WO2019131355A1 - Information acquisition device, information acquisition method and program - Google Patents

Information acquisition device, information acquisition method and program Download PDF

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Publication number
WO2019131355A1
WO2019131355A1 PCT/JP2018/046665 JP2018046665W WO2019131355A1 WO 2019131355 A1 WO2019131355 A1 WO 2019131355A1 JP 2018046665 W JP2018046665 W JP 2018046665W WO 2019131355 A1 WO2019131355 A1 WO 2019131355A1
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WIPO (PCT)
Prior art keywords
road
information
unupdated
information acquisition
unit
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PCT/JP2018/046665
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French (fr)
Japanese (ja)
Inventor
清水　晃
誠 松丸
雄悟 石川
宏 永田
竹村　到
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パイオニア株式会社
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Publication of WO2019131355A1 publication Critical patent/WO2019131355A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
    • G08G1/13—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station the indicator being in the form of a map
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram

Definitions

  • the present invention relates to an information acquisition device, an information acquisition method, and a program.
  • a system that acquires trajectory data regarding a trajectory traveled by the vehicle for updating map information (see, for example, Patent Document 1). ).
  • this patent document 1 when locus data is acquired from a vehicle, when a road corresponding to the locus data is not set in the map information, the map information is updated using the locus data as new road information.
  • Technology is disclosed.
  • the present invention has been made in view of the problems cited above as an example, and provides an information acquisition device, an information acquisition method, and an information acquisition method for inexpensively acquiring map update data in an unupdated road or an unupdated area included in map data.
  • the main purpose is to provide a program.
  • the invention according to claim 1 is a specification unit for specifying an unupdated road or an unupdated area in which an elapsed period from the last update time of information on a road or area included in map data is equal to or longer than a predetermined period;
  • a route searching unit that searches for a route so that the vehicle preferentially travels on the unupdated road or the unupdated area specified by the road; and a traveling road or the traveling road which is a road traveled when traveling the route
  • an information acquisition unit for acquiring road information which is peripheral information of
  • the invention according to claim 7 is an information acquiring method in an information acquiring apparatus including an identifying unit, a route searching unit, and an information acquiring unit, wherein the identifying unit relates to a road or an area included in map data.
  • the first step of identifying an unupdated road or an unupdated area whose elapsed period from the last update time of information is a predetermined period or more, and the route searching unit prioritizes the vehicle for the unupdated road or the unupdated area A second step of searching for a route to travel on the road and the road information which is a road traveled when the information acquisition unit travels the road or road information which is peripheral information of the travel road And a third step.
  • the invention according to claim 8 is a program for causing a computer to execute an information acquisition method in an information acquisition apparatus comprising an identification unit, a route search unit, and an information acquisition unit, wherein the identification unit is a map.
  • a second step of searching for a route so that a vehicle preferentially travels in a non-updated area, and a traveling road which is a road traveled when the information acquisition unit travels the route or the periphery of the traveling road A program for causing a computer to execute a third process of acquiring road information which is information.
  • An information acquisition apparatus includes an identification unit, a route search unit, and an information acquisition unit.
  • the identifying unit identifies an unupdated road or an unupdated area in which a period of time elapsed since the last update of the information on the road or area included in the map data is equal to or longer than a predetermined period.
  • a predetermined period it can set arbitrarily for every unupdated road. For example, the predetermined period may be changed according to the traffic volume on the unupdated road.
  • the route search unit is configured such that when the user requests a route search, the vehicle preferentially travels on the unupdated road or the unupdated area where the elapsed period from the last update time of the map data is a predetermined period or more. Perform a route search on
  • an autonomous driving vehicle is equipped with a large number of sensors and can acquire various information from a road on which it travels, it is preferable that the vehicle is an autonomous driving vehicle.
  • a vehicle is demonstrated as an autonomous driving vehicle.
  • the route search method may be any method.
  • the information acquisition unit acquires road information which is a road on which the vehicle traveled when traveling a route or road information which is peripheral information of the road.
  • road peripheral information such as road signs, curved mirrors, utility poles, guardrails, public facilities such as schools and parks, houses, shops, etc., all things on the ground regardless of nature and artificiality, so-called features Shall be included.
  • the identification unit identifies an unupdated road or an unupdated area in which an elapsed period from the last update time of map data in an unupdated road or an unupdated area included in map data is equal to or longer than a predetermined period.
  • the search unit is configured such that when the user requests a route search, the vehicle preferentially travels on an unupdated road or an unupdated area where an elapsed period from the last update time of map data is equal to or longer than a predetermined period. Perform route search.
  • the information acquisition unit determines the elapsed time from the last update time. It is possible to obtain information on an unupdated road which is longer than a period or an unupdated road in an unupdated area and features around the unupdated road. Therefore, even in the area where the update information is scarce, map update data of the unupdated road and the area around the unupdated road can be acquired inexpensively.
  • the identification unit is an unupdated road or an unupdated road whose elapsed period from the last update time of the information on the road or area included in the map data is a predetermined period or more.
  • the first step of specifying the update area, and the route search unit when there is a route search request from the user, an unupdated road or an unupdated road whose elapsed period from the last update time of map data is a predetermined period or more.
  • the specific part is an unupdated road or an unupdated area whose elapsed period from the last update time of the information on the road or area included in the map data is a predetermined period or more.
  • Example 1 The first embodiment of the present invention will be described below with reference to FIGS. 1 to 3.
  • the information acquisition apparatus 10 includes a control unit 100, a map update information storage unit 110, a reception unit 120, a route search unit 130, a display unit 140, and an information acquisition unit. 150, an external sensor 160, and a transmitting unit 170. Further, the control unit 100 is configured to include the specifying unit 101.
  • the control unit 100 controls all processing in the information acquisition device 10 based on a control program stored in a ROM (not shown) or the like.
  • the function of the specifying unit 101 is provided. Specifically, when the specifying unit 101 inputs a route search request from the user from the route searching unit 130, a predetermined period of time since the last update time of map data is equal to or longer than the predetermined period around the search route.
  • a predetermined period of time since the last update time of map data is equal to or longer than the predetermined period around the search route.
  • unupdated road or unupdated area detected by detecting from the map update information storage unit whether the road (hereinafter referred to as unupdated road) or a predetermined area (hereinafter referred to as unupdated area) exists
  • the information is output to the route search unit 130.
  • the predetermined period may be determined according to the traffic volume of the unupdated road. For example, if the road has a large traffic volume, the predetermined number of days can be shortened compared to the road with a small traffic volume. Information on many (ie, important) roads can be obtained frequently.
  • the control unit 100 also has a function of detecting update information of a map from the information acquired by the information acquisition unit 150.
  • the map update information storage unit 110 mainly stores information of an unupdated road or an unupdated area.
  • the information on the unupdated road or the unupdated area may be received from the data server 400 or the like on the cloud at predetermined time intervals via, for example, the receiving unit 120.
  • the route search unit 130 When the route search unit 130 receives the designation of the arrival point based on the request from the user, the route search unit 130 searches for a candidate route based on the current position information obtained by the GPS receiver etc. Display the search result. In the search of this route, it is set to travel on the unupdated road or the unupdated area preferentially. Specifically, in the route search by the Dijkstra method, the cost of the link corresponding to the unupdated road is set small, or the cost of the link corresponding to the road existing in the unupdated area is set small Good. Alternatively, when creating a route, an unupdated road or a road existing in an unupdated area may be passed.
  • the route search unit 130 searches for a candidate route including an unupdated road or an unupdated area detected by the identification unit 101 in the control unit 100, and causes the display unit 140 to display the search result.
  • the display unit 140 is used as the search result for the route 1A including the unupdated road or the unupdated area. Display on.
  • the display unit 140 includes a display area including an LCD or the like.
  • the input area may be displayed in the display area to also function as an information input unit.
  • the information acquiring unit 150 acquires, for example, information on a road when the autonomous driving vehicle travels on a route searched by the route searching unit 130 and road information which is peripheral information on the road from an external sensor 160 described later.
  • Information to be acquired includes the presence or absence of roads and obstacles on roads, roadside lines attached to roadways, roadway center lines or curbs provided at roadside boundaries or roadsides, guardrails, delineators, lighting lights, Electric poles or rubber poles, road divisions including cat's eye etc. provided in the central part of roadways, road signs and curved mirrors, electric poles, guard rails, public facilities such as schools and parks, natural or artificial such as houses, shops etc. , It is assumed that it contains all the things on the ground, so-called, the peripheral information of the road including the feature.
  • the external sensor 160 is, for example, a camera, a millimeter wave radar, LIDAR (Laser Imaging Detection and Ranging) or the like, and collects information on the road and, for example, features on the road.
  • LIDAR Laser Imaging Detection and Ranging
  • the transmission unit 170 transmits the information acquired by the information acquisition unit 150 to, for example, the data server 400 on the cloud. If the stored information in the map update information storage unit 110 is the latest one, the transmission unit 170 causes the control unit 100 to update map information detected from the information acquired by the information acquisition unit 150 on the cloud. The data may be transmitted to the data server 400 or the like.
  • the identifying unit 101 identifies, from the map update information storage unit 110, information on an unupdated road or an unupdated area (step S101). Specifically, latitude and longitude information of an unupdated road or an unupdated area as shown in FIG. 2 is acquired, and the acquired information is output to the route search unit 130.
  • the route search unit 130 which has input the latitude / longitude information of the unupdated road or the unupdated area acquired by the identification unit 101 can be obtained by a GPS receiver or the like when receiving the designation of the arrival point based on the request from the user. Based on the current position information, a candidate route including an unupdated road or an unupdated area input from the identification unit 101 is searched, and the search result is displayed on the display unit 140 (step S102).
  • the information acquisition unit 150 acquires, for example, road information when the autonomous driving vehicle travels the route searched by the route search unit 130 from the external sensor 160 (step S103).
  • the transmission unit 170 transmits the information acquired by the information acquisition unit 150 to, for example, the data server 400 on the cloud (step S104). If the stored information in the map update information storage unit 110 is the latest one, the transmission unit 170 causes the control unit 100 to update map information detected from the information acquired by the information acquisition unit 150 on the cloud. The data may be transmitted to the data server 400 or the like.
  • the identifying unit 101 determines that the elapsed time since the last update of the map data in the unupdated road or the unupdated area included in the map data is equal to or longer than a predetermined period.
  • a road or an unupdated area is specified, and the route search unit 130, when there is a route search request from the user, an unupdated road or an unupdated road whose elapsed period from the last update time of map data is a predetermined period or more Route search is performed so that the vehicle travels preferentially in the area.
  • the information acquisition unit 150 acquires road information when the autonomous driving vehicle travels on the route searched, and the transmission unit 170 transmits the road information acquired by the information acquisition unit 150 to the server.
  • the information acquisition unit can acquire information about the road in the unupdated road or the unupdated area and features around the road. . Therefore, even in the area where the update information is scarce, it is possible to obtain map update data of the road and the area around the road at low cost.
  • information on an unupdated road or an unupdated area is acquired, and a route search is performed such that the automatically driven vehicle travels on the unupdated road or the unupdated area.
  • a route search may be performed to travel in the update area.
  • Example 2 Second Embodiment A second embodiment of the present invention will be described below with reference to FIGS. 4 and 5.
  • the information acquisition apparatus 20 includes a control unit 100A, a map update information storage unit 110, a reception unit 120, a route search unit 131, a display unit 140, and an information acquisition unit. 150, an external sensor 160, a transmission unit 170, and a vehicle state identification unit 180. Further, the control unit 100A is configured to include the specifying unit 101. In addition, since the component which attaches
  • the control unit 100A controls all processing in the information acquisition device 20 based on a control program stored in a ROM (not shown) or the like.
  • a travel route including an unupdated road or an unupdated area is searched, and the autonomous driving vehicle travels a travel route including an unupdated road or an unupdated area Control to obtain road information of
  • the route search unit 131 performs a route search such as traveling on an unupdated road or an unupdated area according to the state of the vehicle specified by the vehicle state specifying unit 180 described later.
  • the vehicle state identification unit 180 identifies the current state of the vehicle. For example, in the case of a taxi vehicle (preferably a self-driving taxi vehicle), it is specified whether it is a hire or an empty vehicle. In the present embodiment, when it is determined that the taxi vehicle is an empty vehicle, that effect is output to the route searching unit 131. Then, upon inputting information that the taxi vehicle is an empty vehicle, the route search unit 131 searches for a travel route including an unupdated road or an unupdated area.
  • a taxi vehicle preferably a self-driving taxi vehicle
  • the identifying unit 101 identifies, from the map update information storage unit 110, information on an unupdated road or an unupdated area (step S101). Specifically, latitude and longitude information of an unupdated road or an unupdated area as shown in FIG. 2 is acquired, and the acquired information is output to the route search unit 131.
  • the vehicle state identification unit 180 identifies whether the taxi vehicle is empty (step S201). If it is determined that the taxi vehicle is not empty as a result of the determination ("NO" in step S201), the process ends.
  • the route search unit 131 does not update the road or unupdated road from the identification unit 101.
  • the designated point which will arrive by passing through the area is designated as the arrival point.
  • the route search unit 131 searches for a candidate route including the unupdated road input from the identifying unit 101 or the road existing in the unupdated area (step S102).
  • the information acquisition unit 150 acquires, for example, road information when the taxi vehicle travels the route searched by the route search unit 131 from the external sensor 160 (step S103).
  • the transmission unit 170 transmits the information acquired by the information acquisition unit 150 to, for example, the data server 400 on the cloud (step S104).
  • the identification unit 101 acquires information on an unupdated road or an unupdated area
  • the route search unit 131 indicates that a taxi is in an idle state and from the user
  • the route search is performed so that the taxi cab vehicle travels on the unupdated road or the unupdated area.
  • the information acquisition unit 150 acquires road information when the taxi vehicle travels on the route searched, and the transmission unit 170 transmits the road information acquired by the information acquisition unit 150 to the server. Therefore, the information acquisition unit 150 uses the automatically operated taxi vehicle in the empty state in which the passenger is unloaded by causing the automatically operated taxi vehicle in the empty state to travel the route including the unupdated road or the road existing in the unupdated area.
  • a route search is performed so that the self-driving taxi vehicle travels on a non-updated road or a non-updated area using an empty taxi driver in an empty state in which passengers are unloaded,
  • acquiring road information of the road or the non-updated area has been exemplified and described, for example, the autonomous driving vehicle travels the unupdated road or the non-updated area on the sharing autonomous driving vehicle without a reservation
  • a route search may be performed to acquire road information of an unupdated road or an unupdated area.
  • the information acquisition unit 150 uses the self-driving taxi vehicle to cause the self-driving taxi vehicle to travel a route including a non-updated road or a road that exists in a non-updated area. It is possible to obtain information about the road in the updated road or unupdated area and features around the road. Therefore, even in the area where the update information is scarce, it is possible to obtain map update data of the road and the area around the road at low cost.
  • Example 3 The third embodiment of the present invention will be described below with reference to FIGS. 6 to 8.
  • the information acquisition apparatus 40 includes a control unit 100C, a map update information storage unit 110, a reception unit 120, a route search unit 132, a display unit 140, and an information acquisition unit. 150, an external sensor 160, a transmission unit 170, and an attribute information storage unit 190. Further, the control unit 100C is configured to include the specifying unit 101. In addition, since the component which attaches
  • the control unit 100C controls all the processes in the information acquisition device 40 based on a control program stored in a ROM (not shown) or the like. In the present embodiment, control having the function of the identification unit 101 and control of reading the attribute information of the vehicle or user for whom the route search unit 132 performs route search from the attribute information storage unit 190 and outputting the attribute information to the route search unit 132 I do.
  • the route search unit 132 travels on the unupdated road or the unupdated area according to the attribute information stored in the attribute information storage unit 190 described later, specifically, the vehicle type, the characteristics of the vehicle, and the characteristics of the user. Perform a route search on the attribute information stored in the attribute information storage unit 190 described later, specifically, the vehicle type, the characteristics of the vehicle, and the characteristics of the user. Perform a route search on the attribute information stored in the attribute information storage unit 190 described later, specifically, the vehicle type, the characteristics of the vehicle, and the characteristics of the user. Perform a route search on
  • the attribute information storage unit 190 stores attribute information such as the model of the vehicle, the characteristics of the vehicle, and the characteristics of the user. Specifically, as shown in FIG. 7, a database in which the vehicle type of the automatically driven vehicle, the sensor type, the attachment position of the sensor, the gender of the user, and the like are stored is stored.
  • the information in this database may be, for example, information registered in advance by a user on a web site or the like, or information provided by registration information managed by a third party and recorded.
  • the identifying unit 101 acquires information on an unupdated road or an unupdated area from the map update information storage unit 110 (step S101). Specifically, latitude and longitude information of an unupdated road or an unupdated area as shown in FIG. 2 is acquired, and the acquired information is output to the route search unit 132.
  • the route search unit 132 acquires information on an unupdated road or an unupdated area from the identification unit 101, and from the attribute information storage unit 190 via the control unit 100C, attributes such as vehicle type and vehicle characteristics, user characteristics, etc. Get information. Then, the route search unit 132 searches for a route including an unupdated road or an unupdated area according to the attribute information (step S401). Specifically, when the attribute information of the vehicle providing the route search result is “ID 4”, among the non-updated roads or the non-updated area, the one including the narrow road is excluded and the other non-updated roads or non-updated areas are excluded. Perform route search for routes including updated roads or unupdated areas.
  • the attribute information of the vehicle providing the route search result is “ID 1” and the vehicle is a truck, excluding the unupdated road or the unupdated area passing through the residential area, another unupdated road or Perform route search of the route including the unupdated area.
  • the attribute information of the vehicle providing the route search result is “ID 2” or “ID 3” (ie, when the user is a woman)
  • an unupdated road or an unupdated area at night ie, Do not pass through roads, areas (where there are few people).
  • information about the driver's age, driving history, or driving skill is managed, for example, for an elderly driver of a predetermined age or older, For drivers who do not search for unupdated roads or routes that include routes that travel in unupdated areas, or for drivers whose driving history is below a predetermined level or drivers who have low driving skills, high driving skills Control not to search for a route including a route such as, for example, an unupdated road with a narrow road width, an unupdated road with a sharp curve continuing, or an unupdated area where these roads exist. You may
  • the information acquisition unit 150 acquires, for example, road information when the autonomous driving vehicle travels the route searched by the route search unit 132 from the external sensor 160 (step S103).
  • the transmission unit 170 transmits the information acquired by the information acquisition unit 150 to, for example, the data server 400 on the cloud (step S104).
  • the route search unit 132 acquires information on an unupdated road or an unupdated area from the identification unit 101, and the attribute information storage unit 190 via the control unit 100C.
  • the attribute information such as the vehicle type and the characteristics of the vehicle, the characteristics of the user, etc. is acquired from and the route including the unupdated road or the unupdated area is searched according to the acquired attribute information. Therefore, when there are a plurality of unupdated roads or unupdated areas, the information acquisition unit 150 searches for a route including an unupdated road or an unupdated area matching the attributes of the vehicle or the user.
  • the feature in a high place such as a traffic light or a road sign
  • the acquisition information from the vehicle having a high sensor attachment position may be adopted, and the acquisition information from a vehicle having a low sensor attachment position may be adopted for a feature near the road surface such as a curb or the like. By doing this, the accuracy of the acquired information can be further improved.
  • each vehicle such as a home delivery vehicle or a post office vehicle is described.
  • the road information may be acquired from a delivery vehicle that delivers luggage, mail, and delivery items directly to the home. In this case, since it is not necessary to perform route search, road information can be acquired with a simple configuration.
  • the unupdated road or the unupdated area may be a plurality of autonomously driven vehicles, considering the sensor characteristics of the autonomously driven vehicle and the environmental conditions at the time of traveling. It is desirable to drive the road in and to obtain road information in an unupdated road or an unupdated area. Therefore, the request may be transmitted to a plurality of autonomous driving vehicles so as to travel on the unupdated road or the road in the unupdated area. Further, at this time, a mechanism may be established to give a valuable value to the user or owner of the autonomous driving vehicle that has traveled the road in the unupdated road or the unupdated area.
  • the information acquisition device of the present invention is realized by recording the processing of the information acquisition device in a recording medium readable by a computer system, reading the program recorded in the recording medium into the information acquisition device, and executing the program.
  • the computer system referred to here includes hardware such as an OS and peripheral devices.
  • the “computer system” also includes the provision environment (or display environment) of the home page if the WWW (World Wide Web) system is used.
  • the program may be transmitted from a computer system in which the program is stored in a storage device or the like to another computer system via a transmission medium or by transmission waves in the transmission medium.
  • the “transmission medium” for transmitting the program is a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
  • the program may be for realizing a part of the functions described above. Furthermore, it may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.
  • difference file difference program
  • 10 to 40 information acquisition apparatus 100, 100A, 100B, 100C; control unit 101; identification unit 102; external sensor control unit 110; map update information storage unit 120; reception unit 130 to 132; route search unit 140; Information acquisition unit 160; external sensor 170; transmission unit 180; vehicle state identification unit 190; attribute information storage unit

Abstract

The primary purpose of the present invention is to provide an information acquisition device that inexpensively acquires map updating data for a nonupdated road or a nonupdated area included in map data. An identification unit 101 identifies, for nonupdated roads or nonupdated areas included in map data, a nonupdated road or a nonupdated area for which the elapsed time since the most recent update of the map data is at least a prescribed amount of time. When there is a route search request from a user, a route search unit 130 performs a route search such that a vehicle preferentially travels the nonupdated road or nonupdated area for which the elapsed time since the most recent update of the map data is at least the prescribed amount of time. An information acquisition unit 150 acquires a travel road travelled when the route is travelled, or road information which is information on the vicinity around the travel road.

Description

情報取得装置、情報取得方法およびプログラムInformation acquisition apparatus, information acquisition method and program
　本発明は、情報取得装置、情報取得方法およびプログラムに関する。 The present invention relates to an information acquisition device, an information acquisition method, and a program.
　車両からの要求に応じて地図情報を提供する地図情報提供システムに関し、地図情報の更新のために車両の走行した軌跡に関する軌跡データを取得するシステムが知られている（例えば、特許文献１参照。）。この特許文献１には、車両から軌跡データを取得した場合に、当該軌跡データに対応する道路が地図情報に設定されていないときに、当該軌跡データを新たな道路情報として地図情報の更新を行う技術が開示されている。 With regard to a map information providing system that provides map information in response to a request from a vehicle, a system is known that acquires trajectory data regarding a trajectory traveled by the vehicle for updating map information (see, for example, Patent Document 1). ). In this patent document 1, when locus data is acquired from a vehicle, when a road corresponding to the locus data is not set in the map information, the map information is updated using the locus data as new road information. Technology is disclosed.
特開２００２－１１６６８９号公報Unexamined-Japanese-Patent No. 2002-116689
　近年、運転者が運転操作を行うことなく、車両を走行させる自動運転車両の開発が進んでいる。この自動運転車両の自動運転制御を行うためには、適切な地図情報が必要である。しかしながら、特許文献１に記載の技術では、工事などにより地形（例えば車線幅、道路曲率）が変わり、地図情報が古くなった場合の更新方法については一切触れられていない。 2. Description of the Related Art In recent years, development of an autonomous driving vehicle for causing a vehicle to travel without the driver performing a driving operation has been advanced. In order to perform automatic driving control of the autonomous driving vehicle, appropriate map information is required. However, in the technology described in Patent Document 1, the topography (for example, the lane width and the road curvature) changes due to construction and the like, and the updating method in the case where the map information becomes old is not mentioned at all.
　ところで、適切な地図情報を常に準備するためには、例えば、ＭＭＳ（Mobile Mapping System）車両を広域で走行させる等の方法が考えられる。しかし、そのような方法では、コストが膨大になるという問題がある。一方で、こうした問題を解決するために、主要幹線道路については、自動運転が可能な道路を走行する一般の自動運転車両のセンシングデータを活用する方法がある。しかしながら、この方法も滅多に自動運転車両が通らない道路に関しては、必要な地図更新データを得られないという問題がある。そこで、本発明が解決しようとする課題には、上述した問題が一例として挙げられる。 By the way, in order to always prepare appropriate map information, for example, a method of traveling an MMS (Mobile Mapping System) vehicle in a wide area can be considered. However, such a method has a problem that the cost is enormous. On the other hand, in order to solve such a problem, there is a method of utilizing sensing data of a general autonomous driving vehicle traveling on a road on which automatic driving is possible, for the main trunk road. However, this method also has a problem that necessary map update data can not be obtained for roads where autonomous vehicles do not pass. Then, the problem mentioned above is mentioned as an example in the subject which this invention tends to solve.
　本発明は、上述の一例として挙げられた問題に鑑みてなされたものであり、地図データに含まれる未更新道路または未更新地域における地図更新データを安価に取得する情報取得装置、情報取得方法およびプログラムを提供することを主な目的とする。 The present invention has been made in view of the problems cited above as an example, and provides an information acquisition device, an information acquisition method, and an information acquisition method for inexpensively acquiring map update data in an unupdated road or an unupdated area included in map data. The main purpose is to provide a program.
　請求項１に記載の発明は、地図データに含まれる道路または地域に関する情報の最終更新時点からの経過期間が所定期間以上である未更新道路又は未更新地域を特定する特定部と、前記特定部により特定された前記未更新道路または未更新地域を車両が優先的に走行するように経路の探索を行う経路探索部と、前記経路を走行したときに走行した道路である走行道路又は前記走行道路の周辺情報である道路情報を取得する情報取得部と、を備えることを特徴とする。 The invention according to claim 1 is a specification unit for specifying an unupdated road or an unupdated area in which an elapsed period from the last update time of information on a road or area included in map data is equal to or longer than a predetermined period; A route searching unit that searches for a route so that the vehicle preferentially travels on the unupdated road or the unupdated area specified by the road; and a traveling road or the traveling road which is a road traveled when traveling the route And an information acquisition unit for acquiring road information which is peripheral information of
　請求項７に記載の発明は、特定部と、経路探索部と、情報取得部とを備えた情報取得装置における情報取得方法であって、前記特定部が、地図データに含まれる道路または地域に関する情報の最終更新時点からの経過期間が所定期間以上である未更新道路又は未更新地域を特定する第１の工程と、前記経路探索部が、前記未更新道路または未更新地域を車両が優先的に走行するように経路の探索を行う第２の工程と、前記情報取得部が、前記経路を走行したときに走行した道路である走行道路又は前記走行道路の周辺情報である道路情報を取得する第３の工程と、を備えることを特徴とする。 The invention according to claim 7 is an information acquiring method in an information acquiring apparatus including an identifying unit, a route searching unit, and an information acquiring unit, wherein the identifying unit relates to a road or an area included in map data. The first step of identifying an unupdated road or an unupdated area whose elapsed period from the last update time of information is a predetermined period or more, and the route searching unit prioritizes the vehicle for the unupdated road or the unupdated area A second step of searching for a route to travel on the road and the road information which is a road traveled when the information acquisition unit travels the road or road information which is peripheral information of the travel road And a third step.
　請求項８に記載の発明は、特定部と、経路探索部と、情報取得部とを備えた情報取得装置における情報取得方法をコンピュータに実行させるためのプログラムであって、前記特定部が、地図データに含まれる道路または地域に関する情報の最終更新時点からの経過期間が所定期間以上である未更新道路又は未更新地域を特定する第１の工程と、前記経路探索部が、前記未更新道路または未更新地域を車両が優先的に走行するように経路の探索を行う第２の工程と、前記情報取得部が、前記経路を走行したときに走行した道路である走行道路又は前記走行道路の周辺情報である道路情報を取得する第３の工程と、をコンピュータに実行させるためのプログラムであることを特徴とする。 The invention according to claim 8 is a program for causing a computer to execute an information acquisition method in an information acquisition apparatus comprising an identification unit, a route search unit, and an information acquisition unit, wherein the identification unit is a map. A first step of identifying an unupdated road or an unupdated area whose elapsed period from the last update time of the information on the road or area included in the data is equal to or longer than a predetermined period; A second step of searching for a route so that a vehicle preferentially travels in a non-updated area, and a traveling road which is a road traveled when the information acquisition unit travels the route or the periphery of the traveling road A program for causing a computer to execute a third process of acquiring road information which is information.
本発明の実施例１に係る情報取得装置の構成図である。It is a block diagram of the information acquisition apparatus which concerns on Example 1 of this invention. 本発明の実施例１に係る探索経路の提示例である。It is an example of presentation of a search path concerning Example 1 of the present invention. 本発明の実施例１に係る情報取得装置の処理フローである。It is a processing flow of the information acquisition apparatus which concerns on Example 1 of this invention. 本発明の実施例２に係る情報取得装置の構成図である。It is a block diagram of the information acquisition apparatus which concerns on Example 2 of this invention. 本発明の実施例２に係る情報取得装置の処理フローである。It is a processing flow of the information acquisition apparatus which concerns on Example 2 of this invention. 本発明の実施例３に係る情報取得装置の構成図である。It is a block diagram of the information acquisition apparatus which concerns on Example 3 of this invention. 本発明の実施例３に係る属性情報を例示した図である。It is the figure which illustrated the attribute information which relates to the execution example 3 of this invention. 本発明の実施例３に係る情報取得装置の処理フローである。It is a processing flow of the information acquisition apparatus which concerns on Example 3 of this invention.
＜実施形態＞
　以下、本発明の一実施形態にかかる情報取得装置について説明する。 Embodiment
Hereinafter, an information acquisition apparatus according to an embodiment of the present invention will be described.
　本発明の一実施形態にかかる情報取得装置は、特定部と、経路探索部と、情報取得部と、を備える。
　特定部は、地図データに含まれる道路または地域に関する情報の最終更新時点からの経過期間が所定期間以上である未更新道路又は未更新地域を特定する。なお、所定期間については、未更新道路ごとに任意に設定することができる。例えば、当該未更新道路における交通量に応じて、所定期間を変えてもよい。
　経路探索部は、利用者からの経路探索要求があったときに、地図データの最終更新時点からの経過期間が所定期間以上である未更新道路または未更新地域を車両が優先的に走行するように経路探索を行う。ここで、自動運転車両は多くのセンサ類を搭載しており、走行する道路から様々な情報を取得することができるため、当該車両は、自動運転車両であることが好ましい。以下では、車両を自動運転車両として説明する。
　なお、経路探索の方法については、どのような方法によってもよい。
　情報取得部は、経路を走行したときに走行した道路である走行道路又は走行道路の周辺情報である道路情報を取得する。なお、道路の周辺情報には、道路標識やカーブミラー、電柱、ガードレール、学校や公園等の公共施設、住宅、商店等の天然と人工にかかわらず、地上にあるすべての物、所謂、地物を含むものとする。 An information acquisition apparatus according to an embodiment of the present invention includes an identification unit, a route search unit, and an information acquisition unit.
The identifying unit identifies an unupdated road or an unupdated area in which a period of time elapsed since the last update of the information on the road or area included in the map data is equal to or longer than a predetermined period. In addition, about a predetermined period, it can set arbitrarily for every unupdated road. For example, the predetermined period may be changed according to the traffic volume on the unupdated road.
The route search unit is configured such that when the user requests a route search, the vehicle preferentially travels on the unupdated road or the unupdated area where the elapsed period from the last update time of the map data is a predetermined period or more. Perform a route search on Here, since an autonomous driving vehicle is equipped with a large number of sensors and can acquire various information from a road on which it travels, it is preferable that the vehicle is an autonomous driving vehicle. Below, a vehicle is demonstrated as an autonomous driving vehicle.
The route search method may be any method.
The information acquisition unit acquires road information which is a road on which the vehicle traveled when traveling a route or road information which is peripheral information of the road. In addition, road peripheral information such as road signs, curved mirrors, utility poles, guardrails, public facilities such as schools and parks, houses, shops, etc., all things on the ground regardless of nature and artificiality, so-called features Shall be included.
　上記の構成により、特定部は、地図データに含まれる未更新道路または未更新地域における地図データの最終更新時点からの経過期間が所定期間以上である未更新道路または未更新地域を特定し、経路探索部は、利用者からの経路探索要求があったときに、地図データの最終更新時点からの経過期間が所定期間以上である未更新道路または未更新地域を車両が優先的に走行するように経路探索を行う。
　したがって、地図データの最終更新時点からの経過期間が所定期間以上である未更新道路または未更新地域を含む経路を車両に走行させることにより、情報取得部が、最終更新時点からの経過期間が所定期間以上である未更新道路または未更新地域における未更新道路および未更新道路周辺の地物に関する情報を取得することができる。そのため、更新情報の乏しい地域においても、未更新道路および未更新道路周辺の地図更新データを安価に取得することができる。 According to the above configuration, the identification unit identifies an unupdated road or an unupdated area in which an elapsed period from the last update time of map data in an unupdated road or an unupdated area included in map data is equal to or longer than a predetermined period. The search unit is configured such that when the user requests a route search, the vehicle preferentially travels on an unupdated road or an unupdated area where an elapsed period from the last update time of map data is equal to or longer than a predetermined period. Perform route search.
Therefore, by causing the vehicle to travel a route including an unupdated road or an unupdated area in which the elapsed period from the last update time of map data is a predetermined period or more, the information acquisition unit determines the elapsed time from the last update time. It is possible to obtain information on an unupdated road which is longer than a period or an unupdated road in an unupdated area and features around the unupdated road. Therefore, even in the area where the update information is scarce, map update data of the unupdated road and the area around the unupdated road can be acquired inexpensively.
　また、本発明の他の一実施形態では、情報取得方法において、特定部が、地図データに含まれる道路または地域に関する情報の最終更新時点からの経過期間が所定期間以上である未更新道路又は未更新地域を特定する第１の工程と、経路探索部が、利用者からの経路探索要求があったときに、地図データの最終更新時点からの経過期間が所定期間以上である未更新道路または未更新地域を車両が優先的に走行するように経路探索を行う第２の工程と、情報取得部が、その経路探索した経路を走行したときの未更新道路および未更新道路の周辺情報を取得する第３の工程と、を備える。そのため、更新情報の乏しい地域においても、未更新道路および未更新道路周辺の地図更新データを安価に取得することができる。 Further, in another embodiment of the present invention, in the information acquisition method, the identification unit is an unupdated road or an unupdated road whose elapsed period from the last update time of the information on the road or area included in the map data is a predetermined period or more. The first step of specifying the update area, and the route search unit, when there is a route search request from the user, an unupdated road or an unupdated road whose elapsed period from the last update time of map data is a predetermined period or more The second step of performing a route search so that the vehicle preferentially travels in the update area, and the information acquisition unit acquires the unupdated road and the surrounding information of the unupdated road when traveling the route searched for the route And a third step. Therefore, even in the area where the update information is scarce, map update data of the unupdated road and the area around the unupdated road can be acquired inexpensively.
　また、本発明の他の一実施形態では、プログラムにおいて、特定部が、地図データに含まれる道路または地域に関する情報の最終更新時点からの経過期間が所定期間以上である未更新道路又は未更新地域を特定する第１の工程と、経路探索部が、利用者からの経路探索要求があったときに、地図データの最終更新時点からの経過期間が所定期間以上である未更新道路または未更新地域を車両が優先的に走行するように経路探索を行う第２の工程と、情報取得部が、その経路探索した経路を走行したときの未更新道路および未更新道路の周辺情報を取得する第３の工程と、を備える。そのため、更新情報の乏しい地域においても、未更新道路および未更新道路周辺の地図更新データを安価に取得することができる。 Further, in another embodiment of the present invention, in the program, the specific part is an unupdated road or an unupdated area whose elapsed period from the last update time of the information on the road or area included in the map data is a predetermined period or more. First step of identifying the road, and the route search unit, when there is a route search request from the user, an unupdated road or an unupdated area in which the elapsed period from the last update time of map data is a predetermined period or more A second step of conducting a route search so that the vehicle travels with priority, and a third step of acquiring information on an unupdated road and an unupdated road when the information acquisition unit travels the route searched for the route And the process of Therefore, even in the area where the update information is scarce, map update data of the unupdated road and the area around the unupdated road can be acquired inexpensively.
＜実施例＞
　以下、図１から図８を用いて、本発明の実施例について説明する。なお、以下の実施例では、移動体の一例として、自動運転車両を例示して説明する。 <Example>
Hereinafter, an embodiment of the present invention will be described using FIGS. 1 to 8. In the following embodiments, an autonomous driving vehicle will be described as an example of a moving body.
＜実施例１＞
　本発明の実施例１について、以下、図１から図３を用いて説明する。 Example 1
The first embodiment of the present invention will be described below with reference to FIGS. 1 to 3.
＜情報取得装置の構成＞
　図１に示すように、本実施例に係る情報取得装置１０は、制御部１００と、地図更新情報記憶部１１０と、受信部１２０と、経路探索部１３０と、表示部１４０と、情報取得部１５０と、外部センサ１６０と、送信部１７０とを含んで構成されている。また、制御部１００は、特定部１０１を含んで構成されている。 <Configuration of Information Acquisition Device>
As shown in FIG. 1, the information acquisition apparatus 10 according to the present embodiment includes a control unit 100, a map update information storage unit 110, a reception unit 120, a route search unit 130, a display unit 140, and an information acquisition unit. 150, an external sensor 160, and a transmitting unit 170. Further, the control unit 100 is configured to include the specifying unit 101.
　制御部１００は、図示しないＲＯＭ等に格納された制御プログラムに基づき、情報取得装置１０におけるすべての処理を制御する。なお、本実施例においては、特に、特定部１０１の機能を有している。
　具体的には、特定部１０１は、使用者からの経路探索要求を経路探索部１３０から入力したときに、探索経路周辺に、地図データの最終更新時点からの経過期間が所定期間以上である所定の道路（以下、未更新道路、という）または所定の地域（以下、未更新地域、という）が存在するか否かを地図更新情報記憶部から探知し、探知した未更新道路または未更新地域に関する情報を経路探索部１３０に出力する。
　なお、所定期間は、未更新道路の交通量に応じて定めてもよく、例えば交通量の多い道路であれば所定の日数を、交通量の少ない道路に比べて短くすることで、交通量の多い（すなわち重要な）道路の情報を頻繁に取得することができる。
　また、制御部１００は、情報取得部１５０が取得した情報から地図の更新情報を探知する機能等を有している。 The control unit 100 controls all processing in the information acquisition device 10 based on a control program stored in a ROM (not shown) or the like. In the present embodiment, in particular, the function of the specifying unit 101 is provided.
Specifically, when the specifying unit 101 inputs a route search request from the user from the route searching unit 130, a predetermined period of time since the last update time of map data is equal to or longer than the predetermined period around the search route. Regarding the unupdated road or unupdated area detected by detecting from the map update information storage unit whether the road (hereinafter referred to as unupdated road) or a predetermined area (hereinafter referred to as unupdated area) exists The information is output to the route search unit 130.
The predetermined period may be determined according to the traffic volume of the unupdated road. For example, if the road has a large traffic volume, the predetermined number of days can be shortened compared to the road with a small traffic volume. Information on many (ie, important) roads can be obtained frequently.
The control unit 100 also has a function of detecting update information of a map from the information acquired by the information acquisition unit 150.
　地図更新情報記憶部１１０は、主として、未更新道路または未更新地域の情報を記憶する。未更新道路または未更新地域の情報は、例えば、受信部１２０を介して、クラウド上のデータサーバ４００等から所定の時間間隔で受信するようにしてもよい。 The map update information storage unit 110 mainly stores information of an unupdated road or an unupdated area. The information on the unupdated road or the unupdated area may be received from the data server 400 or the like on the cloud at predetermined time intervals via, for example, the receiving unit 120.
　経路探索部１３０は、使用者からの要求に基づいて、到着地点の指定を受けると、ＧＰＳ受信機等により得られる現在位置情報に基づいて、候補経路の探索を実行し、表示部１４０に、その探索結果を表示させる。この径路の探索においては、未更新道路または未更新地域を優先的に走行するように設定される。具体的には、ダイクストラ法等による経路の探索において、未更新道路に対応するリンクのコストを小さく設定する、若しくは未更新地域に存在する道路に対応するリンクのコストを小さく設定するなどしてもよい。若しくは、経路の作成において、必ず未更新道路、若しくは未更新地域に存在する道路を通行するようにしてもよい。なお、本実施例では、経路探索部１３０は、制御部１００内の特定部１０１が探知した未更新道路または未更新地域を含む候補経路を探索し、その探索結果を表示部１４０に表示させる。具体的には、例えば、図２に示すように、１次探索で、経路１を探索した場合、本実施例では、未更新道路または未更新地域を含む経路１Ａを探索結果として、表示部１４０に表示させる。 When the route search unit 130 receives the designation of the arrival point based on the request from the user, the route search unit 130 searches for a candidate route based on the current position information obtained by the GPS receiver etc. Display the search result. In the search of this route, it is set to travel on the unupdated road or the unupdated area preferentially. Specifically, in the route search by the Dijkstra method, the cost of the link corresponding to the unupdated road is set small, or the cost of the link corresponding to the road existing in the unupdated area is set small Good. Alternatively, when creating a route, an unupdated road or a road existing in an unupdated area may be passed. In the present embodiment, the route search unit 130 searches for a candidate route including an unupdated road or an unupdated area detected by the identification unit 101 in the control unit 100, and causes the display unit 140 to display the search result. Specifically, for example, as shown in FIG. 2, when the route 1 is searched in the primary search, in the present embodiment, the display unit 140 is used as the search result for the route 1A including the unupdated road or the unupdated area. Display on.
　表示部１４０は、ＬＣＤ等からなる表示エリアを備えて構成される。本実施例においては、例えば、経路探索部１３０の探索結果を表示する一方、表示エリアに入力エリアを表示することにより情報の入力部としても機能させてもよい。 The display unit 140 includes a display area including an LCD or the like. In the present embodiment, for example, while displaying the search results of the route search unit 130, the input area may be displayed in the display area to also function as an information input unit.
　情報取得部１５０は、経路探索部１３０が経路探索した経路を自動運転車両が走行したときの道路の情報およびその道路の周辺情報である道路情報を、例えば、後述する外部センサ１６０等から取得する。なお、取得する情報には、道路の有無や道路上の障害物、車道に付された車道外側線、車道中央線あるいは車道境界線や車道端に設けられた縁石、ガードレール、デリニエータ、照明灯、電柱あるいはラバーポール、車道中央部に設けられたキャッツアイ等を含む道路区分物や道路標識やカーブミラー、電柱、ガードレール、学校や公園等の公共施設、住宅、商店等の天然と人工にかかわらず、地上にあるすべての物、所謂、地物を含む道路の周辺情報を含むものとする。 The information acquiring unit 150 acquires, for example, information on a road when the autonomous driving vehicle travels on a route searched by the route searching unit 130 and road information which is peripheral information on the road from an external sensor 160 described later. . Information to be acquired includes the presence or absence of roads and obstacles on roads, roadside lines attached to roadways, roadway center lines or curbs provided at roadside boundaries or roadsides, guardrails, delineators, lighting lights, Electric poles or rubber poles, road divisions including cat's eye etc. provided in the central part of roadways, road signs and curved mirrors, electric poles, guard rails, public facilities such as schools and parks, natural or artificial such as houses, shops etc. , It is assumed that it contains all the things on the ground, so-called, the peripheral information of the road including the feature.
　外部センサ１６０は、例えば、カメラやミリ波レーダ、ＬＩＤＡＲ（Laser Imaging Detection and Ranging）等であり、道路および道路周辺の例えば、地物に関する情報を収集する。 The external sensor 160 is, for example, a camera, a millimeter wave radar, LIDAR (Laser Imaging Detection and Ranging) or the like, and collects information on the road and, for example, features on the road.
　送信部１７０は、情報取得部１５０が取得した情報を例えば、クラウド上のデータサーバ４００等に送信する。なお、地図更新情報記憶部１１０内の記憶情報が最新のものである場合には、送信部１７０は、制御部１００において、情報取得部１５０が取得した情報から探知した地図の更新情報をクラウド上のデータサーバ４００等に送信するようにしてもよい。 The transmission unit 170 transmits the information acquired by the information acquisition unit 150 to, for example, the data server 400 on the cloud. If the stored information in the map update information storage unit 110 is the latest one, the transmission unit 170 causes the control unit 100 to update map information detected from the information acquired by the information acquisition unit 150 on the cloud. The data may be transmitted to the data server 400 or the like.
＜情報取得装置の処理＞
　図３を用いて、本実施例に係る情報取得装置の処理について説明する。 <Process of Information Acquisition Device>
The process of the information acquisition apparatus according to the present embodiment will be described with reference to FIG.
　まず、特定部１０１は、地図更新情報記憶部１１０から未更新道路または未更新地域に関する情報を特定する（ステップＳ１０１）。具体的には、図２に示すような未更新道路または未更新地域の緯度経度情報を取得し、取得した情報を経路探索部１３０に出力する。 First, the identifying unit 101 identifies, from the map update information storage unit 110, information on an unupdated road or an unupdated area (step S101). Specifically, latitude and longitude information of an unupdated road or an unupdated area as shown in FIG. 2 is acquired, and the acquired information is output to the route search unit 130.
　特定部１０１が取得した未更新道路または未更新地域の緯度経度情報を入力した経路探索部１３０は、使用者からの要求に基づいて、到着地点の指定を受けると、ＧＰＳ受信機等により得られる現在位置情報に基づいて、特定部１０１から入力した未更新道路または未更新地域を含む候補経路を探索し、その探索結果を表示部１４０に表示させる（ステップＳ１０２）。 The route search unit 130 which has input the latitude / longitude information of the unupdated road or the unupdated area acquired by the identification unit 101 can be obtained by a GPS receiver or the like when receiving the designation of the arrival point based on the request from the user. Based on the current position information, a candidate route including an unupdated road or an unupdated area input from the identification unit 101 is searched, and the search result is displayed on the display unit 140 (step S102).
　情報取得部１５０は、経路探索部１３０が経路探索した経路を自動運転車両が走行したときの道路情報を、例えば、外部センサ１６０から取得する（ステップＳ１０３）。 The information acquisition unit 150 acquires, for example, road information when the autonomous driving vehicle travels the route searched by the route search unit 130 from the external sensor 160 (step S103).
　送信部１７０は、情報取得部１５０が取得した情報を例えば、クラウド上のデータサーバ４００等に送信する（ステップＳ１０４）。なお、地図更新情報記憶部１１０内の記憶情報が最新のものである場合には、送信部１７０は、制御部１００において、情報取得部１５０が取得した情報から探知した地図の更新情報をクラウド上のデータサーバ４００等に送信するようにしてもよい。 The transmission unit 170 transmits the information acquired by the information acquisition unit 150 to, for example, the data server 400 on the cloud (step S104). If the stored information in the map update information storage unit 110 is the latest one, the transmission unit 170 causes the control unit 100 to update map information detected from the information acquired by the information acquisition unit 150 on the cloud. The data may be transmitted to the data server 400 or the like.
　以上、説明したように、本実施例によれば、特定部１０１は、地図データに含まれる未更新道路または未更新地域における地図データの最終更新時点からの経過期間が所定期間以上である未更新道路または未更新地域を特定し、経路探索部１３０は、利用者からの経路探索要求があったときに、地図データの最終更新時点からの経過期間が所定期間以上である未更新道路または未更新地域を車両が優先的に走行するように経路探索を行う。そして、情報取得部１５０は、経路探索した経路を自動運転車両が走行したときの道路情報を取得し、送信部１７０が、情報取得部１５０が取得した道路情報をサーバに送信する。
　したがって、未更新道路または未更新地域を含む経路を自動運転車両に走行させることにより、情報取得部が、未更新道路または未更新地域における道路および道路周辺の地物に関する情報を取得することができる。そのため、更新情報の乏しい地域においても、道路および道路周辺の地図更新データを安価に取得することができる。 As described above, according to the present embodiment, the identifying unit 101 determines that the elapsed time since the last update of the map data in the unupdated road or the unupdated area included in the map data is equal to or longer than a predetermined period. A road or an unupdated area is specified, and the route search unit 130, when there is a route search request from the user, an unupdated road or an unupdated road whose elapsed period from the last update time of map data is a predetermined period or more Route search is performed so that the vehicle travels preferentially in the area. Then, the information acquisition unit 150 acquires road information when the autonomous driving vehicle travels on the route searched, and the transmission unit 170 transmits the road information acquired by the information acquisition unit 150 to the server.
Therefore, by causing the automatically driven vehicle to travel a route including an unupdated road or an unupdated area, the information acquisition unit can acquire information about the road in the unupdated road or the unupdated area and features around the road. . Therefore, even in the area where the update information is scarce, it is possible to obtain map update data of the road and the area around the road at low cost.
　なお、本実施例においては、未更新道路または未更新地域に関する情報を取得し、未更新道路または未更新地域を自動運転車両が走行するように経路探索を行って、未更新道路の道路情報等を取得することを例示して説明したが、例えば、使用者の趣味嗜好情報を保有している場合には、当該使用者の趣味嗜好情報に合致するレコメンド情報と組み合わせて、未更新道路または未更新地域を走行するような経路探索を行ってもよい。 In the present embodiment, information on an unupdated road or an unupdated area is acquired, and a route search is performed such that the automatically driven vehicle travels on the unupdated road or the unupdated area. In the case where the user's taste preference information is held, for example, the road is not updated or the road information has not been updated, in combination with the recommendation information matching the taste preference information of the user. A route search may be performed to travel in the update area.
＜実施例２＞
　本発明の実施例２について、以下、図４および図５を用いて説明する。 Example 2
Second Embodiment A second embodiment of the present invention will be described below with reference to FIGS. 4 and 5.
＜情報取得装置の構成＞
　図４に示すように、本実施例に係る情報取得装置２０は、制御部１００Ａと、地図更新情報記憶部１１０と、受信部１２０と、経路探索部１３１と、表示部１４０と、情報取得部１５０と、外部センサ１６０と、送信部１７０と、車両状態特定部１８０とを含んで構成されている。また、制御部１００Ａは、特定部１０１を含んで構成されている。なお、実施形態および実施例１と同一の符号を付す構成要素は、同様の機能を有するものであることから、その詳細な説明は省略する。 <Configuration of Information Acquisition Device>
As shown in FIG. 4, the information acquisition apparatus 20 according to the present embodiment includes a control unit 100A, a map update information storage unit 110, a reception unit 120, a route search unit 131, a display unit 140, and an information acquisition unit. 150, an external sensor 160, a transmission unit 170, and a vehicle state identification unit 180. Further, the control unit 100A is configured to include the specifying unit 101. In addition, since the component which attaches | subjects the code | symbol same as embodiment and Example 1 has a similar function, the detailed description is abbreviate | omitted.
　制御部１００Ａは、図示しないＲＯＭ等に格納された制御プログラムに基づき、情報取得装置２０におけるすべての処理を制御する。なお、本実施例においては、車両状態を特定した上で、未更新道路または未更新地域を含む走行経路を検索し、自動運転車両が未更新道路または未更新地域を含む走行経路を走行したときの道路情報を取得するように制御を行う。 The control unit 100A controls all processing in the information acquisition device 20 based on a control program stored in a ROM (not shown) or the like. In the present embodiment, after specifying the vehicle state, a travel route including an unupdated road or an unupdated area is searched, and the autonomous driving vehicle travels a travel route including an unupdated road or an unupdated area Control to obtain road information of
　経路探索部１３１は、後述する車両状態特定部１８０により特定された車両の状態に応じて、未更新道路または未更新地域を走行するような経路探索を行う。 The route search unit 131 performs a route search such as traveling on an unupdated road or an unupdated area according to the state of the vehicle specified by the vehicle state specifying unit 180 described later.
　車両状態特定部１８０は、車両の現在の状態を特定する。例えば、タクシー車両（好ましくは自動運転タクシー車両）の場合には、賃送であるのか、空車であるのかを特定する。本実施例においては、タクシー車両が空車であると特定された場合には、その旨を経路探索部１３１に出力する。そして、経路探索部１３１は、タクシー車両が空車であるとの情報を入力すると、未更新道路または未更新地域を含む走行経路を検索する。 The vehicle state identification unit 180 identifies the current state of the vehicle. For example, in the case of a taxi vehicle (preferably a self-driving taxi vehicle), it is specified whether it is a hire or an empty vehicle. In the present embodiment, when it is determined that the taxi vehicle is an empty vehicle, that effect is output to the route searching unit 131. Then, upon inputting information that the taxi vehicle is an empty vehicle, the route search unit 131 searches for a travel route including an unupdated road or an unupdated area.
＜情報取得装置の処理＞
　図５を用いて、本実施例に係る情報取得装置の処理について説明する。 <Process of Information Acquisition Device>
The process of the information acquisition apparatus according to the present embodiment will be described with reference to FIG.
　まず、特定部１０１は、地図更新情報記憶部１１０から未更新道路または未更新地域に関する情報を特定する（ステップＳ１０１）。具体的には、図２に示すような未更新道路または未更新地域の緯度経度情報を取得し、取得した情報を経路探索部１３１に出力する。 First, the identifying unit 101 identifies, from the map update information storage unit 110, information on an unupdated road or an unupdated area (step S101). Specifically, latitude and longitude information of an unupdated road or an unupdated area as shown in FIG. 2 is acquired, and the acquired information is output to the route search unit 131.
　車両状態特定部１８０は、タクシー車両が空車状態であるのか否かを特定する（ステップＳ２０１）。特定の結果、タクシー車両が空車状態ではないと特定する場合（ステップＳ２０１の「ＮＯ」）には、処理を終了する。 The vehicle state identification unit 180 identifies whether the taxi vehicle is empty (step S201). If it is determined that the taxi vehicle is not empty as a result of the determination ("NO" in step S201), the process ends.
　一方で、車両状態特定部１８０が、タクシー車両が空車状態であると特定した場合（ステップＳ２０１の「ＹＥＳ」）には、経路探索部１３１が、特定部１０１から、未更新道路、若しくは未更新地域を通行して到着することになる所定の地点を到着地点としての指定を受ける。経路探索部１３１は、到着地点の指定を受けると、特定部１０１から入力した未更新道路、又は未更新地域に存在する道路を含む候補経路を探索する（ステップＳ１０２）。 On the other hand, when the vehicle state identification unit 180 identifies that the taxi vehicle is in an empty state (“YES” in step S201), the route search unit 131 does not update the road or unupdated road from the identification unit 101. The designated point which will arrive by passing through the area is designated as the arrival point. When the route search unit 131 receives the designation of the arrival point, the route search unit 131 searches for a candidate route including the unupdated road input from the identifying unit 101 or the road existing in the unupdated area (step S102).
　情報取得部１５０は、経路探索部１３１が経路探索した経路を自動運転タクシー車両が走行したときの道路情報を、例えば、外部センサ１６０から取得する（ステップＳ１０３）。 The information acquisition unit 150 acquires, for example, road information when the taxi vehicle travels the route searched by the route search unit 131 from the external sensor 160 (step S103).
　送信部１７０は、情報取得部１５０が取得した情報を例えば、クラウド上のデータサーバ４００等に送信する（ステップＳ１０４）。 The transmission unit 170 transmits the information acquired by the information acquisition unit 150 to, for example, the data server 400 on the cloud (step S104).
　以上、説明したように、本実施例によれば、特定部１０１は、未更新道路または未更新地域の情報を取得し、経路探索部１３１は、タクシーが空車状態であり、かつ、利用者からの経路探索要求があったときに、未更新道路または未更新地域を自動運転タクシー車両が走行するように経路探索を行う。そして、情報取得部１５０は、経路探索した経路を自動運転タクシー車両が走行したときの道路情報を取得し、送信部１７０が、情報取得部１５０が取得した道路情報をサーバに送信する。
　したがって、未更新道路、又は未更新地域に存在する道路を含む経路を空車状態の自動運転タクシー車両に走行させることにより、情報取得部１５０が、乗客を降ろした空車状態の自動運転タクシー車両を利用して、未更新道路または未更新地域における道路および道路周辺の地物に関する情報を取得することができる。そのため、更新情報の乏しい地域においても、道路および道路周辺の地図更新データを安価に取得することができる。 As described above, according to the present embodiment, the identification unit 101 acquires information on an unupdated road or an unupdated area, and the route search unit 131 indicates that a taxi is in an idle state and from the user When there is a request for route search, the route search is performed so that the taxi cab vehicle travels on the unupdated road or the unupdated area. Then, the information acquisition unit 150 acquires road information when the taxi vehicle travels on the route searched, and the transmission unit 170 transmits the road information acquired by the information acquisition unit 150 to the server.
Therefore, the information acquisition unit 150 uses the automatically operated taxi vehicle in the empty state in which the passenger is unloaded by causing the automatically operated taxi vehicle in the empty state to travel the route including the unupdated road or the road existing in the unupdated area. Thus, it is possible to obtain information on roads in unupdated roads or unupdated areas and features around roads. Therefore, even in the area where the update information is scarce, it is possible to obtain map update data of the road and the area around the road at low cost.
　なお、本実施例においては、乗客を降ろした空車状態の自動運転タクシー車両を利用して、未更新道路または未更新地域を当該自動運転タクシー車両が走行するように経路探索を行って、未更新道路又は未更新地域の道路情報を取得することを例示して説明したが、例えば、予約の入っていないシェアリング用自動運転車両に、未更新道路または未更新地域を当該自動運転車両が走行するように経路探索を行って、未更新道路又は未更新地域の道路情報を取得するようにしてもよい。また、空車状態の自動運転タクシー車両のみならず、迎車中の自動運転タクシー車両や予約され迎車中の自動運転タクシー車両、回送中の自動運転タクシー車両においても、空車状態の自動運転タクシー車両の場合と同様に、未更新道路、又は未更新地域に存在する道路を含む経路をこれらの自動運転タクシー車両に走行させることにより、情報取得部１５０が、これらの自動運転タクシー車両を利用して、未更新道路または未更新地域における道路および道路周辺の地物に関する情報を取得することができる。そのため、更新情報の乏しい地域においても、道路および道路周辺の地図更新データを安価に取得することができる。
＜実施例３＞
　本発明の実施例３について、以下、図６から図８を用いて説明する。 In the present embodiment, a route search is performed so that the self-driving taxi vehicle travels on a non-updated road or a non-updated area using an empty taxi driver in an empty state in which passengers are unloaded, Although acquiring road information of the road or the non-updated area has been exemplified and described, for example, the autonomous driving vehicle travels the unupdated road or the non-updated area on the sharing autonomous driving vehicle without a reservation As described above, a route search may be performed to acquire road information of an unupdated road or an unupdated area. In addition, not only automatic taxi cab vehicles in an empty car condition, but also automatic taxi cab vehicles in an idle car, reserved automatic taxi cars, and automatic taxi cab vehicles in an idle car, also in the case of an idle taxi car. In the same manner, the information acquisition unit 150 uses the self-driving taxi vehicle to cause the self-driving taxi vehicle to travel a route including a non-updated road or a road that exists in a non-updated area. It is possible to obtain information about the road in the updated road or unupdated area and features around the road. Therefore, even in the area where the update information is scarce, it is possible to obtain map update data of the road and the area around the road at low cost.
Example 3
The third embodiment of the present invention will be described below with reference to FIGS. 6 to 8.
＜情報取得装置の構成＞
　図６に示すように、本実施例に係る情報取得装置４０は、制御部１００Ｃと、地図更新情報記憶部１１０と、受信部１２０と、経路探索部１３２と、表示部１４０と、情報取得部１５０と、外部センサ１６０と、送信部１７０と、属性情報記憶部１９０とを含んで構成されている。また、制御部１００Ｃは、特定部１０１を含んで構成されている。なお、実施形態、実施例１および実施例２と同一の符号を付す構成要素は、同様の機能を有するものであることから、その詳細な説明は省略する。 <Configuration of Information Acquisition Device>
As shown in FIG. 6, the information acquisition apparatus 40 according to the present embodiment includes a control unit 100C, a map update information storage unit 110, a reception unit 120, a route search unit 132, a display unit 140, and an information acquisition unit. 150, an external sensor 160, a transmission unit 170, and an attribute information storage unit 190. Further, the control unit 100C is configured to include the specifying unit 101. In addition, since the component which attaches | subjects the code | symbol same as embodiment and Example 1 and Example 2 has a similar function, the detailed description is abbreviate | omitted.
　制御部１００Ｃは、図示しないＲＯＭ等に格納された制御プログラムに基づき、情報取得装置４０におけるすべての処理を制御する。なお、本実施例においては、特定部１０１の機能を有するとともに、属性情報記憶部１９０から経路探索部１３２が経路探索を行う車両あるいは利用者の属性情報を読み出し、経路探索部１３２に出力する制御を行う。 The control unit 100C controls all the processes in the information acquisition device 40 based on a control program stored in a ROM (not shown) or the like. In the present embodiment, control having the function of the identification unit 101 and control of reading the attribute information of the vehicle or user for whom the route search unit 132 performs route search from the attribute information storage unit 190 and outputting the attribute information to the route search unit 132 I do.
　経路探索部１３２は、後述する属性情報記憶部１９０に記憶された属性情報、具体的には、車種や車両の特性、利用者の特性に応じて、未更新道路または未更新地域を走行するように経路探索を行う。 The route search unit 132 travels on the unupdated road or the unupdated area according to the attribute information stored in the attribute information storage unit 190 described later, specifically, the vehicle type, the characteristics of the vehicle, and the characteristics of the user. Perform a route search on
　属性情報記憶部１９０は、車種や車両の特性、利用者の特性等の属性情報を記憶する。具体的には、図７に示すように、自動運転車両の車種、センサ種別、センサの取付位置、利用者の性別等を対応付けたデータベースを記憶する。なお、このデータベースの情報は、例えば、予め、利用者がＷｅｂサイト等において登録したもの、若しくは第三者の管理する登録情報から提供を受けて記録したものであっても良い。 The attribute information storage unit 190 stores attribute information such as the model of the vehicle, the characteristics of the vehicle, and the characteristics of the user. Specifically, as shown in FIG. 7, a database in which the vehicle type of the automatically driven vehicle, the sensor type, the attachment position of the sensor, the gender of the user, and the like are stored is stored. The information in this database may be, for example, information registered in advance by a user on a web site or the like, or information provided by registration information managed by a third party and recorded.
＜情報取得装置の処理＞
　図８を用いて、本実施例に係る情報取得装置の処理について説明する。 <Process of Information Acquisition Device>
The process of the information acquisition apparatus according to the present embodiment will be described with reference to FIG.
　まず、特定部１０１は、地図更新情報記憶部１１０から未更新道路または未更新地域に関する情報を取得する（ステップＳ１０１）。具体的には、図２に示すような未更新道路または未更新地域の緯度経度情報を取得し、取得した情報を経路探索部１３２に出力する。 First, the identifying unit 101 acquires information on an unupdated road or an unupdated area from the map update information storage unit 110 (step S101). Specifically, latitude and longitude information of an unupdated road or an unupdated area as shown in FIG. 2 is acquired, and the acquired information is output to the route search unit 132.
　経路探索部１３２は、特定部１０１から未更新道路または未更新地域に関する情報を取得するとともに、制御部１００Ｃを介して、属性情報記憶部１９０から車種や車両の特性、利用者の特性等の属性情報を取得する。そして、経路探索部１３２は、属性情報に応じて、未更新道路または未更新地域を含む経路を探索する（ステップＳ４０１）。具体的には、経路探索結果を提供する車両の属性情報が「ＩＤ４」である場合には、未更新道路または未更新地域のうち、道幅の狭い道路を含むものを除外して、他の未更新道路または未更新地域を含む経路の経路探索を行う。また、経路探索結果を提供する車両の属性情報が「ＩＤ１」であり、車両がトラックである場合には、住宅地を通る未更新道路または未更新地域を除外して、他の未更新道路または未更新地域を含む経路の経路探索を行う。さらに、経路探索結果を提供する車両の属性情報が「ＩＤ２」あるいは「ＩＤ３」である場合（すなわち、利用者が女性である場合）には、夜間には未更新道路、又は未更新地域（すなわち、人通りが少ないと考えられる道路、地域）を通行しないような経路探索を行う。
　なお、属性情報記憶部１９０に記憶されたデータベースにおいて、運転者の年齢や運転歴、若しくは運転技能についての情報を管理している場合であれば、例えば、所定の年齢以上の高齢の運転者に対しては、未更新道路、又は未更新地域を走行するような経路を含む経路を探索しない、あるいは、運転歴が所定以下の運転者や運転技能の低い運転者に対しては、高い運転技能を要するような、例えば、道路幅の狭い未更新道路や急カーブが連続するような未更新道路、又はこれらの道路が存在する未更新地域を走行するような経路を含む経路を探索しないといった制御を行っても良い。 The route search unit 132 acquires information on an unupdated road or an unupdated area from the identification unit 101, and from the attribute information storage unit 190 via the control unit 100C, attributes such as vehicle type and vehicle characteristics, user characteristics, etc. Get information. Then, the route search unit 132 searches for a route including an unupdated road or an unupdated area according to the attribute information (step S401). Specifically, when the attribute information of the vehicle providing the route search result is “ID 4”, among the non-updated roads or the non-updated area, the one including the narrow road is excluded and the other non-updated roads or non-updated areas are excluded. Perform route search for routes including updated roads or unupdated areas. In addition, when the attribute information of the vehicle providing the route search result is “ID 1” and the vehicle is a truck, excluding the unupdated road or the unupdated area passing through the residential area, another unupdated road or Perform route search of the route including the unupdated area. Furthermore, when the attribute information of the vehicle providing the route search result is “ID 2” or “ID 3” (ie, when the user is a woman), an unupdated road or an unupdated area at night (ie, , Do not pass through roads, areas (where there are few people).
If, in the database stored in the attribute information storage unit 190, information about the driver's age, driving history, or driving skill is managed, for example, for an elderly driver of a predetermined age or older, For drivers who do not search for unupdated roads or routes that include routes that travel in unupdated areas, or for drivers whose driving history is below a predetermined level or drivers who have low driving skills, high driving skills Control not to search for a route including a route such as, for example, an unupdated road with a narrow road width, an unupdated road with a sharp curve continuing, or an unupdated area where these roads exist. You may
　情報取得部１５０は、経路探索部１３２が経路探索した経路を自動運転車両が走行したときの道路情報を、例えば、外部センサ１６０から取得する（ステップＳ１０３）。 The information acquisition unit 150 acquires, for example, road information when the autonomous driving vehicle travels the route searched by the route search unit 132 from the external sensor 160 (step S103).
　送信部１７０は、情報取得部１５０が取得した情報を例えば、クラウド上のデータサーバ４００等に送信する（ステップＳ１０４）。 The transmission unit 170 transmits the information acquired by the information acquisition unit 150 to, for example, the data server 400 on the cloud (step S104).
　以上、説明したように、本実施例によれば、経路探索部１３２は、特定部１０１から未更新道路または未更新地域に関する情報を取得するとともに、制御部１００Ｃを介して、属性情報記憶部１９０から車種や車両の特性、利用者の特性等の属性情報を取得し、取得した属性情報に応じて、未更新道路または未更新地域を含む経路を探索する。
　したがって、未更新道路または未更新地域が複数ある場合に、車両や利用者の属性にマッチした未更新道路または未更新地域を含む経路を検索して、情報取得部１５０が、未更新道路または未更新地域における道路および道路周辺の地物に関する情報を取得するため、未更新道路または未更新地域における道路および道路周辺の地物に関する情報の取得を確実に実行することができる。そのため、更新情報の乏しい地域においても、道路および道路周辺の地図更新データを安価に取得することができる。 As described above, according to the present embodiment, the route search unit 132 acquires information on an unupdated road or an unupdated area from the identification unit 101, and the attribute information storage unit 190 via the control unit 100C. The attribute information such as the vehicle type and the characteristics of the vehicle, the characteristics of the user, etc. is acquired from and the route including the unupdated road or the unupdated area is searched according to the acquired attribute information.
Therefore, when there are a plurality of unupdated roads or unupdated areas, the information acquisition unit 150 searches for a route including an unupdated road or an unupdated area matching the attributes of the vehicle or the user. In order to obtain information on roads in the update area and information on features in the vicinity of the roads, it is possible to reliably obtain information on roads in unupdated areas or features in the vicinity of roads and roads in the unupdated area. Therefore, even in the area where the update information is scarce, it is possible to obtain map update data of the road and the area around the road at low cost.
　また、本実施例においては、属性情報としてセンサの種別やセンサ取付位置等の情報を有しているため、同じ経路であっても、例えば、信号機や道路標識等の高い場所にある地物に関しては、センサ取付位置が高い車両からの取得情報を、縁石等路面に近い位置の地物に関しては、センサ取付位置が低い車両からの取得情報を採用するようにしてもよい。このようにすることにより、より取得情報の精度を高めることができる。 Further, in the present embodiment, since information such as the sensor type and the sensor attachment position is included as the attribute information, even for the same route, for example, the feature in a high place such as a traffic light or a road sign The acquisition information from the vehicle having a high sensor attachment position may be adopted, and the acquisition information from a vehicle having a low sensor attachment position may be adopted for a feature near the road surface such as a curb or the like. By doing this, the accuracy of the acquired information can be further improved.
　また、大型トラック等の特殊大型車の場合、幹線道路等の車幅が広い道路以外は、通行が困難であるため、大型トラック等の特殊大型車には、優先的に、幹線道路を経路探索結果として提示するとともに、小型車や軽自動車等、比較的狭い道路でも通行可能な車両には、住宅街の未更新道路または未更新地域を含む経路を検索結果として提示するなど、車両の特性に応じて、道路種別を割り当てるようにしてもよい。 In addition, in the case of special large vehicles such as large trucks, it is difficult to pass other than wide roads such as trunk roads. Therefore, for special large vehicles such as large trucks, priority is given to route search on the main roads According to the characteristics of the vehicle, such as presenting a route including an unupdated road or an unupdated area of a residential area to a vehicle which can pass even a relatively narrow road such as a small car or a light vehicle while presenting as a result The road type may be assigned.
　なお、本実施形態および実施例１から実施例３においては、一般の自動運転車両を対象に、道路情報を取得することについて説明したが、例えば、宅配便の車両や郵便局の車両等の各家庭に直接、荷物や郵便物、デリバリー商品を配送する配送車両から、道路情報を取得するようにしてもよい。この場合、経路探索を行う必要もないため、簡易な構成で、道路情報を取得することができる。 In the present embodiment and the first to third embodiments, acquiring road information for a general automated driving vehicle has been described. However, for example, each vehicle such as a home delivery vehicle or a post office vehicle is described. The road information may be acquired from a delivery vehicle that delivers luggage, mail, and delivery items directly to the home. In this case, since it is not necessary to perform route search, road information can be acquired with a simple configuration.
　また、未更新道路または未更新地域における道路情報を取得するためには、自動運転車両のセンサ特性や走行時の環境状況を考慮すれば、複数の自動運転車両に当該未更新道路または未更新地域における道路を走行させ、未更新道路または未更新地域における道路情報を取得することが望ましい。そこで、複数の自動運転車両に当該未更新道路または未更新地域における道路を走行するようにリクエストを送信するようにしてもよい。また、このとき、当該未更新道路または未更新地域における道路を走行した自動運転車両の利用者や所有者に、有価価値を付与するような仕組みを構築してもよい。 Moreover, in order to acquire road information in an unupdated road or an unupdated area, the unupdated road or the unupdated area may be a plurality of autonomously driven vehicles, considering the sensor characteristics of the autonomously driven vehicle and the environmental conditions at the time of traveling. It is desirable to drive the road in and to obtain road information in an unupdated road or an unupdated area. Therefore, the request may be transmitted to a plurality of autonomous driving vehicles so as to travel on the unupdated road or the road in the unupdated area. Further, at this time, a mechanism may be established to give a valuable value to the user or owner of the autonomous driving vehicle that has traveled the road in the unupdated road or the unupdated area.
　なお、情報取得装置の処理をコンピュータシステムが読み取り可能な記録媒体に記録し、この記録媒体に記録されたプログラムを情報取得装置に読み込ませ、実行することによって本発明の情報取得装置を実現することができる。ここでいうコンピュータシステムとは、ＯＳや周辺装置等のハードウェアを含む。 Note that the information acquisition device of the present invention is realized by recording the processing of the information acquisition device in a recording medium readable by a computer system, reading the program recorded in the recording medium into the information acquisition device, and executing the program. Can. The computer system referred to here includes hardware such as an OS and peripheral devices.
　また、「コンピュータシステム」は、ＷＷＷ（Ｗｏｒｌｄ　Ｗｉｄｅ　Ｗｅｂ）システムを利用している場合であれば、ホームページの提供環境（あるいは表示環境）も含むものとする。また、上記プログラムは、このプログラムを記憶装置等に格納したコンピュータシステムから、伝送媒体を介して、あるいは、伝送媒体中の伝送波により他のコンピュータシステムに伝送されてもよい。ここで、プログラムを伝送する「伝送媒体」は、インターネット等のネットワーク（通信網）や電話回線等の通信回線（通信線）のように情報を伝送する機能を有する媒体のことをいう。 In addition, the “computer system” also includes the provision environment (or display environment) of the home page if the WWW (World Wide Web) system is used. The program may be transmitted from a computer system in which the program is stored in a storage device or the like to another computer system via a transmission medium or by transmission waves in the transmission medium. Here, the “transmission medium” for transmitting the program is a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
　また、上記プログラムは、前述した機能の一部を実現するためのものであってもよい。さらに、前述した機能をコンピュータシステムにすでに記録されているプログラムとの組み合わせで実現できるもの、所謂、差分ファイル（差分プログラム）であってもよい。 Further, the program may be for realizing a part of the functions described above. Furthermore, it may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.
　以上、この発明の実施形態および実施例につき、図面を参照して詳述してきたが、具体的な構成はこの実施形態あるいは実施例に限られるものではなく、この発明の要旨を逸脱しない範囲の設計等も含まれる。 Although the embodiments and examples of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to these embodiments or examples, and the scope of the present invention is within the scope of the present invention. Design etc. are also included.
　１０～４０；情報取得装置
　１００、１００Ａ、１００Ｂ、１００Ｃ；制御部
　１０１；特定部
　１０２；外部センサ制御部
　１１０；地図更新情報記憶部
　１２０；受信部
　１３０～１３２；経路探索部
　１４０；表示部
　１５０；情報取得部
　１６０；外部センサ
　１７０；送信部
　１８０；車両状態特定部
　１９０；属性情報記憶部 10 to 40: information acquisition apparatus 100, 100A, 100B, 100C; control unit 101; identification unit 102; external sensor control unit 110; map update information storage unit 120; reception unit 130 to 132; route search unit 140; Information acquisition unit 160; external sensor 170; transmission unit 180; vehicle state identification unit 190; attribute information storage unit

Claims (8)

  1. 　地図データに含まれる道路または地域に関する情報の最終更新時点からの経過期間が所定期間以上である未更新道路又は未更新地域を特定する特定部と、
    　前記特定部により特定された前記未更新道路または未更新地域を車両が優先的に走行するように経路の探索を行う経路探索部と、
    　前記経路を走行したときに走行した道路である走行道路又は前記走行道路の周辺情報である道路情報を取得する情報取得部と、
    　を備えることを特徴とする情報取得装置。     An identifying unit for identifying an unupdated road or an unupdated area whose elapsed period from the last update of the information on the road or area included in the map data is equal to or longer than a predetermined period;
    A route search unit that searches for a route so that a vehicle preferentially travels on the unupdated road or the unupdated area specified by the specifying unit;
    An information acquisition unit that acquires road information which is a road on which the vehicle traveled when traveling the route or road information which is peripheral information of the road;
    An information acquisition apparatus comprising:
  2. 　前記所定期間は、前記道路又は道路周辺地域の交通量に応じて定められることを特徴とする請求項１に記載の情報取得装置。 The information acquisition apparatus according to claim 1, wherein the predetermined period is determined according to the traffic volume of the road or the area around the road.
  3. 　前記情報取得部により取得される前記道路情報は、前記地図データの更新に用いられる情報であることを特徴とする請求項１に記載の情報取得装置。 The information acquisition apparatus according to claim 1, wherein the road information acquired by the information acquisition unit is information used for updating the map data.
  4. 　前記経路探索部は、前記車両の状態に応じて、前記未更新道路または未更新地域を走行するように経路の探索を行うことを特徴とする請求項２または請求項３のいずれか１項に記載の情報取得装置。 The route searching unit searches for a route so as to travel on the unupdated road or the unupdated area according to the state of the vehicle. Information acquisition device as described.
  5. 　前記経路探索部は、車種や前記車両の特性、利用者の特性に応じて、前記未更新道路または未更新地域を走行するように経路の探索を行うことを特徴とする請求項２から請求項４のいずれか１項に記載の情報取得装置。 The route searching unit searches for a route so as to travel on the unupdated road or the unupdated area according to the type of vehicle, the characteristics of the vehicle, and the characteristics of the user. The information acquisition device according to any one of 4.
  6. 　前記情報取得部が取得する前記道路情報には、道路の有無、道路上の地物あるいは障害物の有無に関する情報が含まれることを特徴とする請求項２から請求項５のいずれかに１項に記載の情報取得装置。 The method according to any one of claims 2 to 5, wherein the road information acquired by the information acquisition unit includes information on the presence or absence of a road and the presence or absence of a feature or an obstacle on the road. The information acquisition device described in.
  7. 　特定部と、経路探索部と、情報取得部とを備えた情報取得装置における情報取得方法であって、
    　前記特定部が、地図データに含まれる道路または地域に関する情報の最終更新時点からの経過期間が所定期間以上である未更新道路又は未更新地域を特定する第１の工程と、
    　前記経路探索部が、前記未更新道路または未更新地域を車両が優先的に走行するように経路の探索を行う第２の工程と、
    　前記情報取得部が、前記経路を走行したときに走行した道路である走行道路又は前記走行道路の周辺情報である道路情報を取得する第３の工程と、
    　を備えることを特徴とする情報取得方法。     It is an information acquisition method in an information acquisition device provided with a specific part, a route search part, and an information acquisition part, and
    A first step of the identification unit identifying an unupdated road or an unupdated area in which an elapsed period from a last update time of information on a road or an area included in the map data is equal to or longer than a predetermined period;
    A second step in which the route search unit searches for a route so that a vehicle preferentially travels on the unupdated road or the unupdated area;
    A third step of acquiring, by the information acquisition unit, a traveling road which is a road traveled when traveling the route, or road information which is peripheral information of the traveling road;
    An information acquisition method comprising:
  8. 　特定部と、経路探索部と、情報取得部とを備えた情報取得装置における情報取得方法をコンピュータに実行させるためのプログラムであって、
    　前記特定部が、地図データに含まれる道路または地域に関する情報の最終更新時点からの経過期間が所定期間以上である未更新道路又は未更新地域を特定する第１の工程と、
    　前記経路探索部が、前記未更新道路または未更新地域を車両が優先的に走行するように経路の探索を行う第２の工程と、
    　前記情報取得部が、前記経路を走行したときに走行した道路である走行道路又は前記走行道路の周辺情報である道路情報を取得する第３の工程と、
    　をコンピュータに実行させるためのプログラム。     A program for causing a computer to execute an information acquisition method in an information acquisition apparatus including a specification unit, a route search unit, and an information acquisition unit,
    A first step of the identification unit identifying an unupdated road or an unupdated area in which an elapsed period from a last update time of information on a road or an area included in the map data is equal to or longer than a predetermined period;
    A second step in which the route search unit searches for a route so that a vehicle preferentially travels on the unupdated road or the unupdated area;
    A third step of acquiring, by the information acquisition unit, a traveling road which is a road traveled when traveling the route, or road information which is peripheral information of the traveling road;
    A program to make a computer run.
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