WO2019142697A1 - Information collection system, control device and program - Google Patents

Information collection system, control device and program Download PDF

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Publication number
WO2019142697A1
WO2019142697A1 PCT/JP2019/000197 JP2019000197W WO2019142697A1 WO 2019142697 A1 WO2019142697 A1 WO 2019142697A1 JP 2019000197 W JP2019000197 W JP 2019000197W WO 2019142697 A1 WO2019142697 A1 WO 2019142697A1
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WO
WIPO (PCT)
Prior art keywords
information
control
unit
road
information collection
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PCT/JP2019/000197
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French (fr)
Japanese (ja)
Inventor
竹村　到
宏 永田
誠 松丸
清水　晃
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パイオニア株式会社
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Publication of WO2019142697A1 publication Critical patent/WO2019142697A1/en

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    • 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 collecting system, a control device and a program.
  • the present invention has been made in view of the above-described problems as an example, and is an information collecting system for efficiently collecting update information of map data with high accuracy required for automatic operation at low cost.
  • Main purpose is to provide a control device and a program.
  • the invention according to claim 1 comprises an information collection device mounted on a plurality of mobile objects, and a control device for controlling the plurality of information collection devices, the road or area collected by the information collection device.
  • An information collection system for collecting information wherein the information collection apparatus collects information of the road or area based on a control information receiving unit for receiving control information from the control device and the received control information.
  • Information collection unit and a collection information transmission unit for transmitting the information on the road or area collected by the information collection unit to the control device, the control device attaching the information collection device to the mobile object
  • a storage unit storing information on a state, and a selection unit for selecting the information collection apparatus from the storage unit based on information on the road or area to be collected by the information collection apparatus;
  • a control information transmission unit for transmitting control information to the information collection device selected by the selection unit; and a collection information reception unit for receiving information on the road or area from the information collection device.
  • the invention according to claim 5 is a control device for controlling an information collection device for collecting information of roads or areas mounted on a plurality of mobile objects, wherein a mounting state of a plurality of the information collection devices with respect to the mobile object
  • the selecting unit selects the information collecting apparatus based on the information on the road or the area to be collected by the information collecting apparatus, and the selecting unit selects the information collecting apparatus selected by the information collecting apparatus.
  • a control information transmitting unit for transmitting control information for collecting information on roads or areas, and a collected information receiving unit for receiving information on the roads or areas from the information collecting apparatus.
  • the invention according to claim 6 is a control program for controlling an information collecting apparatus for collecting information of roads or areas mounted on a plurality of mobile units, wherein a mounting state of the plurality of information collecting apparatuses with respect to the mobile unit Information on the road or area selected in the selecting step of selecting the information collecting device based on the information on the road and the information to be collected by the information collecting device, and information on the road or region selected in the information collecting device selected in the selecting step And a control information transmission step of transmitting control information for causing the information collection, and a collection information reception step of receiving information on the road or area from the information collection device.
  • An information collection system includes an information collection device mounted on a mobile unit and a control device, and collects information on roads or areas by the information collection device.
  • an autonomous driving vehicle can be illustrated as a mobile body here.
  • the information collecting apparatus transmits, to the control apparatus, information on the road or area collected by the information collecting section, and an information collecting section collecting information on the road or area, a control information receiving section receiving control information from the control device, and And a collection information transmission unit.
  • an imaging device camera etc.
  • a millimeter wave radar LIDAR etc.
  • the information collection unit includes a roadway outside line attached to the roadway, a roadside center line or a roadside boundary line, a curb provided at the roadside end, a guardrail, a delineator, a lighting, a pole or a rubber pole, and a cat Regardless of natural and artificial nature such as eyes, road signs and curved mirrors, utility poles, guardrails, public facilities such as schools and parks, homes, shops, etc., information on all things on the ground, so-called, features on roads or areas It can be illustrated to collect as information.
  • the control information receiving unit receives control information from a control device, which is a server on the cloud, for example, via the network.
  • the collected information transmitting unit transmits, via the network, the information on roads or areas collected by the information collecting unit to a control device, which is a server on the cloud, for example.
  • the control device includes a storage unit storing information on the attachment state of the information collection device to the mobile unit, and a selection unit for selecting the information collection device from the storage unit based on information on a road or area to be collected by the information collection device; A control information transmission unit that transmits control information to the information collection device selected by the selection unit, and a collection information reception unit that receives information on a road or a region from the information collection device.
  • the storage unit is configured by a ROM (Read Only Memory) or the like, and stores information related to the attachment state of the information collection device in the mobile unit.
  • the selection unit selects the information collection device from the storage unit based on the information on the road or area to be collected by the information collection device.
  • the control information transmission unit transmits control information to the information collection device selected by the selection unit via the network.
  • the collected information receiving unit receives, via the network, the information on roads or areas collected by the information collecting apparatus.
  • the control information can exemplify a request signal. Further, control information also includes the request signal to which other information is added.
  • the information collection apparatus operates the most appropriate information collection unit based on the control information received from the control apparatus, and the information on the road or area collected by the information collection unit is collected by the collection information transmission unit , Send to the control device.
  • the control device can efficiently collect high-precision information regarding a desired road or area.
  • a control device for controlling an information collection device for collecting information of roads or areas mounted on a plurality of mobile objects, information on the attachment state of the plurality of information collection devices to the mobile objects And a selecting unit for selecting the information collecting apparatus based on the information on the road or the area to be collected by the information collecting apparatus, and the selecting unit causes the selected information collecting apparatus to collect information on the road or the area. And a collection information reception unit for receiving information on a road or a region from the information collection apparatus. Therefore, the control device can efficiently collect highly accurate information regarding a desired road or area.
  • a control program for controlling an information collection device for collecting information of roads or areas mounted on a plurality of mobile objects information related to the attachment state of the plurality of information collection devices to the mobile objects
  • a selection step of selecting the information collection device based on the information on the road or area to be collected by the information collection device and control information for causing the information collection device selected in the selection step to collect information on the road or region.
  • Example 1 The first embodiment will be described below with reference to FIGS. 1 to 3.
  • the information collection system 10 is configured to include an information collection device 100 mounted on an autonomous driving vehicle, and a control device 200.
  • the information collecting apparatus 100 includes a control information receiving unit 110, an information collecting unit 120, a collected information transmitting unit 130, and a first control unit 140.
  • the control information receiving unit 110 receives control information from the control device 200, and outputs the received control information to the information collecting unit 120 described later.
  • the information collecting unit 120 collects information on roads or areas using the control information input from the control information receiving unit 110 as a trigger.
  • a camera for example, a camera, a millimeter wave radar, LIDAR, a microphone, etc. can be illustrated as the information collection part 120, As information of the road or area collected, the image or video information by a camera, the data collected by sensors, such as LIDAR , Voice information of surroundings collected by a microphone, or information obtained by analyzing the information by an object recognition device (type of object contained in image, information on the position of the position, etc.), etc. .
  • a camera as the information collecting unit 120 collects image information will be described as an example.
  • the collected information transmission unit 130 transmits the information on the road or area input from the information collection unit 120 to the control device 200 described later.
  • the control device 200 is installed on a cloud, and the collected information transmitting unit 130 controls the information of the road or the area input from the information collecting unit 120 via the wireless network (Internet network). Send to device 200.
  • the first control unit 140 controls all processing in the information collecting apparatus 100 based on a control program stored in a ROM (not shown) or the like. In the present embodiment, the operations of the control information receiving unit 110, the information collecting unit 120, and the collected information transmitting unit 130 are controlled.
  • the control device 200 includes an information collection target object identification unit 210, a selection unit 220, a storage unit 230, a control information transmission unit 240, a collection information reception unit 250, and a second control unit 260. There is.
  • the information collection target object identification unit 210 determines the information collection conditions based on an input from the administrator of the control device 200 or the like.
  • the information collection condition a condition for specifying an object for which information is desired to be collected can be exemplified, and specifically, a road guide display board or traffic light installed at a high position with respect to the road, near the road surface Specific features such as curbs and guardrails installed at the position, white lines or road markings drawn on the road surface, existence of obstacles such as damage on the road surface and falling rocks, etc. can be exemplified.
  • the information collection condition may be defined as a feature above the road, a feature on the side of the road, or a feature below the road.
  • the information collection conditions may be determined, for example, to collect information necessary for updating map data, which is managed and stored in a map database that accumulates separately provided map information (not shown). Specifically, if there is a possibility that the information on the position of the traffic light in a specific area included in the map data may change, it is necessary to collect the information to update the map data of the area.
  • the "area” and the "traffic light” as the object are set as the information collection condition.
  • the set information collection condition is output to the selection unit 220 described later.
  • the selection unit 220 selects an information collection device 100 capable of collecting information of a feature that satisfies the information collection condition from a database in the storage unit 230 described later, based on the information collection condition. Then, the selection result of the selection unit 220 is output to the control information transmission unit 240 as a transmission destination of control information.
  • the storage unit 230 includes a database as shown in FIG. FIG. 2 exemplifies a database having ten data groups of ID1 to ID10.
  • the ID is unique information for identifying the information collecting apparatus 100 and a vehicle which is a mobile body on which the information collecting apparatus 100 is mounted.
  • These data may be generated by collecting attribute information of the vehicle itself transmitted from the vehicle in response to a request from the control device 200, or may be registered by the operation of the user of the vehicle through a mechanism such as user registration. .
  • the control information transmitting unit 240 holds information in which the ID information is associated with the transmission address (the address for transmitting information to the information collecting apparatus 100 specified by the ID information), only the ID information is If the selection unit 220 outputs to the control information transmission unit 240 but the control information transmission unit 240 does not hold the information in which the ID information and the transmission address are associated, the information is associated with the ID information of the database.
  • the selection unit 220 outputs the transmission address information to the control information transmission unit 240.
  • the selection unit 220 is, for example, a traffic light attached to a height of at least X meters above the road surface, which is the information collection condition of this time.
  • information on features can be acquired as close as possible, with high sensor attachment positions, ID "1", ID "4", ID “6", ID “7”, ID “8", ID “10” is selected, and more preferably, ID "4", ID "6” and ID “8" are selected in consideration of the type of vehicle.
  • the information collection condition is "a feature on the side of the road", the information on the feature can be acquired as close as possible, the sensor attachment direction is diagonally forward, ID “2", ID It is preferable to select “3”, ID “5”, ID “6”, ID “8” and ID “9”. In addition, if the information collection condition is “a feature under the road”, ID “2”, ID “3”, and so on with low sensor attachment position, which can obtain feature information at short distances as much as possible. It is preferable to select ID "5" and ID "9".
  • the information collection conditions include the type of a feature (such as a traffic signal or a sign) for which information is collected, and the height in the space where information is collected (around ⁇ ⁇ m or on a road surface)
  • An appropriate information collecting apparatus 100 can be selected by including a period, a place where information is collected (an area defined by an address or the like), and the like.
  • the control information transmission unit 240 selects the information collection device 100 selected according to the selection result input from the selection unit 220 (that is, the information collection device with ID “4”, ID “6” and ID “8” in this example) Sends control information instructing to collect information.
  • the control information may include information on an information collection period for specifying a period for collecting information, and information collection area information for specifying a place for collecting information.
  • the second control unit 260 controls all processing in the control device 200 based on a control program stored in a ROM (not shown) or the like. In the present embodiment, the operations of the information collection target object identification unit 210, the selection unit 220, the control information transmission unit 240, and the collection information reception unit 250 are controlled.
  • the information collection target object identification unit 210 of the control device 200 outputs the information collection condition to the selection unit 220 (step S101). Specifically, for example, in the information collection target object identification unit 210, information collection conditions for collecting a unique feature of a road guide display board or a traffic signal installed above the road are set and set. The information collection conditions are output to the selection unit 220.
  • the selection unit 220 can collect information of a feature that satisfies the information collection condition based on the information collection condition input from the information collection object specifying unit 210 (for example, ID “4”, ID “ 6 ”and the information collection device of ID“ 8 ”are selected from the database in the storage unit 230, and the selection result is output to the control information transmission unit 240 (step S102).
  • the control information transmission unit 240 transmits control information for instructing information collection to the selected information collecting apparatus 100 according to the selection result input from the selection unit 220 (step S103).
  • the first control unit 140 operates the information collection unit 120 to collect information on roads or areas (step S104). For example, when the information collecting unit is a camera, the information collecting apparatus 100 collects captured image data as road or area information. At this time, when there is information such as an information collection period in the control information (“YES” in step S105), the first control unit 140 selects the information collected by the information collection unit 120 by the information collection period (image data ) Is output to the collected information transmission unit 130 together with position information on the acquisition position of the information, and the collected information transmission unit 130 transmits the collected information to the control device 200 to end a series of processing (step S106).
  • the information collection period image data
  • the first control unit 140 causes the information collection unit 120 to continue information collection on roads or areas.
  • the first control unit 140 detects the current position of the vehicle equipped with the information collection device 100 recognized by the position detection device such as GPS (not shown) within the information collection area.
  • the information collecting unit 120 is operated only when traveling.
  • the control device 200 takes out desired information to be collected, for example, information on a feature above the road, position information, etc., from the received collected information (image data), and stores it or saves it to a map data update server etc.
  • the map data update server can update map data using the information about the feature and the position information. Specifically, when it is determined from the received information from the control device 200 that the position of the traffic light has changed, the position of the traffic light in the map data is corrected.
  • the control device 200 transmits the information collection condition to the selection unit 220, and the selection unit 220 collects information of objects that satisfy the information collection condition.
  • the device 100 is selected.
  • the selection result is output to the control information transmission unit 240, and the control information transmission unit 240 instructs the control information to instruct the selected information collecting apparatus 100 to collect information according to the selection result input from the selection unit 220.
  • the information collecting apparatus 100 operates the information collecting unit 120 according to the control information to collect information on roads or areas, and transmits the collected information from the collected information transmitting unit 130 to the control device 200. Therefore, it is possible to efficiently collect information necessary for updating the highly accurate map data required for the automatic driving.
  • control device 200 if the information collected by the control device 200 is provided to, for example, a map data update server on the cloud, it is possible to create a highly accurate and latest map.
  • the selection of the information collection apparatus 100 for transmitting control information from the database shown in FIG. 2 is exemplified based on the information collection condition, but the database is not maintained (sensor type, sensor attachment position, sensor attachment In the case where the information such as the direction is not sufficiently included), the control information to which the information collection condition is added may be transmitted to all the information collection devices 100 included in the database.
  • the first control unit 140 of the information collection device 100 that has received the control information to which the information collection condition is added determines whether or not the own device has a sensor that meets the condition indicated in the information collection condition. If so, the information collection unit 120 is operated according to the control information to collect information on roads or areas.
  • the information on the collected road or area may be output to the collected information transmitting unit 130, and the collected information transmitting unit 130 may be configured to transmit the collected information to the control device 200.
  • the first embodiment exemplifies storing the sensor type, the sensor attachment position in the vehicle of the information collecting apparatus 100, and the sensor attachment direction in the database shown in FIG. 2. However, by storing information on sensors in more detail. It becomes possible to select a more optimal information collection device 100 for the information of the road or area to be collected. For example, in FIG. 2, the sensor mounting position is indicated as “high” or “low” and the sensor mounting direction is indicated as “front” or “oblique front” etc.
  • a specific height from the ground (For example, 1 m, 1.5 m, etc.) may be stored, and information indicated by a roll, a pitch, and a yaw based on the traveling direction of the vehicle on which the sensor is mounted may be stored as the sensor mounting direction.
  • the angle of view, the resolution, the distance measurement range, and the like can be stored.
  • Example 2 The second embodiment will be described below with reference to FIGS. 4 to 7.
  • the information collection system 10A is configured to include an information collection device 100A mounted on an autonomous driving vehicle, and a control device 200A connected to the information collection device 100A via a wireless network. There is.
  • the information collecting apparatus 100A includes a control information receiving unit 110, an information collecting unit 121, a collected information transmitting unit 130, and a first control unit 141.
  • a control information receiving unit 110 receives information
  • an information collecting unit 121 collects information
  • a collected information transmitting unit 130 receives information
  • a first control unit 141 receives information
  • symbol same as Example 1 receives information
  • the information collecting unit 121 collects information on roads or areas.
  • the information collection unit 121 includes a plurality of sensors 120A to 120N, such as a camera, a LIDAR, a millimeter wave radar, and the like.
  • the first control unit 141 controls all processing in the information collecting apparatus 100A based on a control program stored in a ROM or the like (not shown). In the present embodiment, the operations of the control information receiving unit 110, the information collecting unit 121, and the collected information transmitting unit 130 are controlled. Further, in the present embodiment, the optimum sensor is specified among the plurality of sensors 120A to 120N included in the information collection unit 121 based on the environmental information included in the control information transmitted from the control device 200A, and the operation thereof is performed. Control.
  • the environmental information acquisition unit 270 acquires, for example, environmental information of an area where collection of road or area information is desired from a server or the like provided outside the environmental information installed via a network.
  • information to be acquired for example, weather information, time information and the like can be exemplified, and specifically, "the weather in Chiyoda-ku, Tokyo is fine" and the like.
  • the environmental information acquisition unit 270 outputs the acquired environmental information to the selection unit 221 described later.
  • the selection unit 221 selects, from a database in the storage unit 231 described later, an information collection device 100A provided with a sensor capable of collecting information on roads and areas based on the environmental information input from the environmental information acquisition unit 270. Then, the selection result of the selection unit 221 is output to the control information transmission unit 240 as a transmission destination of control information.
  • the storage unit 231 includes a database as shown in FIG. FIG. 5 exemplifies a database having ten data groups of ID1 to ID10.
  • This database includes sensor information such as “sensor 1”, “sensor 2”, and “sensor 3” as attribute information.
  • the selection unit 221 outputs only the ID information to the control information transmission unit 240, but the control information transmission unit If the information 240 in which the ID information and the transmission address are associated is not stored, the selection unit 221 outputs transmission address information associated with the ID information of the database to the control information transmission unit 240.
  • the three types of sensors exemplified in this embodiment, the camera, the millimeter wave radar, and the LIDAR have different characteristics as shown in FIG.
  • the camera can identify an object and can also recognize road signs and lane marks on a road surface.
  • the detection capability is reduced at night or in a situation where the light source is inappropriate such as back light, or in a bad weather situation such as thick fog, heavy rain, heavy snow, etc.
  • the millimeter wave radar is a detection method using radio waves emitted by itself, it can accurately measure the distance to the object while maintaining good detection characteristics regardless of the light source or the weather.
  • the spatial resolution at the time of detection is inferior to other sensors, it is difficult to identify an object.
  • the selection unit 221 includes, for example, a millimeter wave radar and a LIDAR or a camera as a sensor when the weather is bad weather. “ID” “6”, ID “8” and ID “9” are selected.
  • the second control unit 261 controls all processing in the control device 200A based on a control program stored in a ROM (not shown) or the like. In the present embodiment, the operations of the selection unit 221, the storage unit 231, the control information transmission unit 240, the collected information reception unit 250, and the environment information acquisition unit 270 are controlled.
  • the environmental information acquisition unit 270 of the control device 200A acquires environmental information of a region where collection of road or regional information is desired, and outputs the acquired environmental information to the selection unit 221 (step S201). Specifically, for example, in the case of weather information, bad weather, good weather, etc., and in the case of time zone information, information such as daytime, evening, etc. is selected together with information of the area where collection of road or area information is desired. Output to the part 221.
  • Selection unit 221 selects, from the database in storage unit 231, information collection device 100A having a sensor capable of appropriately collecting road or area information in the environment based on the environmental information input from environmental information acquisition unit 270.
  • the selection result is output to the control information transmission unit 240 (step S202).
  • the control information transmission unit 240 transmits control information for instructing information collection to the selected information collection apparatus 100A according to the selection result input from the selection unit 221 (step S203).
  • the information collection device 100A that receives the control information from the control device 200A causes the first control unit 141 to operate the sensors 120A to 120N that can correspond to the control information, and collects information on roads or areas (step S204).
  • the first control unit 141 causes the collected information transmission unit 130 to output the information collected by the sensors 120A to 120N by the information collection period, and the collected information transmission unit 130 transmits the collected information to the control device 200, A series of processes are complete
  • the first control unit 141 detects the sensor only when the vehicle on which the information collection device 100A is mounted travels in the area indicated by the information of the area for which collection of road or area information contained in the control information is desired. Gather road or area information from 120A to 120N.
  • the control device 200A extracts desired information to be collected, for example, information on a feature on a road, etc., from the received collected information, and stores the information or transmits it to a map data update server or the like.
  • the control device 200A acquires environmental information, and based on the acquired environmental information, the selecting unit 221 appropriately collects information on roads or areas in the environment.
  • the information collecting apparatus 100A having a possible sensor is selected.
  • the selection result is output to the control information transmission unit 240, and the control information transmission unit 240 instructs the control information to instruct the selected information collecting apparatus 100A to collect information according to the selection result input from the selection unit 221.
  • the information collecting apparatus 100A operates the sensors 120A to 120N capable of corresponding to the control information to collect information on roads or areas, and transmits the collected information from the collected information transmitting unit 130 to the control apparatus 200. Therefore, it is possible to efficiently collect updated information of map data with high accuracy required for automatic driving.
  • the information collection destination is a general automatic driving vehicle, it is possible to efficiently collect update information of map data with high accuracy required for automatic driving at low cost.
  • control device 200A if the information collected by the control device 200A is provided to, for example, a map data update server on the cloud, it is possible to create a highly accurate and latest map.
  • the environmental information is acquired, the sensors 120A to 120N capable of corresponding to the environmental information are operated, and the information on the road or the area is collected.
  • the sensors 120A to 120N capable of responding to information on features such as an underground parking lot may be activated to collect information on roads or areas. Specifically, in a tunnel, a three-dimensional parking lot, or an underground parking lot, the brightness changes rapidly at the entrance and the exit, and the illuminance decreases in the tunnel, the three-dimensional parking lot, and the underground parking lot.
  • LIDAR may be activated to collect road or area information. In this manner, by switching and operating the sensors corresponding to the characteristics at the same feature entrance, inside, and exit, and collecting information, the accuracy of the collected information can be further improved.
  • the control device specifies the information collecting device and performs information collection, but for example, the information collecting device should satisfy the information collecting device without specifying the information collecting device in advance.
  • the control information specifying the condition and the information collection target may be simultaneously transmitted, and the information collection device that satisfies the requirements in the control information may transmit the information collected regarding the information collection target to the control device.
  • the information collection device when the vehicle equipped with the information collection device 100 travels in the information collection area specified by the control information, the information collection device exemplifies that the information collection unit 120 is operated.
  • the control information is transmitted only to the information collecting apparatus 100 mounted on the vehicle traveling in the desired area. It is good.
  • various features exist in the information collection area, but all the sensors installed in the information collection device are activated, and sensor information (sensor type, sensor installation position, etc.) is added to the collected road or area The above information may be transmitted to the control device, and the control device side may sort out the received road or area information from the sensor information.
  • the processing of the information collection device and the control device is recorded in a recording medium readable by the computer system, the program recorded in the recording medium is read by the information collection device and the control device, and executed.
  • a collection system can be realized.
  • 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, 10A information collecting system 100, 100A; information collecting apparatus 110; control information receiving unit 120, 121; information collecting unit 130; collected information transmitting unit 140, 141; first control unit 200, 200A; control device 210; information Collection target object identification unit 220, 221; selection unit 230, 231; storage unit 240; control information transmission unit 250; collection information reception unit 260, 261; second control unit 270; environmental information acquisition unit

Abstract

Provided is an information collection system which inexpensively and efficiently collects update information for highly precise map data that is required in automatic driving. A selection unit of a control device selects, on the basis of information on a road or an area which is collected by an information collection device, an information collection device from a storage unit that stores information related to a mounted state of the information collection device on a mobile body, and a control information transmission unit transmits control information to the information collection device selected by the selection unit. A control information receiving unit of the information collection device receives the control information from the control device, an information collection unit collects the information on the road or the area on the basis of the received control information, and a collected information transmission unit transmits, to the control device, the information on the road or the area which is collected by the information collection unit. In addition, a collected information receiving unit of the control device receives the information on the road or the area from the information collection device.

Description

情報収集システム、制御装置およびプログラムInformation gathering system, controller and program
　本発明は、情報収集システム、制御装置およびプログラムに関する。 The present invention relates to an information collecting system, a control device and a program.
　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、常に最新情報に更新された適切な鮮度を有する地図情報が必要である。また、自動運転車両の円滑な走行を担保するためには、更新される地図情報に高い精度が求められる。 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, map information having an appropriate freshness constantly updated to the latest information is required. Further, in order to secure smooth traveling of the autonomous driving vehicle, high accuracy is required for the updated map information.
　この課題に対応して、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 in response to this problem, there is known a system that acquires locus data regarding a locus 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
　しかしながら、特許文献１に記載の技術では、工事等により地形（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については一切触れられていない。 However, in the technology described in Patent Document 1, the topography (for example, the width of the lane, the curvature of the road) changes due to construction or the like, and no mention is made of the case where the map information becomes outdated.
　また、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、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、自動運転車両に搭載されたセンサの取付位置や取付方法、センサの特性等は、それぞれ異なることから、これらの情報を十分に把握しないまま、一般の自動運転車両のセンシングデータを活用するだけでは、自動運転に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。 Further, 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 problems, there is a method of utilizing sensing data of a general autonomous driving vehicle traveling on a road on which automatic driving is possible. However, since the mounting position and mounting method of the sensor mounted on the autonomous driving vehicle and the characteristics of the sensor are different from each other, the sensing data of a general autonomous driving vehicle is used without sufficiently grasping such information. However, there is a problem that the map update data necessary for the automatic driving can not be obtained. 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、自動運転に要求される精度の高い地図データの更新情報を低コストで、かつ、効率よく収集する情報収集システム、制御装置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 above-described problems as an example, and is an information collecting system for efficiently collecting update information of map data with high accuracy required for automatic operation at low cost. Main purpose is to provide a control device and a program.
　請求項１に記載の発明は、複数の移動体に搭載された情報収集装置と、複数の該情報収集装置を制御する制御装置と、からなり、前記情報収集装置により収集された道路または地域の情報を収集する情報収集システムであって、前記情報収集装置は、前記制御装置からの制御情報を受信する制御情報受信部と、該受信した制御情報に基づいて、前記道路または地域の情報を収集する情報収集部と、該情報収集部が収集した前記道路または地域の情報を前記制御装置に送信する収集情報送信部と、を備え、前記制御装置は、前記情報収集装置の前記移動体に対する取付け状態に関する情報を記憶した記憶部と、前記情報収集装置に収集させる前記道路又は地域に関する情報に基づいて、前記記憶部から前記情報収集装置を選択する選択部と、前記選択部が選択した前記情報収集装置に制御情報を送信する制御情報送信部と、前記情報収集装置から前記道路または地域の情報を受信する収集情報受信部と、を備えたことを特徴とする。 The invention according to claim 1 comprises an information collection device mounted on a plurality of mobile objects, and a control device for controlling the plurality of information collection devices, the road or area collected by the information collection device. An information collection system for collecting information, wherein the information collection apparatus collects information of the road or area based on a control information receiving unit for receiving control information from the control device and the received control information. Information collection unit, and a collection information transmission unit for transmitting the information on the road or area collected by the information collection unit to the control device, the control device attaching the information collection device to the mobile object A storage unit storing information on a state, and a selection unit for selecting the information collection apparatus from the storage unit based on information on the road or area to be collected by the information collection apparatus; A control information transmission unit for transmitting control information to the information collection device selected by the selection unit; and a collection information reception unit for receiving information on the road or area from the information collection device. .
　請求項５に記載の発明は、複数の移動体に搭載された道路または地域の情報を収集する情報収集装置を制御する制御装置であって、複数の前記情報収集装置の前記移動体に対する取付け状態に関する情報を記憶した記憶部と、前記情報収集装置に収集させる前記道路又は地域に関する情報に基づいて、前記情報収集装置を選択する選択部と、前記選択部が、選択した前記情報収集装置に前記道路又は地域に関する情報を収集させるための制御情報を送信する制御情報送信部と、前記情報収集装置から前記道路または地域の情報を受信する収集情報受信部と、を備えたことを特徴とする。 The invention according to claim 5 is a control device for controlling an information collection device for collecting information of roads or areas mounted on a plurality of mobile objects, wherein a mounting state of a plurality of the information collection devices with respect to the mobile object In the information collecting apparatus, the selecting unit selects the information collecting apparatus based on the information on the road or the area to be collected by the information collecting apparatus, and the selecting unit selects the information collecting apparatus selected by the information collecting apparatus. A control information transmitting unit for transmitting control information for collecting information on roads or areas, and a collected information receiving unit for receiving information on the roads or areas from the information collecting apparatus.
　請求項６に記載の発明は、複数の移動体に搭載された道路または地域の情報を収集する情報収集装置を制御する制御プログラムであって、複数の前記情報収集装置の前記移動体に対する取付け状態に関する情報と、前記情報収集装置に収集させる前記道路又は地域に関する情報とに基づいて、前記情報収集装置を選択する選択工程と、前記選択工程において選択した前記情報収集装置に前記道路又は地域に関する情報を収集させるための制御情報を送信する制御情報送信工程と、前記情報収集装置から前記道路または地域の情報を受信する収集情報受信工程と、を備えたことを特徴とする。 The invention according to claim 6 is a control program for controlling an information collecting apparatus for collecting information of roads or areas mounted on a plurality of mobile units, wherein a mounting state of the plurality of information collecting apparatuses with respect to the mobile unit Information on the road or area selected in the selecting step of selecting the information collecting device based on the information on the road and the information to be collected by the information collecting device, and information on the road or region selected in the information collecting device selected in the selecting step And a control information transmission step of transmitting control information for causing the information collection, and a collection information reception step of receiving information on the road or area from the information collection device.
本発明の実施例１にかかる情報収集システムの電気的構成を示す図である。It is a figure which shows the electric constitution of the information gathering system concerning Example 1 of this invention. 本発明の実施例１にかかる制御装置内のデータベースを例示した図である。It is the figure which illustrated the database inside the control control equipment which relates to the execution example 1 of this invention. 本発明の実施例１にかかる情報収集システムの処理フロー図である。It is a processing flow figure of the information gathering system concerning Example 1 of the present invention. 本発明の実施例２にかかる情報収集システムの電気的構成を示す図である。It is a figure which shows the electric constitution of the information gathering system concerning Example 2 of this invention. 本発明の実施例２にかかる制御装置内のデータベースを例示した図である。It is the figure which illustrated the database inside the control control equipment which relates to the execution example 2 of this invention. 本発明の実施例２にかかる各種センサの環境特性を例示した図である。It is the figure which illustrated the environmental characteristic of the various sensors concerning Example 2 of this invention. 本発明の実施例２にかかる情報収集システムの処理フロー図である。It is a processing flow figure of the information gathering system concerning Example 2 of the present invention.
＜実施形態＞
　以下、本発明の一実施形態にかかる情報収集システムについて説明する。 Embodiment
Hereinafter, an information collection system 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収集システムは、移動体に搭載された情報収集装置と、制御装置と、を備え、情報収集装置により道路または地域の情報を収集する。
　なお、ここで、移動体としては、自動運転車両を例示することができる。
　情報収集装置は、道路または地域の情報を収集する情報収集部と、制御装置からの制御情報を受信する制御情報受信部と、情報収集部が収集した道路または地域の情報を制御装置に送信する収集情報送信部と、を備える。
　ここで、情報収集部としては、撮像装置（カメラ等）、ミリ波レーダ、ＬＩＤＡＲ等を例示できる。情報収集部は、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、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、地物に関する情報を道路または地域の情報として収集することを例示できる。
　制御情報受信部は、ネットワークを介して、例えば、クラウド上のサーバである制御装置からの制御情報を受信する。収集情報送信部は、ネットワークを介して、情報収集部が収集した道路または地域の情報を、例えば、クラウド上のサーバである制御装置に送信する。 An information collection system according to an embodiment of the present invention includes an information collection device mounted on a mobile unit and a control device, and collects information on roads or areas by the information collection device.
In addition, an autonomous driving vehicle can be illustrated as a mobile body here.
The information collecting apparatus transmits, to the control apparatus, information on the road or area collected by the information collecting section, and an information collecting section collecting information on the road or area, a control information receiving section receiving control information from the control device, and And a collection information transmission unit.
Here, as an information collection part, an imaging device (camera etc.), a millimeter wave radar, LIDAR etc. can be illustrated. The information collection unit includes a roadway outside line attached to the roadway, a roadside center line or a roadside boundary line, a curb provided at the roadside end, a guardrail, a delineator, a lighting, a pole or a rubber pole, and a cat Regardless of natural and artificial nature such as eyes, road signs and curved mirrors, utility poles, guardrails, public facilities such as schools and parks, homes, shops, etc., information on all things on the ground, so-called, features on roads or areas It can be illustrated to collect as information.
The control information receiving unit receives control information from a control device, which is a server on the cloud, for example, via the network. The collected information transmitting unit transmits, via the network, the information on roads or areas collected by the information collecting unit to a control device, which is a server on the cloud, for example.
　制御装置は、情報収集装置の移動体に対する取付け状態に関する情報を記憶した記憶部と、情報収集装置に収集させる道路又は地域に関する情報に基づいて、記憶部から情報収集装置を選択する選択部と、選択部が選択した情報収集装置に制御情報を送信する制御情報送信部と、情報収集装置から道路または地域の情報を受信する収集情報受信部と、を備える。
　記憶部は、ＲＯＭ（Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）等から構成され、移動体における情報収集装置の取付け状態に関する情報を記憶する。選択部は、情報収集装置に収集させる道路又は地域に関する情報に基づいて、記憶部から情報収集装置を選択する。制御情報送信部は、ネットワークを介して、選択部が選択した情報収集装置に制御情報を送信する。収集情報受信部は、情報収集装置が収集した道路または地域の情報をネットワークを介して、受信する。なお、ここで、制御情報とは、リクエスト信号を例示できる。また、このリクエスト信号に他の情報を付加したものも制御情報に含まれる。 The control device includes a storage unit storing information on the attachment state of the information collection device to the mobile unit, and a selection unit for selecting the information collection device from the storage unit based on information on a road or area to be collected by the information collection device; A control information transmission unit that transmits control information to the information collection device selected by the selection unit, and a collection information reception unit that receives information on a road or a region from the information collection device.
The storage unit is configured by a ROM (Read Only Memory) or the like, and stores information related to the attachment state of the information collection device in the mobile unit. The selection unit selects the information collection device from the storage unit based on the information on the road or area to be collected by the information collection device. The control information transmission unit transmits control information to the information collection device selected by the selection unit via the network. The collected information receiving unit receives, via the network, the information on roads or areas collected by the information collecting apparatus. Here, the control information can exemplify a request signal. Further, control information also includes the request signal to which other information is added.
　上記の構成によれば、情報収集装置が、制御装置から受信した制御情報に基づき、最も適切な情報収集部を作動させ、当該情報収集部が収集した道路または地域の情報を収集情報送信部により、制御装置に送信する。これにより、制御装置は、所望の道路または地域に関して、高精度の情報を効率よく収集することができる。 According to the above configuration, the information collection apparatus operates the most appropriate information collection unit based on the control information received from the control apparatus, and the information on the road or area collected by the information collection unit is collected by the collection information transmission unit , Send to the control device. Thereby, the control device can efficiently collect high-precision information regarding a desired road or area.
　また、本発明の他の実施形態では、複数の移動体に搭載された道路または地域の情報を収集する情報収集装置を制御する制御装置において、複数の情報収集装置の移動体に対する取付け状態に関する情報を記憶した記憶部と、情報収集装置に収集させる道路又は地域に関する情報に基づいて、情報収集装置を選択する選択部と、選択部が、選択した情報収集装置に道路又は地域に関する情報を収集させるための制御情報を送信する制御情報送信部と、情報収集装置から道路または地域の情報を受信する収集情報受信部と、を備える。
　そのため、制御装置は、所望の道路または地域に関して、高精度の情報を効率よく収集することができる。 Further, in another embodiment of the present invention, in a control device for controlling an information collection device for collecting information of roads or areas mounted on a plurality of mobile objects, information on the attachment state of the plurality of information collection devices to the mobile objects And a selecting unit for selecting the information collecting apparatus based on the information on the road or the area to be collected by the information collecting apparatus, and the selecting unit causes the selected information collecting apparatus to collect information on the road or the area. And a collection information reception unit for receiving information on a road or a region from the information collection apparatus.
Therefore, the control device can efficiently collect highly accurate information regarding a desired road or area.
　また、本発明の他の実施形態では、複数の移動体に搭載された道路または地域の情報を収集する情報収集装置を制御する制御プログラムにおいて、複数の情報収集装置の移動体に対する取付け状態に関する情報と、情報収集装置に収集させる道路又は地域に関する情報とに基づいて、情報収集装置を選択する選択工程と、選択工程において選択した情報収集装置に道路又は地域に関する情報を収集させるための制御情報を送信する制御情報送信工程と、情報収集装置から道路または地域の情報を受信する収集情報受信工程と、を備える。
　そのため、制御装置は、所望の道路または地域に関して、高精度の情報を効率よく収集することができる。 Further, in another embodiment of the present invention, in a control program for controlling an information collection device for collecting information of roads or areas mounted on a plurality of mobile objects, information related to the attachment state of the plurality of information collection devices to the mobile objects And a selection step of selecting the information collection device based on the information on the road or area to be collected by the information collection device, and control information for causing the information collection device selected in the selection step to collect information on the road or region. A control information transmitting step of transmitting and a collected information receiving step of receiving information of a road or a region from the information collecting device.
Therefore, the control device can efficiently collect highly accurate information regarding a desired road or area.
＜実施例１＞
　以下、図１から図３を用いて、実施例１について説明する。 Example 1
The first embodiment will be described below with reference to FIGS. 1 to 3.
＜情報収集システムの電気的構成＞
　本実施例に係る情報収集システム１０の電気的構成について、図１を用いて説明する。
　図１に示すように、情報収集システム１０は、自動運転車両に搭載された情報収集装置１００と、制御装置２００と、を含んで構成されている。 <Electric configuration of information collection system>
The electrical configuration of the information collection system 10 according to the present embodiment will be described with reference to FIG.
As shown in FIG. 1, the information collection system 10 is configured to include an information collection device 100 mounted on an autonomous driving vehicle, and a control device 200.
　情報収集装置１００は、制御情報受信部１１０と、情報収集部１２０と、収集情報送信部１３０と、第１制御部１４０とを含んで構成されている。 The information collecting apparatus 100 includes a control information receiving unit 110, an information collecting unit 120, a collected information transmitting unit 130, and a first control unit 140.
　制御情報受信部１１０は、制御装置２００からの制御情報を受信し、受信した制御情報を後述する情報収集部１２０に出力する。 The control information receiving unit 110 receives control information from the control device 200, and outputs the received control information to the information collecting unit 120 described later.
　情報収集部１２０は、制御情報受信部１１０から入力した制御情報をトリガに道路または地域の情報を収集する。情報収集部１２０としては、例えば、カメラやミリ波レーダ、ＬＩＤＡＲ、マイク等を例示でき、収集される道路または地域の情報としては、カメラによる画像又は動画情報や、ＬＩＤＡＲ等のセンサにより収集したデータ、マイクによって収集された周囲の音声情報、又はそれらの情報を物体認識装置により解析して得られた情報（画像中に含まれる物体の種類、その位置に関する情報等）等を例示することができる。本実施例では、情報収集部１２０としてのカメラが、画像情報を収集する場合を例として説明する。 The information collecting unit 120 collects information on roads or areas using the control information input from the control information receiving unit 110 as a trigger. For example, a camera, a millimeter wave radar, LIDAR, a microphone, etc. can be illustrated as the information collection part 120, As information of the road or area collected, the image or video information by a camera, the data collected by sensors, such as LIDAR , Voice information of surroundings collected by a microphone, or information obtained by analyzing the information by an object recognition device (type of object contained in image, information on the position of the position, etc.), etc. . In the present embodiment, a case where a camera as the information collecting unit 120 collects image information will be described as an example.
　収集情報送信部１３０は、情報収集部１２０から入力した道路または地域の情報を後述する制御装置２００に送信する。具体的には、例えば、制御装置２００がクラウド上に設置されており、収集情報送信部１３０は、無線ネットワーク（インターネット網）を介して、情報収集部１２０から入力した道路または地域の情報を制御装置２００に送信する。 The collected information transmission unit 130 transmits the information on the road or area input from the information collection unit 120 to the control device 200 described later. Specifically, for example, the control device 200 is installed on a cloud, and the collected information transmitting unit 130 controls the information of the road or the area input from the information collecting unit 120 via the wireless network (Internet network). Send to device 200.
　第１制御部１４０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、情報収集装置１００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、制御情報受信部１１０および情報収集部１２０、収集情報送信部１３０の動作を制御する。 The first control unit 140 controls all processing in the information collecting apparatus 100 based on a control program stored in a ROM (not shown) or the like. In the present embodiment, the operations of the control information receiving unit 110, the information collecting unit 120, and the collected information transmitting unit 130 are controlled.
　制御装置２００は、情報収集対象物特定部２１０と、選択部２２０と、記憶部２３０と、制御情報送信部２４０と、収集情報受信部２５０と、第２制御部２６０とを含んで構成されている。 The control device 200 includes an information collection target object identification unit 210, a selection unit 220, a storage unit 230, a control information transmission unit 240, a collection information reception unit 250, and a second control unit 260. There is.
　情報収集対象物特定部２１０は、制御装置２００の管理者からの入力等により情報収集条件を定める。例えば、情報収集条件としては、情報を収集したい対象物を指定するための条件が例示でき、具体的には、道路に対して高い位置に設置された道路案内表示板や信号機、道路面に近い位置に設置された縁石やガードレール等の固有の地物、若しくは道路面状に描かれた白線や道路標示、道路面状の破損や落石等の障害物の存在等を例示することができる。なお、道路上方の地物や道路側方の地物、道路下方の地物というように情報収集条件を定めてもよい。情報収集条件は、例えば、図示しない別途設けられた地図情報を蓄積する地図データベースにおいて管理、記憶されている、地図データをアップデートするために必要な情報を収集するために決定してもよい。具体的には、地図データに含まれている、特定の地域にある信号機の位置に関する情報に変化が生じている可能性がある場合に、当該地域の地図データをアップデートすべく、情報収集が必要な「地域」と、対象物としての「信号機」と、が情報収集条件として設定される。設定された情報収集条件は、後述する選択部２２０に出力される。ここでは、例えば、「道路上方にある信号機」の情報を収集のために、情報収集条件として「道路面よりＸメートル以上の高さ」「信号機」、が指定されたとする。 The information collection target object identification unit 210 determines the information collection conditions based on an input from the administrator of the control device 200 or the like. For example, as the information collection condition, a condition for specifying an object for which information is desired to be collected can be exemplified, and specifically, a road guide display board or traffic light installed at a high position with respect to the road, near the road surface Specific features such as curbs and guardrails installed at the position, white lines or road markings drawn on the road surface, existence of obstacles such as damage on the road surface and falling rocks, etc. can be exemplified. The information collection condition may be defined as a feature above the road, a feature on the side of the road, or a feature below the road. The information collection conditions may be determined, for example, to collect information necessary for updating map data, which is managed and stored in a map database that accumulates separately provided map information (not shown). Specifically, if there is a possibility that the information on the position of the traffic light in a specific area included in the map data may change, it is necessary to collect the information to update the map data of the area. The "area" and the "traffic light" as the object are set as the information collection condition. The set information collection condition is output to the selection unit 220 described later. Here, for example, it is assumed that “height above X meters from the road surface” and “traffic light” are designated as the information collection condition in order to collect information on “traffic light above the road”.
　選択部２２０は、情報収集条件に基づいて、当該情報収集条件を満たす地物の情報を収集可能な情報収集装置１００を後述する記憶部２３０内のデータベースから選択する。そして、選択部２２０の選択結果は、制御情報の送信先として、制御情報送信部２４０に出力される。 The selection unit 220 selects an information collection device 100 capable of collecting information of a feature that satisfies the information collection condition from a database in the storage unit 230 described later, based on the information collection condition. Then, the selection result of the selection unit 220 is output to the control information transmission unit 240 as a transmission destination of control information.
　記憶部２３０は、図２に示すようなデータベースを備えている。図２には、ＩＤ１からＩＤ１０までの１０個のデータ群を有するデータベースが例示されている。ＩＤは情報収集装置１００と当該情報収集装置１００を搭載した移動体である車両を特定するためのユニークな情報である。このデータベースには、車両についての属性情報として、「車種」、「センサ種別」、「センサ取付位置」、「センサ取付方向」等が含まれている。すなわち、ＩＤ＝１の情報収集装置１００を搭載した車両は、車種が普通車であり、搭載されたセンサのセンサ種別はカメラであり、その取付位置は高い位置であり、センサの取付け方向（すなわち、センサが情報を取得する方向）は前方となっている。これらのデータは、制御装置２００からのリクエストにより車両から送信される車両自身の属性情報を収集して生成しても良いし、ユーザ登録等の仕組みを通じて車両のユーザの操作によって登録することもできる。
　制御情報送信部２４０がＩＤ情報と送信アドレス（ＩＤ情報によって特定される情報収集装置１００に情報を送信するためのアドレス）とを対応付けた情報を保有している場合には、ＩＤ情報のみを選択部２２０が制御情報送信部２４０に出力するが、制御情報送信部２４０がＩＤ情報と送信アドレスとを対応付けた情報を保有していない場合には、当該データベースのＩＤ情報と対応付けられた送信アドレス情報を選択部２２０が制御情報送信部２４０に出力する。
　選択部２２０は、情報収集対象物特定部２１０から入力した情報収集条件から、例えば、特定情報が、今回の情報収集条件である「道路面よりＸメートル以上の高さに取り付けられた信号機」である場合には、なるべく近距離で地物の情報を取得可能な、センサ取付位置が高い、ＩＤ「１」、ＩＤ「４」、ＩＤ「６」、ＩＤ「７」、ＩＤ「８」、ＩＤ「１０」を選択し、より好ましくは、車種を考慮し、ＩＤ「４」、ＩＤ「６」、ＩＤ「８」を選択する。なお、仮に情報収集条件が、「道路側方の地物」である場合には、なるべく近距離で地物の情報を取得可能な、センサ取付方向が斜め前方である、ＩＤ「２」、ＩＤ「３」、ＩＤ「５」、ＩＤ「６」、ＩＤ「８」、ＩＤ「９」を選択するのが好ましい。また、仮に情報収集条件が、「道路下方の地物」である場合には、なるべく近距離で地物の情報を取得可能な、センサ取付位置の低い、ＩＤ「２」、ＩＤ「３」、ＩＤ「５」、ＩＤ「９」を選択するのが好ましい。
　すなわち、情報収集条件としては、情報を収集する地物の種類（信号機、標識など）、情報を収集する空間上の高さ（○○ｍ付近、若しくは路面上など）を含み、情報収集を行う期間、情報収集を行う場所（住所などによって規定されるエリア）などを含むことで、適切な情報収集装置１００を選択することができる。 The storage unit 230 includes a database as shown in FIG. FIG. 2 exemplifies a database having ten data groups of ID1 to ID10. The ID is unique information for identifying the information collecting apparatus 100 and a vehicle which is a mobile body on which the information collecting apparatus 100 is mounted. The database includes, as attribute information of the vehicle, “vehicle type”, “sensor type”, “sensor attachment position”, “sensor attachment direction” and the like. That is, the vehicle equipped with the information collection device 100 of ID = 1 is a normal car model, the sensor type of the mounted sensor is a camera, the mounting position is a high position, and the mounting direction of the sensor (ie , The direction in which the sensor acquires information) is the front. These data may be generated by collecting attribute information of the vehicle itself transmitted from the vehicle in response to a request from the control device 200, or may be registered by the operation of the user of the vehicle through a mechanism such as user registration. .
When the control information transmitting unit 240 holds information in which the ID information is associated with the transmission address (the address for transmitting information to the information collecting apparatus 100 specified by the ID information), only the ID information is If the selection unit 220 outputs to the control information transmission unit 240 but the control information transmission unit 240 does not hold the information in which the ID information and the transmission address are associated, the information is associated with the ID information of the database. The selection unit 220 outputs the transmission address information to the control information transmission unit 240.
From the information collection condition input from the information collection object identification unit 210, the selection unit 220 is, for example, a traffic light attached to a height of at least X meters above the road surface, which is the information collection condition of this time. In some cases, information on features can be acquired as close as possible, with high sensor attachment positions, ID "1", ID "4", ID "6", ID "7", ID "8", ID "10" is selected, and more preferably, ID "4", ID "6" and ID "8" are selected in consideration of the type of vehicle. If the information collection condition is "a feature on the side of the road", the information on the feature can be acquired as close as possible, the sensor attachment direction is diagonally forward, ID "2", ID It is preferable to select “3”, ID “5”, ID “6”, ID “8” and ID “9”. In addition, if the information collection condition is “a feature under the road”, ID “2”, ID “3”, and so on with low sensor attachment position, which can obtain feature information at short distances as much as possible. It is preferable to select ID "5" and ID "9".
That is, the information collection conditions include the type of a feature (such as a traffic signal or a sign) for which information is collected, and the height in the space where information is collected (around 付 近 m or on a road surface) An appropriate information collecting apparatus 100 can be selected by including a period, a place where information is collected (an area defined by an address or the like), and the like.
　制御情報送信部２４０は、選択部２２０から入力した選択結果に従って、選択された情報収集装置１００（すなわち、今回の例ではＩＤ「４」、ＩＤ「６」、ＩＤ「８」の情報収集装置）に対して、情報収集を命じる制御情報を送信する。なお、制御情報には、情報収集を行う期間を指定する情報収集期間についての情報や、情報収集を行う場所を指定する情報収集エリア情報を付加しても良い。 The control information transmission unit 240 selects the information collection device 100 selected according to the selection result input from the selection unit 220 (that is, the information collection device with ID “4”, ID “6” and ID “8” in this example) Sends control information instructing to collect information. The control information may include information on an information collection period for specifying a period for collecting information, and information collection area information for specifying a place for collecting information.
　第２制御部２６０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、制御装置２００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、情報収集対象物特定部２１０、選択部２２０、制御情報送信部２４０、収集情報受信部２５０の動作を制御する。 The second control unit 260 controls all processing in the control device 200 based on a control program stored in a ROM (not shown) or the like. In the present embodiment, the operations of the information collection target object identification unit 210, the selection unit 220, the control information transmission unit 240, and the collection information reception unit 250 are controlled.
＜情報収集システムの処理＞
　本実施例に係る情報収集システム１０の処理について、図３を用いて説明する。 <Process of information collection system>
The process of the information collection system 10 according to the present embodiment will be described with reference to FIG.
　まず、制御装置２００の情報収集対象物特定部２１０は、情報収集条件を選択部２２０に出力する（ステップＳ１０１）。具体的には、例えば、情報収集対象物特定部２１０には、道路上方に設置された道路案内表示板や信号機の固有の地物を収集するための情報収集条件が設定され、その設定された情報収集条件を選択部２２０に出力する。 First, the information collection target object identification unit 210 of the control device 200 outputs the information collection condition to the selection unit 220 (step S101). Specifically, for example, in the information collection target object identification unit 210, information collection conditions for collecting a unique feature of a road guide display board or a traffic signal installed above the road are set and set. The information collection conditions are output to the selection unit 220.
　選択部２２０は、情報収集対象物特定部２１０から入力された情報収集条件に基づいて、当該情報収集条件を満たす地物の情報を収集可能な情報収集装置１００（例えばＩＤ「４」、ＩＤ「６」、ＩＤ「８」の情報収集装置）を記憶部２３０内のデータベースから選択し、その選択結果を制御情報送信部２４０に出力する（ステップＳ１０２）。 The selection unit 220 can collect information of a feature that satisfies the information collection condition based on the information collection condition input from the information collection object specifying unit 210 (for example, ID “4”, ID “ 6 ”and the information collection device of ID“ 8 ”are selected from the database in the storage unit 230, and the selection result is output to the control information transmission unit 240 (step S102).
　制御情報送信部２４０は、選択部２２０から入力した選択結果に従って、選択された情報収集装置１００に対して、情報収集を命じる制御情報を送信する（ステップＳ１０３）。 The control information transmission unit 240 transmits control information for instructing information collection to the selected information collecting apparatus 100 according to the selection result input from the selection unit 220 (step S103).
　制御装置２００から制御情報を受信した情報収集装置１００は、第１制御部１４０が情報収集部１２０を作動させ、道路または地域の情報を収集させる（ステップＳ１０４）。例えば、情報収集部がカメラである場合、情報収集装置１００は撮影した画像データを道路又は地域の情報として収集する。このとき、制御情報に情報収集期間等の情報がある場合（ステップＳ１０５の「ＹＥＳ」）には、第１制御部１４０は、当該情報収集期間までに情報収集部１２０が収集した情報（画像データ）を、その情報の取得位置に関する位置情報と共に、収集情報送信部１３０に出力させ、収集情報送信部１３０がその収集情報を制御装置２００に送信して一連の処理を終了する（ステップＳ１０６）。一方で、制御情報に情報収集期間等の情報がない場合（ステップＳ１０５の「ＮＯ」）には、第１制御部１４０は、情報収集部１２０に道路または地域の情報収集を続行させる。
　また、制御情報に情報収集エリアの情報が付加されている場合、第１制御部１４０は図示しないＧＰＳ等の位置検出装置によって認識した情報収集装置１００を搭載した車両の現在位置が情報収集エリア内を走行している場合にのみ、情報収集部１２０を作動させる。
　なお、制御装置２００は、受信した収集情報（画像データ）の中から、収集したい所望の情報、例えば、道路上方の地物に関する情報と位置情報等を取り出して保存あるいは地図データ更新サーバ等に送信する。地図データ更新サーバは、その地物に関する情報と位置情報とを用いて、地図データの更新を行うことができる。具体的には、制御装置２００からの受信情報により、信号機の位置が変化していることが判明した場合には、地図データにおける信号機の位置を訂正する。 In the information collection device 100 that receives the control information from the control device 200, the first control unit 140 operates the information collection unit 120 to collect information on roads or areas (step S104). For example, when the information collecting unit is a camera, the information collecting apparatus 100 collects captured image data as road or area information. At this time, when there is information such as an information collection period in the control information (“YES” in step S105), the first control unit 140 selects the information collected by the information collection unit 120 by the information collection period (image data ) Is output to the collected information transmission unit 130 together with position information on the acquisition position of the information, and the collected information transmission unit 130 transmits the collected information to the control device 200 to end a series of processing (step S106). On the other hand, when there is no information such as an information collection period in the control information (“NO” in step S105), the first control unit 140 causes the information collection unit 120 to continue information collection on roads or areas.
In addition, when the information of the information collection area is added to the control information, the first control unit 140 detects the current position of the vehicle equipped with the information collection device 100 recognized by the position detection device such as GPS (not shown) within the information collection area. The information collecting unit 120 is operated only when traveling.
In addition, the control device 200 takes out desired information to be collected, for example, information on a feature above the road, position information, etc., from the received collected information (image data), and stores it or saves it to a map data update server etc. Do. The map data update server can update map data using the information about the feature and the position information. Specifically, when it is determined from the received information from the control device 200 that the position of the traffic light has changed, the position of the traffic light in the map data is corrected.
　以上、説明したように、本実施例によれば、制御装置２００が情報収集条件を選択部２２０へ送信し、選択部２２０が、当該情報収集条件を満たす対象物の情報を収集可能な情報収集装置１００を選択する。そして、その選択結果を制御情報送信部２４０に出力し、制御情報送信部２４０は、選択部２２０から入力した選択結果に従って、選択された情報収集装置１００に対して、情報収集を命じる制御情報を送信する。一方で、情報収集装置１００は、制御情報に応じて、情報収集部１２０を作動させ、道路または地域の情報を収集させ、収集した情報を収集情報送信部１３０から制御装置２００に送信する。したがって、自動運転に要求される精度の高い地図データの更新に必要な情報を効率よく収集することができる。 As described above, according to the present embodiment, the control device 200 transmits the information collection condition to the selection unit 220, and the selection unit 220 collects information of objects that satisfy the information collection condition. The device 100 is selected. Then, the selection result is output to the control information transmission unit 240, and the control information transmission unit 240 instructs the control information to instruct the selected information collecting apparatus 100 to collect information according to the selection result input from the selection unit 220. Send. On the other hand, the information collecting apparatus 100 operates the information collecting unit 120 according to the control information to collect information on roads or areas, and transmits the collected information from the collected information transmitting unit 130 to the control device 200. Therefore, it is possible to efficiently collect information necessary for updating the highly accurate map data required for the automatic driving.
　また、制御装置２００が収集した情報を、例えば、クラウド上の地図データ更新サーバに提供すれば、高精度、かつ、最新の地図を作成することができる。 In addition, if the information collected by the control device 200 is provided to, for example, a map data update server on the cloud, it is possible to create a highly accurate and latest map.
＜変形例１＞
　実施例１では、情報収集条件に基づいて、図２に示すデータベースから制御情報を送信する情報収集装置１００を選択することを例示したが、データベースが未整備（センサ種別、センサ取付位置、センサ取付方向等の情報が十分に含まれていない）の場合等には、データベースに含まれるすべての情報収集装置１００に対して、情報収集条件を付加した制御情報を送信しても良い。情報収集条件が付加された制御情報を受信した情報収集装置１００の第１制御部１４０は、自身が情報収集条件に示された条件に合うセンサを有しているか否かを判断し、有している場合には、制御情報に従って情報収集部１２０を作動させ、道路または地域の情報を収集させる。収集された道路または地域の情報は、収集情報送信部１３０に出力され、収集情報送信部１３０がその収集情報を制御装置２００に送信するように構成しても良い。
＜変形例２＞
　実施例１では、図２に示すデータベースにおいて、センサ種別、情報収集装置１００の車両におけるセンサ取付位置、及びセンサ取付方向を記憶することを例示したが、更に詳細なセンサに関する情報を記憶することにより、収集しようとする道路または地域の情報に対して、より最適な情報収集装置１００を選択することが可能となる。
　例えば、図２では、センサの取付位置を「高」「低」として示し、センサ取付方向を「前方」「斜め前方」等で示したが、センサ取付位置として、地面からの具体的な高さ（例えば、１ｍ、１．５ｍ等）を記憶したり、センサ取付方向としてセンサが搭載された車両の進行方向を基準としたロール、ピッチ、ヨーによって示す情報を記憶してもよい。また、センサの仕様として、画角や解像度、測距レンジ等を記憶することもできる。これらの詳細なセンサの情報をデータベースに記憶することにより、より適切な情報収集装置１００を選択できるようになる。 <Modification 1>
In the first embodiment, the selection of the information collection apparatus 100 for transmitting control information from the database shown in FIG. 2 is exemplified based on the information collection condition, but the database is not maintained (sensor type, sensor attachment position, sensor attachment In the case where the information such as the direction is not sufficiently included), the control information to which the information collection condition is added may be transmitted to all the information collection devices 100 included in the database. The first control unit 140 of the information collection device 100 that has received the control information to which the information collection condition is added determines whether or not the own device has a sensor that meets the condition indicated in the information collection condition. If so, the information collection unit 120 is operated according to the control information to collect information on roads or areas. The information on the collected road or area may be output to the collected information transmitting unit 130, and the collected information transmitting unit 130 may be configured to transmit the collected information to the control device 200.
<Modification 2>
The first embodiment exemplifies storing the sensor type, the sensor attachment position in the vehicle of the information collecting apparatus 100, and the sensor attachment direction in the database shown in FIG. 2. However, by storing information on sensors in more detail. It becomes possible to select a more optimal information collection device 100 for the information of the road or area to be collected.
For example, in FIG. 2, the sensor mounting position is indicated as “high” or “low” and the sensor mounting direction is indicated as “front” or “oblique front” etc. However, as a sensor mounting position, a specific height from the ground (For example, 1 m, 1.5 m, etc.) may be stored, and information indicated by a roll, a pitch, and a yaw based on the traveling direction of the vehicle on which the sensor is mounted may be stored as the sensor mounting direction. Further, as the specification of the sensor, the angle of view, the resolution, the distance measurement range, and the like can be stored. By storing information of these detailed sensors in a database, it becomes possible to select a more appropriate information collecting apparatus 100.
＜実施例２＞
　以下、図４から図７を用いて、実施例２について説明する。 Example 2
The second embodiment will be described below with reference to FIGS. 4 to 7.
＜情報収集システムの電気的構成＞
　本実施例に係る情報収集システム１０Ａの電気的構成について、図４を用いて説明する。
　図４に示すように、情報収集システム１０Ａは、自動運転車両に搭載された情報収集装置１００Ａと、情報収集装置１００Ａと無線ネットワークを介して接続された制御装置２００Ａと、を含んで構成されている。 <Electric configuration of information collection system>
The electrical configuration of the information collection system 10A according to the present embodiment will be described with reference to FIG.
As shown in FIG. 4, the information collection system 10A is configured to include an information collection device 100A mounted on an autonomous driving vehicle, and a control device 200A connected to the information collection device 100A via a wireless network. There is.
　情報収集装置１００Ａは、制御情報受信部１１０と、情報収集部１２１と、収集情報送信部１３０と、第１制御部１４１とを含んで構成されている。なお、実施例１と同一の符号を付す構成要素については、同様の機能を有することから、その詳細な説明は省略する。 The information collecting apparatus 100A includes a control information receiving unit 110, an information collecting unit 121, a collected information transmitting unit 130, and a first control unit 141. In addition, about the component which attaches | subjects the code | symbol same as Example 1, since it has the same function, the detailed description is abbreviate | omitted.
　情報収集部１２１は、道路または地域の情報を収集する。また、ここで、本実施例では、情報収集部１２１は、複数のセンサ１２０Ａ～１２０Ｎ、例えば、カメラ、ＬＩＤＡＲ、ミリ波レーダ等を備える。 The information collecting unit 121 collects information on roads or areas. Here, in the present embodiment, the information collection unit 121 includes a plurality of sensors 120A to 120N, such as a camera, a LIDAR, a millimeter wave radar, and the like.
　第１制御部１４１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、情報収集装置１００Ａ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、制御情報受信部１１０および情報収集部１２１、収集情報送信部１３０の動作を制御する。また、本実施例では、制御装置２００Ａから送信される制御情報に含まれる環境情報に基づいて、情報収集部１２１が備える複数のセンサ１２０Ａ～１２０Ｎのうち、最適なセンサを特定し、その作動を制御する。 The first control unit 141 controls all processing in the information collecting apparatus 100A based on a control program stored in a ROM or the like (not shown). In the present embodiment, the operations of the control information receiving unit 110, the information collecting unit 121, and the collected information transmitting unit 130 are controlled. Further, in the present embodiment, the optimum sensor is specified among the plurality of sensors 120A to 120N included in the information collection unit 121 based on the environmental information included in the control information transmitted from the control device 200A, and the operation thereof is performed. Control.
　制御装置２００Ａは、選択部２２１と、記憶部２３１と、制御情報送信部２４０と、収集情報受信部２５０と、第２制御部２６１と、環境情報取得部２７０とを含んで構成されている。なお、実施例１と同一の符号を付す構成要素については、同様の機能を有することから、その詳細な説明は省略する。 The control device 200A includes a selection unit 221, a storage unit 231, a control information transmission unit 240, a collected information reception unit 250, a second control unit 261, and an environment information acquisition unit 270. In addition, about the component which attaches | subjects the code | symbol same as Example 1, since it has the same function, the detailed description is abbreviate | omitted.
　環境情報取得部２７０は、例えば、ネットワークを介して、外部に設置された環境情報を提供するサーバ等から、道路または地域の情報の収集を希望する地域の環境情報を取得する。取得する情報としては、例えば、天気情報、時間情報等を例示でき、具体的には「東京都千代田区の天気が晴れであること」などである。環境情報取得部２７０は、取得した環境情報を後述する選択部２２１に出力する。 The environmental information acquisition unit 270 acquires, for example, environmental information of an area where collection of road or area information is desired from a server or the like provided outside the environmental information installed via a network. As the information to be acquired, for example, weather information, time information and the like can be exemplified, and specifically, "the weather in Chiyoda-ku, Tokyo is fine" and the like. The environmental information acquisition unit 270 outputs the acquired environmental information to the selection unit 221 described later.
　選択部２２１は、環境情報取得部２７０から入力した環境情報に基づいて、道路や地域の情報を収集可能なセンサを備えた情報収集装置１００Ａを後述する記憶部２３１内のデータベースから選択する。そして、選択部２２１の選択結果は、制御情報の送信先として、制御情報送信部２４０に出力される。 The selection unit 221 selects, from a database in the storage unit 231 described later, an information collection device 100A provided with a sensor capable of collecting information on roads and areas based on the environmental information input from the environmental information acquisition unit 270. Then, the selection result of the selection unit 221 is output to the control information transmission unit 240 as a transmission destination of control information.
　記憶部２３１は、図５に示すようなデータベースを備えている。図５には、ＩＤ１からＩＤ１０までの１０個のデータ群を有するデータベースが例示されている。このデータベースには、属性情報として、「センサ１」、「センサ２」、「センサ３」等のセンサ情報が含まれている。また、制御情報送信部２４０がＩＤ情報と送信アドレスとを対応付けた情報を保有している場合には、ＩＤ情報のみを選択部２２１が制御情報送信部２４０に出力するが、制御情報送信部２４０がＩＤ情報と送信アドレスとを対応付けた情報を保有していない場合には、当該データベースのＩＤ情報と対応付けられた送信アドレス情報を選択部２２１が制御情報送信部２４０に出力する。
　ここで、本実施例で例示するカメラ、ミリ波レーダ、ＬＩＤＡＲの３種類のセンサは、図６に示すように、特性が異なる。カメラは、物体の識別が可能であり、道路標識や路面上のレーンマークの認識もできる。しかしながら、夜間や逆光等光源が不適切な場面、濃霧、豪雨、豪雪等の悪天候の場面では、検出能力が低下する。
　ミリ波レーダは、自らが発する電波を利用した検出方式であるため、光源や天候に左右されず良好な検出特性を維持して、対象物までの距離を正確に計測できる。その一方で、検出の際の空間分解能が他のセンサに比べて劣るため、物体の識別が困難である。
　ＬＩＤＡＲは、赤外線のレーザ光を用いるため、電波の反射率が低い物体も検出できる。また、高い空間分解能で距離と方位を検出できるため、物体検出だけでなく、それらの間のフリースペースの検出も可能である。一方、赤外光を用いるため、豪雨、豪雪、霧等の悪天候時に検出性能が低下する。
　そこで、選択部２２１は、環境情報取得部２７０から入力した環境情報に基づいて、例えば、天候が、悪天候である場合には、ミリ波レーダとＬＩＤＡＲあるいはカメラをセンサとし備えている、ＩＤ「３」、ＩＤ「６」、ＩＤ「８」、ＩＤ「９」を選択する。また、例えば、天候が好天である場合には、ＬＩＤＡＲとカメラのいずれか１つをセンサとして備えている、ＩＤ「１」、ＩＤ「２」、ＩＤ「３」、ＩＤ「４」、ＩＤ「５」、ＩＤ「６」、ＩＤ「７」、ＩＤ「８」、ＩＤ「９」を選択する。さらに、環境情報取得部２７０から入力した環境情報に基づいて、例えば、時間帯が、夜間である場合には、ＬＩＤＡＲをセンサとして備えている、ＩＤ「２」、ＩＤ「５」、ＩＤ「６」、ＩＤ「７」、ＩＤ「８」、ＩＤ「９」を選択する。 The storage unit 231 includes a database as shown in FIG. FIG. 5 exemplifies a database having ten data groups of ID1 to ID10. This database includes sensor information such as “sensor 1”, “sensor 2”, and “sensor 3” as attribute information. Also, when the control information transmission unit 240 holds information in which ID information and transmission address are associated, the selection unit 221 outputs only the ID information to the control information transmission unit 240, but the control information transmission unit If the information 240 in which the ID information and the transmission address are associated is not stored, the selection unit 221 outputs transmission address information associated with the ID information of the database to the control information transmission unit 240.
Here, the three types of sensors exemplified in this embodiment, the camera, the millimeter wave radar, and the LIDAR have different characteristics as shown in FIG. The camera can identify an object and can also recognize road signs and lane marks on a road surface. However, the detection capability is reduced at night or in a situation where the light source is inappropriate such as back light, or in a bad weather situation such as thick fog, heavy rain, heavy snow, etc.
Since the millimeter wave radar is a detection method using radio waves emitted by itself, it can accurately measure the distance to the object while maintaining good detection characteristics regardless of the light source or the weather. On the other hand, since the spatial resolution at the time of detection is inferior to other sensors, it is difficult to identify an object.
Since LIDAR uses infrared laser light, it can also detect objects with low radio wave reflectance. Moreover, since distance and orientation can be detected with high spatial resolution, not only object detection but also detection of free space between them is possible. On the other hand, since infrared light is used, the detection performance is degraded in bad weather such as heavy rain, heavy snow, fog or the like.
Therefore, based on the environment information input from the environment information acquisition unit 270, the selection unit 221 includes, for example, a millimeter wave radar and a LIDAR or a camera as a sensor when the weather is bad weather. “ID” “6”, ID “8” and ID “9” are selected. Also, for example, when the weather is good, any one of LIDAR and camera is provided as a sensor, ID "1", ID "2", ID "3", ID "4", ID Select "5", ID "6", ID "7", ID "8" and ID "9". Furthermore, based on the environmental information input from the environmental information acquisition unit 270, for example, when the time zone is nighttime, LIDAR is provided as a sensor, ID "2", ID "5", ID "6" “ID” “7”, ID “8” and ID “9” are selected.
　第２制御部２６１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、制御装置２００Ａ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、選択部２２１と、記憶部２３１と、制御情報送信部２４０と、収集情報受信部２５０と、環境情報取得部２７０の動作を制御する。 The second control unit 261 controls all processing in the control device 200A based on a control program stored in a ROM (not shown) or the like. In the present embodiment, the operations of the selection unit 221, the storage unit 231, the control information transmission unit 240, the collected information reception unit 250, and the environment information acquisition unit 270 are controlled.
＜情報収集システムの処理＞
　本実施例に係る情報収集システム１０Ａの処理について、図７を用いて説明する。 <Process of information collection system>
The processing of the information collection system 10A according to the present embodiment will be described with reference to FIG.
　まず、制御装置２００Ａの環境情報取得部２７０が、道路または地域の情報の収集を希望する地域の環境情報を取得し、取得した環境情報を選択部２２１に出力する（ステップＳ２０１）。具体的には、例えば、天気情報であれば、悪天候、好天等、時間帯情報であれば、日中、夕方等の情報を、道路または地域の情報の収集を希望する地域の情報と共に選択部２２１に出力する。 First, the environmental information acquisition unit 270 of the control device 200A acquires environmental information of a region where collection of road or regional information is desired, and outputs the acquired environmental information to the selection unit 221 (step S201). Specifically, for example, in the case of weather information, bad weather, good weather, etc., and in the case of time zone information, information such as daytime, evening, etc. is selected together with information of the area where collection of road or area information is desired. Output to the part 221.
　選択部２２１は、環境情報取得部２７０から入力した環境情報に基づいて、当該環境において、適切に道路または地域の情報を収集可能なセンサを有する情報収集装置１００Ａを記憶部２３１内のデータベースから選択し、その選択結果を制御情報送信部２４０に出力する（ステップＳ２０２）。 Selection unit 221 selects, from the database in storage unit 231, information collection device 100A having a sensor capable of appropriately collecting road or area information in the environment based on the environmental information input from environmental information acquisition unit 270. The selection result is output to the control information transmission unit 240 (step S202).
　制御情報送信部２４０は、選択部２２１から入力した選択結果に従って、選択された情報収集装置１００Ａに対して、情報収集を命じる制御情報を送信する（ステップＳ２０３）。 The control information transmission unit 240 transmits control information for instructing information collection to the selected information collection apparatus 100A according to the selection result input from the selection unit 221 (step S203).
　制御装置２００Ａから制御情報を受信した情報収集装置１００Ａは、第１制御部１４１が制御情報に対応可能なセンサ１２０Ａ～１２０Ｎを作動させ、道路または地域の情報を収集させる（ステップＳ２０４）。第１制御部１４１は、当該情報収集期間までにセンサ１２０Ａ～１２０Ｎが収集した情報を収集情報送信部１３０に出力させ、収集情報送信部１３０が、その収集情報を制御装置２００に送信して、一連の処理を終了する（ステップＳ２０６）。このとき、情報収集装置１００Ａを搭載した車両が、制御情報に含まれる道路または地域の情報の収集を希望する地域の情報が示す地域を走行しているときのみ、第１制御部１４１は、センサ１２０Ａ～１２０Ｎに道路または地域の情報収集を行う。なお、制御装置２００Ａは、受信した収集情報の中から、収集したい所望の情報、例えば、道路上の地物に関する情報等を取り出して保存あるいは地図データ更新サーバ等に送信する。 The information collection device 100A that receives the control information from the control device 200A causes the first control unit 141 to operate the sensors 120A to 120N that can correspond to the control information, and collects information on roads or areas (step S204). The first control unit 141 causes the collected information transmission unit 130 to output the information collected by the sensors 120A to 120N by the information collection period, and the collected information transmission unit 130 transmits the collected information to the control device 200, A series of processes are complete | finished (step S206). At this time, the first control unit 141 detects the sensor only when the vehicle on which the information collection device 100A is mounted travels in the area indicated by the information of the area for which collection of road or area information contained in the control information is desired. Gather road or area information from 120A to 120N. The control device 200A extracts desired information to be collected, for example, information on a feature on a road, etc., from the received collected information, and stores the information or transmits it to a map data update server or the like.
　以上、説明したように、本実施例によれば、制御装置２００Ａが環境情報を取得し、取得した環境情報に基づいて、選択部２２１が、当該環境において、適切に道路または地域の情報を収集可能なセンサを有する情報収集装置１００Ａを選択する。そして、その選択結果を制御情報送信部２４０に出力し、制御情報送信部２４０は、選択部２２１から入力した選択結果に従って、選択された情報収集装置１００Ａに対して、情報収集を命じる制御情報を送信する。一方で、情報収集装置１００Ａは、制御情報に対応可能なセンサ１２０Ａ～１２０Ｎを作動させ、道路または地域の情報を収集させ、収集した情報を収集情報送信部１３０から制御装置２００に送信する。したがって、自動運転に要求される精度の高い地図データの更新情報を効率よく収集することができる。また、情報の収集先が一般の自動運転車両であるため、低コストで、自動運転に要求される精度の高い地図データの更新情報を効率よく収集することができる。 As described above, according to the present embodiment, the control device 200A acquires environmental information, and based on the acquired environmental information, the selecting unit 221 appropriately collects information on roads or areas in the environment. The information collecting apparatus 100A having a possible sensor is selected. Then, the selection result is output to the control information transmission unit 240, and the control information transmission unit 240 instructs the control information to instruct the selected information collecting apparatus 100A to collect information according to the selection result input from the selection unit 221. Send. On the other hand, the information collecting apparatus 100A operates the sensors 120A to 120N capable of corresponding to the control information to collect information on roads or areas, and transmits the collected information from the collected information transmitting unit 130 to the control apparatus 200. Therefore, it is possible to efficiently collect updated information of map data with high accuracy required for automatic driving. In addition, since the information collection destination is a general automatic driving vehicle, it is possible to efficiently collect update information of map data with high accuracy required for automatic driving at low cost.
　また、制御装置２００Ａが収集した情報を、例えば、クラウド上の地図データ更新サーバに提供すれば、高精度、かつ、最新の地図を作成することができる。 Further, if the information collected by the control device 200A is provided to, for example, a map data update server on the cloud, it is possible to create a highly accurate and latest map.
　なお、本実施例では、環境情報を取得し、当該環境情報に対応可能なセンサ１２０Ａ～１２０Ｎを作動させ、道路または地域の情報を収集することを例示したが、例えば、トンネルや立体駐車場、地下駐車場等の地物に関する情報に対して対応可能なセンサ１２０Ａ～１２０Ｎを作動させ、道路または地域の情報を収集するようにしてもよい。具体的には、トンネルや立体駐車場、地下駐車場では、その入口、出口で明るさが急激に変化し、トンネル内や立体駐車場内、地下駐車場内では、照度が低くなる。そのため、トンネルや立体駐車場、地下駐車場の入口では、カメラを作動させ、道路または地域の情報を収集し、トンネル内や立体駐車場内、地下駐車場内およびトンネルや立体駐車場、地下駐車場の出口では、ＬＩＤＡＲを作動させ、道路または地域の情報を収集するようにしてもよい。このように、同じ地物の入口、内部、出口で、その特性に応じたセンサを切り替えて作動させ、情報を収集することにより、収集された情報の精度をより高めることができる。 In this embodiment, the environmental information is acquired, the sensors 120A to 120N capable of corresponding to the environmental information are operated, and the information on the road or the area is collected. The sensors 120A to 120N capable of responding to information on features such as an underground parking lot may be activated to collect information on roads or areas. Specifically, in a tunnel, a three-dimensional parking lot, or an underground parking lot, the brightness changes rapidly at the entrance and the exit, and the illuminance decreases in the tunnel, the three-dimensional parking lot, and the underground parking lot. Therefore, at the entrance of tunnels and multi-level parking lot and underground parking lot, operate the camera and collect information of the road or area, in the tunnel and multi-level parking lot, in underground parking lot and in tunnels and multi-level parking lot, underground parking lot At the exit, LIDAR may be activated to collect road or area information. In this manner, by switching and operating the sensors corresponding to the characteristics at the same feature entrance, inside, and exit, and collecting information, the accuracy of the collected information can be further improved.
　また、実施例１および実施例２では、制御装置が情報収集装置を特定して、情報収集を行うことを例示したが、例えば、予め、情報収集装置を特定せず、情報収集装置が満たすべき条件と情報収集対象物とを特定した制御情報を一斉送信し、制御情報内の要件を満たす情報収集装置が当該情報収集対象物に関して収集した情報を制御装置に送信するようにしてもよい。 In the first and second embodiments, the control device specifies the information collecting device and performs information collection, but for example, the information collecting device should satisfy the information collecting device without specifying the information collecting device in advance. The control information specifying the condition and the information collection target may be simultaneously transmitted, and the information collection device that satisfies the requirements in the control information may transmit the information collected regarding the information collection target to the control device.
　また、実施例１では、情報収集装置１００を搭載した車両が制御情報により指定された情報収集エリアを走行する場合に、情報収集装置が情報収集部１２０を作動させることを例示したが、制御装置２００が予め情報収集装置１００を搭載した車両の走行位置を把握している場合には、所望の地域を走行する車両に搭載された情報収集装置１００に対してのみ、制御情報を送信するようにしても良い。また、情報収集エリアには様々な地物が存在するが、情報収集装置が搭載するすべてのセンサを作動させ、センサ情報（センサ種別、センサ取付位置等）を付加して、収集した道路または地域の情報を制御装置に送信し、制御装置側で、センサ情報から、受信した道路または地域の情報を選別するようにしてもよい。 Further, in the first embodiment, when the vehicle equipped with the information collection device 100 travels in the information collection area specified by the control information, the information collection device exemplifies that the information collection unit 120 is operated. In the case where the traveling position of the vehicle on which the information collecting apparatus 100 is mounted is known in advance, the control information is transmitted only to the information collecting apparatus 100 mounted on the vehicle traveling in the desired area. It is good. In addition, various features exist in the information collection area, but all the sensors installed in the information collection device are activated, and sensor information (sensor type, sensor installation position, etc.) is added to the collected road or area The above information may be transmitted to the control device, and the control device side may sort out the received road or area information from the sensor information.
　なお、情報収集装置と制御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収集装置と制御装置に読み込ませ、実行することによって本発明の情報収集システム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 processing of the information collection device and the control device is recorded in a recording medium readable by the computer system, the program recorded in the recording medium is read by the information collection device and the control device, and executed. A collection system can be realized. 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、１０Ａ；情報収集システム
　１００、１００Ａ；情報収集装置
　１１０；制御情報受信部
　１２０、１２１；情報収集部
　１３０；収集情報送信部
　１４０、１４１；第１制御部
　２００、２００Ａ；制御装置
　２１０；情報収集対象物特定部
　２２０、２２１；選択部
　２３０、２３１；記憶部
　２４０；制御情報送信部
　２５０；収集情報受信部
　２６０、２６１；第２制御部
　２７０；環境情報取得部 10, 10A: information collecting system 100, 100A; information collecting apparatus 110; control information receiving unit 120, 121; information collecting unit 130; collected information transmitting unit 140, 141; first control unit 200, 200A; control device 210; information Collection target object identification unit 220, 221; selection unit 230, 231; storage unit 240; control information transmission unit 250; collection information reception unit 260, 261; second control unit 270; environmental information acquisition unit

Claims (6)

  1. 　複数の移動体に搭載された情報収集装置と、複数の該情報収集装置を制御する制御装置と、からなり、前記情報収集装置により収集された道路または地域の情報を収集する情報収集システムであって、
    　前記情報収集装置は、
    　前記制御装置からの制御情報を受信する制御情報受信部と、
    　該受信した制御情報に基づいて、前記道路または地域の情報を収集する情報収集部と、
    　該情報収集部が収集した前記道路または地域の情報を前記制御装置に送信する収集情報送信部と、
    　を備え、
    　前記制御装置は、
    　前記情報収集装置の前記移動体に対する取付け状態に関する情報を記憶した記憶部と、
    　前記情報収集装置に収集させる前記道路又は地域に関する情報に基づいて、前記記憶部から前記情報収集装置を選択する選択部と、
    　前記選択部が選択した前記情報収集装置に制御情報を送信する制御情報送信部と、
    　前記情報収集装置から前記道路または地域の情報を受信する収集情報受信部と、
    　を備えたことを特徴とする情報収集システム。     An information collection system comprising: an information collection device mounted on a plurality of mobile objects; and a control device for controlling the plurality of information collection devices, for collecting information of roads or areas collected by the information collection device ,
    The information collection device
    A control information receiving unit that receives control information from the control device;
    An information collection unit that collects information on the road or area based on the received control information;
    A collected information transmitting unit that transmits the information on the road or area collected by the information collecting unit to the control device;
    Equipped with
    The controller is
    A storage unit storing information on an attachment state of the information collecting apparatus to the moving body;
    A selection unit that selects the information collection device from the storage unit based on the information on the road or area to be collected by the information collection device;
    A control information transmission unit that transmits control information to the information collection device selected by the selection unit;
    A collected information receiving unit that receives information on the road or area from the information collecting apparatus;
    An information collecting system characterized by comprising.
  2. 　前記記憶部には、前記情報収集装置の取り付け高さに関する情報が記憶されていることを特徴とする請求項１に記載の情報収集システム。 The information collecting system according to claim 1, wherein the storage unit stores information on a mounting height of the information collecting apparatus.
  3. 　前記記憶部には、前記情報収集装置の取り付け方向に関する情報が記憶されていることを特徴とする請求項１又は請求項２に記載の情報収集システム。 The information collecting system according to claim 1 or 2, wherein the storage unit stores information on a mounting direction of the information collecting apparatus.
  4. 　前記制御情報には、前記道路又は地域に関する情報の収集を実施する期間を指定する情報収集期間が含まれていることを特徴とする請求項１から請求項３の何れか１項に記載の情報収集システム。 The information according to any one of claims 1 to 3, wherein the control information includes an information collection period for specifying a period for carrying out collection of information on the road or area. Collection system.
  5. 　複数の移動体に搭載された道路または地域の情報を収集する情報収集装置を制御する制御装置であって、
    　複数の前記情報収集装置の前記移動体に対する取付け状態に関する情報を記憶した記憶部と、
    　前記情報収集装置に収集させる前記道路又は地域に関する情報に基づいて、前記情報収集装置を選択する選択部と、
    　前記選択部が、選択した前記情報収集装置に前記道路又は地域に関する情報を収集させるための制御情報を送信する制御情報送信部と、
    　前記情報収集装置から前記道路または地域の情報を受信する収集情報受信部と、
    　を備えたことを特徴とする制御装置。     A control device that controls an information collection device that collects information on roads or areas mounted on a plurality of mobile objects,
    A storage unit storing information on the attachment state of the plurality of information collection devices with respect to the moving body;
    A selection unit that selects the information collection device based on the information on the road or area to be collected by the information collection device;
    A control information transmission unit for transmitting control information for causing the selected information collection device to collect information on the road or the area;
    A collected information receiving unit that receives information on the road or area from the information collecting apparatus;
    The control apparatus characterized by having.
  6. 　複数の移動体に搭載された道路または地域の情報を収集する情報収集装置を制御する制御プログラムであって、
    　複数の前記情報収集装置の前記移動体に対する取付け状態に関する情報と、前記情報収集装置に収集させる前記道路又は地域に関する情報とに基づいて、前記情報収集装置を選択する選択工程と、
    　前記選択工程において選択した前記情報収集装置に前記道路又は地域に関する情報を収集させるための制御情報を送信する制御情報送信工程と、
    　前記情報収集装置から前記道路または地域の情報を受信する収集情報受信工程と、
    　を備えたことを特徴とする制御プログラム。
          A control program for controlling an information collecting apparatus for collecting information of roads or areas mounted on a plurality of mobile bodies, comprising:
    A selection step of selecting the information collection device based on information on a mounting state of a plurality of the information collection devices with respect to the mobile object and information on the road or area to be collected by the information collection device;
    A control information transmission step of transmitting control information for causing the information collection device selected in the selection step to collect information on the road or the area;
    A collected information receiving step of receiving information on the road or area from the information collecting device;
    A control program characterized by comprising.
PCT/JP2019/000197 2018-01-17 2019-01-08 Information collection system, control device and program WO2019142697A1 (en)

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