10, the server device 2 divides the target links 1 and 2 into sections of a predetermined length, counts the number of objects in each divided section, and calculates a score, for example, one point per person. The server device 2 then determines the score calculated for each section as the risk level in the corresponding section. Each numerical value shown in Figure 10 indicates the risk level set for the corresponding section. At this time, the score may be adjusted according to the deviation distance. Specifically, the score may be calculated to be higher for objects whose deviation distance is greater than a reference position that is a predetermined distance away from the deviation distance standard, and lower for objects whose deviation distance is smaller. This allows a high risk level to be determined for roads with many objects that deviate significantly from the roadway.

In this way, the server device 2 can appropriately determine the risk level for each section of each link by referring to the pedestrian information DB8 and/or bicycle information DB9 that store the upload information Iu sent from the terminal devices 1 of multiple vehicles. For example, the server device 2 can set the "basic risk level" shown in the data structure of FIG. 8 to 0, assign a risk level range ID to sections with a risk level greater than 0, and provide an item "risk level range n" for each of the sections.

The server device 2 may also calculate the risk level for each day of the week and/or time period by referring to the time stamp included in the item "Header" of the upload information Iu, and determine the risk level range for each day of the week and/or time period based on the risk level. In this case, the server device 2 specifies information on the day of the week and/or time period to which the determined risk level range corresponds in the sub-item "Day of the week/time period". The server device 2 may also set an expiration date for the determined risk level range. In this case, the server device 2 determines an expiration date (for example, a predetermined number of days from the time of determination) for the determined risk level range, and specifies information on the determined expiration date in the sub-item "Expiration date". The server device 2 may also calculate statistical information such as the age group and male/female ratio of pedestrians present in the target risk level range by referring to the age and gender of the object included in the item "Object profile" of the upload information Iu, and include the calculated statistical information in the sub-item of the item "Danger level range n". Information on the age group and gender of pedestrians may be used to adjust the value of the risk level by referring to the behavior pattern due to age and gender.

The risk level may be determined based on uploaded information Iu indicating information about pedestrians, or may be determined based on uploaded information Iu indicating information about bicycle riders. For example, in sections where bicycle paths (bicycle lanes) exist, the server device 2 may calculate the risk level based on uploaded information Iu indicating information about bicycle riders, and in sections where bicycle paths do not exist, the server device 2 may calculate the risk level based on uploaded information Iu indicating information about pedestrians. In another example, the server device 2 may calculate the risk level without distinguishing between pedestrians and bicycle riders. Also, the server device 2 may calculate the risk level to be higher depending on the deviation distance.

(3) Download information
Fig. 11 shows an example of the data structure of the download information Id transmitted by the server device 2 to each terminal device 1. The download information Id shown in Fig. 11 is data transmitted for each risk range set by the server device 2, and has a basic information section and a specific information section including each item related to the target risk range.

The basic information section includes the fields "Header", which specifies header information similar to that of the upload information Iu, and "Link ID", which specifies the link ID that identifies the link for which the target risk range is set.

The unique information section includes the following items: "information ID", "risk range ID", "location", "length", "priority", "day of the week/time period", "expiration date", and "risk level". "Information ID" is an item that specifies an identification number or the like for identifying that the data structure of the download information Id is a data structure that specifies information related to the risk range, and "risk range ID" is an item that specifies a unique ID assigned to the target risk range. "Location" is an item that specifies information indicating the location of the target risk range, and "length" is an item that specifies information indicating the length of the target risk range, etc. "Priority" is an item that specifies information indicating the priority of the target risk range, and "day of the week/time period" is an item that specifies the day of the week and/or time period when the target risk range is valid. "Expiration date" is an item that specifies the expiration date when the target risk range is valid, and "risk level" is an item that specifies the risk level for the target risk range.

For example, when the server device 2 generates risk level section information by referencing the pedestrian information DB8 and/or bicycle information DB9, it transmits download information Id representing the risk level section information according to the data structure shown in FIG. 11 to each terminal device 1 at once. In another example, when the server device 2 receives a specific request signal from a terminal device 1, it transmits download information Id representing risk level section information generated after the date and time specified in the request signal to the requesting terminal device 1.

The terminal device 1 updates the map DB 4 based on the download information Id received from the server device 2. The terminal device 1 then determines the recommended route by, for example, referring to the risk level for each road section when searching for a route to the destination with reference to the map DB 4. For example, the terminal device 1 considers sections with a high risk level to be sections with a high cost (i.e., less likely to be selected as a recommended route) like congested sections, and makes it more likely that a route including a section with a low risk level will be selected as a recommended route. In this way, the terminal device 1 makes it less likely to include sections where pedestrians or cyclists run onto the roadway in the driving route, and can suitably set a safe driving route. In addition, the terminal device 1 may output a warning to call attention when passing through a section with a high risk level, and may use the risk level range information for automatic driving control.

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

First, the terminal device 1 determines whether or not an object (pedestrian or cyclist) has been detected (step S101). In this case, the terminal device 1 performs object detection based on the output of an external sensor such as the lidar 31 or the camera 32, and applies a known pattern matching technique to the detected object to determine whether or not the object corresponds to a predetermined object (i.e., a pedestrian or a cyclist).

When the terminal device 1 determines that an object has been detected (step S101; Yes), it recognizes attributes of the object, such as the position, gender, and traveling direction, based on the output of the external sensor for the detected object (step S102). In this case, the terminal device 1 determines a deviation distance standard by identifying the vehicle outer perimeter line, etc., relative to the road on which the vehicle is traveling, and also calculates the deviation distance indicating the position of the object relative to the deviation distance standard. The vehicle outer perimeter line, etc., which serves as the deviation distance standard, can be detected by the external sensor. Then, the terminal device 1 generates upload information Iu regarding the detected object based on the recognition result in step S102, and transmits the upload information Iu to the server device 2 (step S103). In this case, the terminal device 1 generates upload information Iu having the data structure shown in either FIG. 4 or FIG. 7. On the other hand, when the terminal device 1 does not detect an object (pedestrian or bicycle rider) (step S101; No), the process proceeds to step S104. These processes are performed by a program executed by the control unit 14.

The server device 2 receives the upload information Iu transmitted in step S103 and stores the upload information Iu in the pedestrian information DB 8 or bicycle information DB 9 (step S201). In this case, the server device 2 determines whether the upload information Iu is information about a pedestrian or a bicycle rider based on the object type information included in the upload information Iu, and stores the upload information Iu in either the pedestrian information DB 8 or the bicycle information DB 9 based on the determination result. The server device 2 then determines whether it is time to generate risk range information (step S202). The above-mentioned generation timing may be determined based on the length of time since the previous generation of risk range information, or may be determined based on the cumulative number of received upload information Iu since the previous generation of risk range information.

If it is time to generate risk level range information (step S202; Yes), the server device 2 refers to the pedestrian information DB 8 or/bicycle information DB 9, generates risk level range information based on the method described in FIG. 9 or FIG. 10, and updates the delivery map DB 5 using the generated risk level range information (step S203). The server device 2 then transmits download information Id indicating the risk level range information generated in step S203 to each terminal device 1 (step S204). Note that the server device 2 may transmit the download information Id only to the terminal device 1 that has requested the transmission of the download information Id. On the other hand, if it is not time to generate risk level range information (step S202; No), the server device 2 continues to execute step S201. These processes are executed by the control unit 23.

On the other hand, after executing step S103, or if no object is detected in step S101, the terminal device 1 determines whether or not the download information Id has been received from the server device 2 (step S104). Then, if the terminal device 1 receives the download information Id (step S104; Yes), the terminal device 1 updates the map DB 4 using the download information Id (step S105). As a result, the map DB 4 records the latest information on the danger range, which is suitable for use in route searches that avoid high-risk sections. On the other hand, if the terminal device 1 has not received the download information Id from the server device 2 (step S104; No), the terminal device 1 returns to step S101.

[Modification]
Next, a preferred modification of the above embodiment will be described.

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

For example, the server system may be composed of a server that stores the distribution map DB5, a server that stores the pedestrian information DB8, a server that stores the bicycle information DB9, and a server that performs the process of generating risk range information. In this case, each server appropriately receives information necessary to execute pre-assigned processing from other servers and executes the specified processing.

In addition, risk range information and the like may be exchanged between the terminal device 1 and the server device 2, or between servers. FIG. 13 is a schematic configuration of a data collection system according to a modified example. The data collection system shown in FIG. 13 has multiple terminal devices 1, a vehicle cloud 2A, and a map cloud 2B. The vehicle cloud 2A is a group of servers mainly managed by a car vendor, and the map cloud 2B is a group of servers mainly managed by a map vendor.

In this case, the vehicle cloud 2A and the map cloud 2B may receive the upload information Iu from the terminal device 1 of each vehicle, similar to the server device 2 of the embodiment. This allows the vehicle cloud 2A and the map cloud 2B to collect information on pedestrians and cyclists required to generate risk level range information. In addition, the vehicle cloud 2A may transmit the risk level range information generated based on the upload information Iu to the map cloud 2B according to a data structure similar to that of the download information Id shown in FIG. 11.

(Variation 2)
The server device 2 may refer to the delivery map DB 5 based on a route search request from the terminal device 1 to perform route terminal processing.

In this example, when the server device 2 receives a route search request from the terminal device 1 including the destination, the current location, and other search conditions, the server device 2 determines a recommended route by referring to the risk level for each road section indicated by the risk level range information included in the delivery map DB 5. In this case, for example, the server device 2 considers a section with a higher risk level to be more difficult to pass (i.e., more costly), and makes it more likely that a route including a section with a lower risk level will be selected as a recommended route. The server device 2 then transmits response information indicating the route search result to the terminal device 1 that has requested the route search. This aspect also makes it possible to make optimal use of the delivery map DB 5 including risk level range information.

1 Terminal device 2 Server device 4 Map DB
5. Distribution map DB
6 Sensor data cache 7 Sensor unit 8 Pedestrian information DB
9. Bicycle Information DB

Claims (6)

a generating means for generating object information based on an output of a detection device mounted on a moving body, the object information including position information indicating a position of the object relative to a boundary between a roadway and a road reserved for the object; and
a transmitting means for transmitting the object information, mobile body information including position information of the mobile body , and date and time information to an information processing device provided outside the mobile body ;
An information transmitting device comprising: An information transmitting device mounted on a moving object,
A position estimation means for estimating a position of the moving object;
a control means for acquiring object information including a boundary between a roadway on which the mobile body is traveling and a road reserved for objects such as pedestrians or cyclists, and a distance between the object and the roadway in a width direction, based on information acquired from a detection device that detects objects around the mobile body;
a transmitting means for transmitting moving body information, in which the position of the moving body estimated by the position estimating means is associated with the target object information , and date and time information , to an information processing device provided outside the moving body ;
An information transmitting device comprising: A control method executed by an information transmitting device, comprising:
a generating step of generating object information, based on an output of a detection device mounted on a moving body, about an object, which is a pedestrian or a cyclist, the object information including position information indicating a position of the object relative to a boundary between a roadway and a road reserved for the object;
a transmitting step of transmitting the object information, mobile body information including position information of the mobile body , and date and time information to an information processing device provided outside the mobile body ;
The control method includes: A control method executed by an information transmission device mounted on a moving object, comprising:
a position estimation step of estimating a position of the moving object;
a control process for acquiring object information including a boundary between a roadway on which the moving body is traveling and a road reserved for an object, such as a pedestrian or a cyclist, and a distance between the object and the roadway in a width direction based on information acquired from a detection device that detects objects around the moving body;
a transmitting step of transmitting moving body information, in which the position of the moving body estimated by the position estimating step is associated with the target object information , and date and time information to an information processing device provided outside the moving body ;
The control method includes: A program for causing a computer to execute the control method according to claim 3 or 4. A storage medium storing the program according to claim 5.