WO2019181839A1 - Structure de données, dispositif terminal, procédé de communication de données, programme et support d'informations - Google Patents

Structure de données, dispositif terminal, procédé de communication de données, programme et support d'informations Download PDF

Info

Publication number
WO2019181839A1
WO2019181839A1 PCT/JP2019/011140 JP2019011140W WO2019181839A1 WO 2019181839 A1 WO2019181839 A1 WO 2019181839A1 JP 2019011140 W JP2019011140 W JP 2019011140W WO 2019181839 A1 WO2019181839 A1 WO 2019181839A1
Authority
WO
WIPO (PCT)
Prior art keywords
data
surrounding environment
terminal device
upload
representative
Prior art date
Application number
PCT/JP2019/011140
Other languages
English (en)
Japanese (ja)
Inventor
泰裕 下野
鉄平 浜田
堀川　邦彦
Original Assignee
パイオニア株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by パイオニア株式会社 filed Critical パイオニア株式会社
Publication of WO2019181839A1 publication Critical patent/WO2019181839A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • 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
    • G08G1/09—Arrangements for giving variable traffic instructions
    • 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
    • G08G1/133—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 within the vehicle ; Indicators inside the vehicles or at stops
    • G08G1/137—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 within the vehicle ; Indicators inside the vehicles or at stops 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 a technique for acquiring peripheral information of a moving body such as a vehicle.
  • Non-Patent Document 1 discloses specifications related to a data format for collecting data detected by a vehicle-side sensor with a cloud server.
  • the server device When the server device collects various types of data from the vehicle, the amount and content of the data that the server device requests from the vehicle vary depending on the target area, the vehicle status, and the like. For example, when there are a large number of vehicles in the target area, it is necessary to perform control so that the amount of data transmitted to the server device does not become excessive. Further, the server device may request only data that satisfies certain conditions with respect to the type of sensor used on the vehicle side, the position and direction of the vehicle when data is acquired, the reliability of the acquired data, and the like. In addition, if a vehicle that has received a data generation and transmission request from the server device cannot generate the requested data due to a sensor failure or the like, another vehicle generates the data and sends it to the server instead. It is necessary to do.
  • the present invention has been made to solve the above-described problems, and it is an object of the present invention to appropriately control the amount and content of data collected from a vehicle by a server device according to the situation.
  • the invention according to claim 1 is a data structure of transmission data transmitted from the terminal device that generates the surrounding environment data related to the surrounding environment detected by the detection device mounted on the mobile body to the information processing device, Including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is being transmitted on behalf of another terminal device capable of detecting the surrounding environment, Used for device recognition.
  • the invention according to claim 6 is a terminal device mounted on a mobile body, the first generating means for detecting the surrounding environment and generating the surrounding environment data related to the detected surrounding environment, the surrounding environment data, Second transmission means for generating transmission data including representative transmission data indicating whether or not the peripheral environment data is transmitted on behalf of another terminal device capable of detecting the peripheral environment, and the transmission data Transmitting means for transmitting to the information processing apparatus.
  • the invention according to claim 7 is a data communication method executed by a terminal device mounted on a mobile body, the first generation step of detecting the surrounding environment and generating the surrounding environment data related to the detected surrounding environment; Second generation for generating transmission data including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment And a transmission step of transmitting the transmission data to the information processing apparatus.
  • the invention according to claim 8 is a program that is mounted on a mobile body and is executed by a terminal device that includes a computer, and that detects a surrounding environment and generates a surrounding environment data related to the detected surrounding environment. Second generation for generating transmission data including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment The computer is caused to function as a means for transmitting the transmission data to the information processing apparatus.
  • One preferred embodiment of the present invention is a data structure of transmission data transmitted from a terminal device that generates peripheral environment data related to a surrounding environment detected by a detection device mounted on a mobile body to an information processing device. Including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment. Used for recognition by the information processing apparatus.
  • the above transmission data is transmitted from the terminal device that generates the surrounding environment data related to the surrounding environment detected by the detecting device mounted on the moving body to the information processing device.
  • the data structure includes the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment. This data structure is used for the information processing apparatus to recognize that the representative transmission has been performed.
  • One aspect of the above data structure includes the number of other terminal devices represented by the terminal device when the representative transmission data represents another terminal device.
  • the information processing apparatus can know how many other terminal apparatuses the transmission data represents.
  • the surrounding environment data includes feature data relating to features detected by the detection device and features relating to features stored in the moving body at the same location. It is difference data which shows the difference with data.
  • the information processing apparatus can acquire difference data from already stored feature data.
  • Another aspect of the data structure includes position data of the moving body when the surrounding environment data is generated.
  • the information processing apparatus can know at which position the moving object has generated the surrounding environment data.
  • Another aspect of the above data structure includes type data indicating the type of the detected surrounding environment.
  • the information processing apparatus can know the type of the detected surrounding environment.
  • Another preferred embodiment of the present invention is a terminal device mounted on a mobile object, the first generating means for detecting the surrounding environment and generating the surrounding environment data related to the detected surrounding environment, and the surrounding environment data And second transmission means for generating transmission data including representative transmission data indicating whether or not the peripheral environment data is transmitted on behalf of another terminal device capable of detecting the peripheral environment, and the transmission Transmitting means for transmitting data to the information processing apparatus.
  • the surrounding environment is detected, and surrounding environment data related to the detected surrounding environment is generated. Then, transmission data including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment is generated, and the information processing device Sent to. Thereby, the information processing apparatus can know that the transmission data is transmitted on behalf of another terminal apparatus.
  • Another preferred embodiment of the present invention is a data communication method executed by a terminal device mounted on a mobile body, wherein the first generation detects a surrounding environment and generates surrounding environment data related to the detected surrounding environment. Generating transmission data including a process, the surrounding environment data, and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment. 2 generation process, and the transmission process which transmits the said transmission data to information processing apparatus.
  • the surrounding environment is detected, and surrounding environment data related to the detected surrounding environment is generated. Then, transmission data including the surrounding environment data and representative transmission data indicating whether or not the surrounding environment data is transmitted on behalf of another terminal device capable of detecting the surrounding environment is generated, and the information processing device Sent to. Thereby, the information processing apparatus can know that the transmission data is transmitted on behalf of another terminal apparatus.
  • Another preferred embodiment of the present invention is a program that is mounted on a mobile body and is executed by a terminal device that includes a computer.
  • the first embodiment detects a surrounding environment and generates surrounding environment data related to the detected surrounding environment.
  • the computer is caused to function as generation means and transmission means for transmitting the transmission data to the information processing apparatus.
  • the above terminal device can be realized by executing this program on a computer.
  • This program can be stored and handled in a storage medium.
  • FIG. 1 is a schematic configuration of a data collection system according to an embodiment.
  • the data collection system includes a terminal device 1 that moves together with a vehicle that is a moving body, and a server device 2 that communicates with each terminal device 1 via a network. And a data collection system updates the map and other information which the server apparatus 2 holds based on the information transmitted from each terminal device 1.
  • FIG. 1 includes data used for ADAS (Advanced Driver Assistance System) and automatic driving in addition to data referred to by a conventional in-vehicle device for route guidance.
  • ADAS Advanced Driver Assistance System
  • the server device 2 establishes a communication session with the terminal device 1 of each vehicle, and sends a request Dr that requests transmission of data related to the surrounding environment of the vehicle (hereinafter referred to as “ambient environment data”) to the server device 2. It transmits to the terminal device 1.
  • the terminal device 1 transmits upload data Du including the requested surrounding environment data to the server device 2.
  • the terminal device 1 includes the attribute information of the vehicle on which the terminal device 1 is mounted in the upload data Du and transmits the upload data Du to the server device 2.
  • the terminal device 1 generates peripheral environment data based on the output of the sensor unit 7 including a camera and a lidar (LIDAR: Laser Illuminated Detection and Ranging, Laser Imaging Detection and Ranging or LiDAR: Light Detection and Ranging).
  • the data is included in the upload data Du and transmitted to the server device 2.
  • the server device 2 receives and stores the upload data Du from each terminal device 1.
  • the server device 2 detects, for example, a changed portion (change point) from the creation reference time point of the map data based on the collected upload data Du, and updates the map data to reflect the detected change point.
  • the terminal device 1 performs vehicle-to-vehicle communication by transmitting / receiving vehicle-to-vehicle communication data Dv to / from other terminal devices 1.
  • the terminal device 1 may be a vehicle-mounted device attached to the vehicle, a part of the vehicle-mounted device, or a part of the vehicle.
  • the terminal device 1 may be a portable terminal device such as a notebook PC.
  • FIG. 2 is a block diagram illustrating a functional configuration of the terminal device 1.
  • the terminal device 1 mainly includes a communication unit 11, a storage unit 12, an input unit 13, a control unit 14, an interface 15, and an output unit 16.
  • Each element in the terminal device 1 is connected to each other via a bus line 98.
  • the communication unit 11 transmits upload data Du to the server device 2 or receives map data for updating the map DB 4 from the server device 2 based on the control of the control unit 14. Moreover, the communication part 11 may perform the process which transmits the signal for controlling a vehicle to a vehicle, and the process which receives the signal regarding the state of a vehicle from a vehicle.
  • the storage unit 12 stores a program executed by the control unit 14 and information necessary for the control unit 14 to execute a predetermined process.
  • the storage unit 12 stores a plurality of map DBs 4, a sensor data cache 6, and vehicle attribute information IV.
  • the map DB 4 is a database including road data, facility data, and feature data around the road, for example.
  • the road data includes lane network data for route search, road shape data, traffic regulation data, and the like.
  • the feature data includes information such as signs such as road signs, road markings such as stop lines, road lane markings such as center lines, and structures along the road. Further, the feature data may include highly accurate point cloud information of the feature to be used for the vehicle position estimation.
  • the map DB 4 may store various data necessary for position estimation.
  • storage part 12 may memorize
  • the sensor data cache 6 is a cache memory that temporarily holds output data (so-called raw data) of the sensor unit 7.
  • the vehicle attribute information IV indicates information related to attributes of the vehicle on which the terminal device 1 is mounted, such as a vehicle type, a vehicle ID, a vehicle length, a vehicle width, a vehicle size such as a vehicle height, and a fuel type of the vehicle.
  • the input unit 13 is a button operated by the user, a touch panel, a remote controller, a voice input device, and the like. For example, an input for specifying a destination for route search, an input for specifying on / off of automatic driving, and the like And the generated input signal is supplied to the control unit 14.
  • the output unit 16 is, for example, a display or a speaker that performs output based on the control of the control unit 14.
  • the interface 15 performs an interface operation for supplying the output data of the sensor unit 7 to the control unit 14 and the sensor data cache 6.
  • the sensor unit 7 includes a plurality of external sensors for recognizing the surrounding environment of the vehicle such as a rider 31 and a camera 32, and internal sensors such as a GPS receiver 33, a gyro sensor 34, a position sensor 35, and a triaxial sensor 36.
  • the lidar 31 discretely measures the distance to an object existing in the outside world, recognizes the surface of the object as a three-dimensional point group, and generates point group data.
  • the camera 32 generates image data taken from the vehicle.
  • the position sensor 35 is provided for detecting the position of each external sensor, and the triaxial sensor 36 is provided for detecting the posture of each external sensor.
  • the sensor unit 7 may include an arbitrary external sensor and an internal sensor other than the external sensor and the internal sensor shown in FIG.
  • the sensor unit 7 may include an ultrasonic sensor, an infrared sensor, a microphone, and the like as
  • the control unit 14 includes a CPU that executes a predetermined program on one or a plurality of platforms, and controls the entire terminal device 1.
  • the control unit 14 functionally includes a position estimation unit 17, an object detection unit 18, and an upload data generation unit 19.
  • FIG. 3 is a block diagram illustrating an outline of processing of the position estimation unit 17, the object detection unit 18, and the upload data generation unit 19 of the terminal device 1.
  • the position estimation unit 17 estimates the own vehicle position (including the attitude of the vehicle) based on the output data of the sensor unit 7 held in the sensor data cache 6 and the map DB 4.
  • the position estimation unit 17 can execute various position estimation methods.
  • the position estimator 17 further collates the road data in the map DB 4 with autonomous navigation, a vehicle position estimation method based on dead reckoning (autonomous navigation) based on outputs of autonomous positioning sensors such as the GPS receiver 33 and the gyro sensor 34, and the like.
  • a vehicle position estimation method based on the mark position information is executed.
  • the position estimation unit 17 executes the position estimation method that provides the highest estimation accuracy among the currently executable position estimation methods, and indicates the vehicle position obtained based on the executed position estimation method.
  • the position information is supplied to the upload data generation unit 19.
  • the position estimation unit 17 includes information for specifying the executed position estimation method in the vehicle position information and supplies the information to the upload data generation unit 19.
  • the object detection unit 18 detects a predetermined object based on point cloud information, image data, audio data, and the like output from the sensor unit 7.
  • the object detection unit 18 extracts feature data corresponding to the object detected by the sensor unit 7 from the map DB 4 based on the vehicle position estimated by the position estimation unit 17. Then, the object detection unit 18 determines whether there is a difference between the position and shape of the object detected by the sensor unit 7 and the position and shape of the object indicated by the feature data extracted from the map DB 4 or When the corresponding feature data does not exist, information related to the object detected by the sensor unit 7 (also referred to as “object data”) is supplied to the upload data generation unit 19.
  • the object detection unit 18 detects a specific object regardless of whether the object detected by the sensor unit 7 and the object indicated by the feature information in the map DB 4 are different in shape, position, or the like.
  • Object data related to the object may be supplied to the upload data generation unit 19. For example, when the object detection unit 18 recognizes the content, shape, position, or the like of a road sign based on the output of the sensor unit 7, or when the position, shape, etc. of a lane boundary (ie, a lane line) is recognized. These recognition results may be supplied to the upload data generation unit 19 as object data.
  • the upload data generation unit 19 includes vehicle position information supplied from the position estimation unit 17, object data supplied from the object detection unit 18, and output data (so-called raw data) of the sensor unit 6 supplied from the sensor data cache 6. Data) and upload data Du is generated. Then, the upload data generation unit 19 transmits the generated upload data Du to the server device 2 through the communication unit 11. For example, when the communication session with the server device 2 is established, the upload data generation unit 19 generates upload data Du including the vehicle attribute information IV, and transmits the generated upload data Du to the server device 2 through the communication unit 11. To do.
  • FIG. 4 is a block diagram showing a functional configuration of the server device 2. As illustrated in FIG. 4, the server device 2 mainly includes a communication unit 21, a storage unit 22, and a control unit 23. Each element in the server device 2 is connected to each other via a bus line 99.
  • the communication unit 21 receives the upload data Du from each terminal device 1 or transmits map data for updating the map DB 4 to each terminal device 1 based on the control of the control unit 23.
  • the storage unit 22 stores a program executed by the control unit 23 and information necessary for the control unit 23 to execute a predetermined process.
  • the storage unit 22 stores the distribution map DB 5.
  • the distribution map DB 5 is map data for distribution to each terminal device 1 and is updated based on the upload data Du received from each terminal device 1. Similar to the map DB 4, the distribution map DB 5 stores various data used in automatic driving, ADAS, etc., such as road data, facility data, and feature data around the road.
  • the control unit 23 includes a CPU that executes a predetermined program, and controls the entire server device 2.
  • the control unit 23 updates the map data in the distribution map DB based on the surrounding environment data included in the upload data Du.
  • the vehicle is an example of the moving body of the present invention
  • the sensor unit 7 is an example of the detection apparatus of the present invention
  • the server apparatus 2 is an example of the information processing apparatus of the present invention.
  • the terminal devices 1 of a plurality of vehicles requested to upload the surrounding environment data from the server device 2 cooperate to upload the surrounding environment data.
  • “cooperate” means that any one of the plurality of terminal devices 1 requested to upload data transmits peripheral environment data to the server device 2 as a representative of the plurality of terminal devices 1.
  • the server device 2 collects the surrounding environment data using the terminal device 1, it is not necessary for the server device 2 to acquire data from the terminal devices 1 of all vehicles in an area where the traveling density of the vehicle is high. . That is, it does not make sense to transmit the same surrounding environment data from a large number of terminal devices 1, but rather the processing load on the server device 2 side increases. Therefore, when the server device 2 requests the terminal device 1 to upload the surrounding environment data, the server device 2 cooperates between the plurality of terminal devices 1 and represents one terminal device 1 that represents the plurality of terminal devices 1 (hereinafter referred to as “representative terminal”). Device 1 ”) also instructs or permits uploading of the surrounding environment data to the server device 2.
  • the server apparatus 2 requests (hereinafter referred to as “representative upload request”) that includes information indicating, allowing, or prohibiting the uploading of the surrounding environment data (hereinafter referred to as “representative upload”) by the representative terminal apparatus 1. To the terminal device 1.
  • Fig. 5 shows the format of a representative upload request.
  • the representative upload request is a request for one of the plurality of terminal devices 1 to upload the surrounding environment data on behalf of the terminal device 1, and is transmitted from the server device 2 to the terminal devices 1 of the plurality of vehicles. .
  • the representative upload request includes a “basic information part” and a “specific information part”.
  • the basic information part is a part including basic information necessary for a request from the server device 2 to the terminal device 1, and includes “header”, “target vehicle information”, and “target area information”.
  • the “header” includes a version of a data format used in communication performed between the server device 2 and the terminal device 1, and a time stamp indicating the time when the request is transmitted.
  • “Target vehicle information” is information for identifying a vehicle to which a request is transmitted, and is, for example, a vehicle ID.
  • “Target area information” is information for specifying the transmission target area of the request, such as a link ID or an area ID in map data. Therefore, the request transmitted from the server device 2 to the terminal device 1 exists in the target area indicated by the target area information, and is transmitted to the terminal device 1 of the vehicle specified by the target vehicle information.
  • the specific information part of the representative upload request includes “representative upload flag”, “representative number”, “peripheral environment position”, “measurement start position”, “measurement end position”, “upload time interval”, “peripheral environment type”, Includes “sensor type”.
  • “Representative upload flag” is a flag indicating whether or not a plurality of terminal devices 1 that have received a representative upload request cooperate to upload peripheral environment data.
  • the representative upload flag “1” indicates that a plurality of terminal devices 1 cooperate to request that the representative terminal device 1 uploads the surrounding environment data to the server device 2.
  • the representative upload flag “0” indicates that the plurality of terminal devices 1 do not need to cooperate and each terminal device 1 is requested to individually upload the surrounding environment data to the server device 2.
  • the representative upload flag “2” indicates that a plurality of terminal devices 1 may cooperate. In this case, cooperation is allowed but not mandatory. Therefore, a plurality of terminal devices 1 may cooperate, the representative terminal device 1 may upload the surrounding environment data to the server device 2, and each terminal device 1 may individually upload the surrounding environment data to the server device 2. .
  • the “representative number” indicates how many other terminal devices 1 a single representative terminal device 1 represents when a plurality of terminal devices 1 cooperate. For example, when the representative number is “10”, the ten terminal devices 1 that have received the representative upload request cooperate to determine one representative terminal device 1, and the representative terminal device 1 transmits the surrounding environment data to the server device. Will be uploaded to 2.
  • “Ambient environment position” is information indicating the position of the surrounding environment from which the server device 2 requests data, and includes the position of the surrounding environment or the ID of the surrounding environment. For example, when the server device 2 requests the surrounding environment data related to a certain feature such as a specific building or sign, the surrounding environment position is a position coordinate of the feature or an ID given to the feature.
  • Measurement start position and “measurement end position” are information for designating a range in which the terminal device 1 should measure the surrounding environment.
  • the measurement start position indicates a position where the terminal device 1 should start measurement of the surrounding environment
  • the measurement end position indicates a position where the terminal device 1 should end the measurement of the surrounding environment. For example, when requesting the surrounding environment data about a traffic jam or an accident in a specific section of a road where the server device 2 is located, the start position and end position of the section are set as the measurement start position and measurement end position, respectively.
  • one of the surrounding environment position, the measurement start position, and the measurement end position is set according to the surrounding environment data requested by the server device 2 or both are set.
  • the server device 2 requests the surrounding environment data of a specific feature as described above, it is not necessary to set only the surrounding environment position and set the measurement start position and the measurement end position.
  • the server device 2 may set only the measurement start position and the measurement end position without setting the surrounding environment position.
  • the server device 2 requests the surrounding environment data for a certain feature existing in a certain section (for example, a specific sign existing in a certain section), the surrounding environment position, the measurement start position, and the measurement Both the end position and the end position may be set.
  • “Upload time interval” is information for specifying an interval at which the terminal device 1 transmits upload data to the server device 2.
  • “Ambient environment type” is information indicating the type of the surrounding environment for which the server device 2 requests data. Specifically, the feature, feature difference, construction, traffic jam, accident, fallen object, road collapse Including freezing, snow cover, road surface condition, etc. Further, when the surrounding environment for which the server apparatus 2 requests data is not classified into any of these, the surrounding environment type is set to “other”, and when the surrounding environment is not classified into a specific type, the surrounding environment type is set. Is set to “none”.
  • the “feature difference” refers to a difference value between the feature data included in the current map data and the feature data measured by the terminal device 1.
  • “Sensor type” is information that specifies the type of sensor that the terminal device 1 should use for measuring the surrounding environment, and includes, for example, a lidar, an ultrasonic sensor, a radar, and the like.
  • the representative upload request process is a process in which the server device 2 transmits a representative upload request shown in FIG. 5 to the plurality of terminal devices 1.
  • FIG. 6 is a flowchart of representative upload request processing. This process is performed by the control unit 23 of the server device 2 executing a program prepared in advance.
  • the server device 2 determines the surrounding environment to be measured (step S20). That is, the server device 2 determines peripheral environment data to be collected using the terminal device 1 among various information managed on the server device 2 side. For example, when a building or a sign is maintained in a specific area, the server device 2 determines to collect surrounding environment data related to the feature or sign in the area.
  • the server device 2 determines whether or not the plurality of terminal devices 1 should cooperate with each other to upload the surrounding environment data, and sets a representative upload flag (step S11). For example, as described above, in an area where the travel density of the vehicle is high, the server device 2 sets the representative upload flag to “1” as an instruction for the representative upload to the terminal device 1 or permits the representative upload. The representative upload flag is set to “2”. When instructing or permitting the representative upload, the server device 2 also determines the representative number. On the other hand, in an area where the running density of the vehicle is not high or when it is desired to collect as many data as possible, the server device 2 sets the representative upload flag to “0” as prohibiting the representative upload.
  • the server device 2 generates a representative upload request including the set representative upload flag and the representative number (step S12), and transmits it to the plurality of terminal devices 1 (step S13).
  • the representative upload request process ends.
  • the plurality of terminal devices 1 that have received a representative upload request for instructing or permitting a representative upload negotiate using vehicle-to-vehicle communication or the like, and determine the representative terminal device 1. At this time, the plurality of terminal devices 1 determine one representative terminal device 1 for each representative number included in the representative upload request. The determined representative terminal device 1 uploads the surrounding environment data to the server device 2 on behalf of the other terminal device 1.
  • the upload data including the representative upload flag is hereinafter referred to as “representative upload data”.
  • Fig. 7 shows the format of representative upload data.
  • the representative upload data includes a “basic information part” and a “specific information part”.
  • the basic information part is a part including basic information necessary for upload data from the terminal device 1 to the server device 2 and includes “header”, “vehicle metadata”, and “vehicle position”.
  • the “header” includes a version of a data format used in communication performed between the server apparatus 2 and the terminal apparatus 1 and a time stamp indicating the time when the upload data is transmitted.
  • “Vehicle metadata” is information relating to a vehicle on which the terminal device 1 is mounted, and includes a vehicle ID, a vehicle size, a type of sensor mounted on the vehicle, and the like.
  • “Vehicle position” is information indicating the position of the vehicle when the terminal device 1 measures the surrounding environment, for example, position coordinates.
  • the unique information part of representative upload data includes “representative upload flag”, “representative number”, “peripheral environment position”, “peripheral environment type”, and “peripheral environment data”.
  • the “representative upload flag” is a flag indicating whether or not the upload data is transmitted on behalf of the plurality of terminal devices 1, that is, whether or not the representative upload is performed.
  • the representative upload flag is set to “1” when the representative upload is performed, and is set to “0” when the representative upload is not performed.
  • the “representative number” indicates how many other terminal devices 1 the representative terminal device 1 represents when the representative upload is performed.
  • the “peripheral environment position” is information indicating the position of the surrounding environment that is the basis of the surrounding environment data transmitted from the terminal device 1 to the server device 2, and includes the position of the surrounding environment or the ID of the surrounding environment.
  • the surrounding environment position is a position coordinate of the feature or an ID given to the feature.
  • “Ambient environment type” is information indicating the type of the surrounding environment that is the basis of the surrounding environment data transmitted from the terminal device 1 to the server device 2. Specifically, the feature, feature difference, construction, traffic jam , Accidents, fallen objects, road depressions and freezing, snow cover, road surface conditions, etc. When the surrounding environment is not classified into any of these, the surrounding environment type is set to “other”, and when the surrounding environment is not limited to a specific type, the surrounding environment type is set to “none”. “Ambient environment data” is the surrounding environment data itself acquired by measurement. Specifically, any of the measured raw data, difference data with past data, a flag indicating that there is difference data, etc. Including.
  • the representative upload flag is an example of the representative transmission data of the present invention
  • the surrounding environment type is an example of the type data of the present invention.
  • the representative upload process is a process in which the representative terminal device 1 transmits the representative upload data shown in FIG.
  • FIG. 8 is a flowchart of the representative upload process. This process is performed by the control unit 14 of the terminal device 1 executing a program prepared in advance.
  • the terminal device 1 determines whether or not a representative upload request has been received from the server device 2 (step S20). If not received (step S20: No), the process ends. On the other hand, when the representative upload request is received (step S20: Yes), the terminal device 1 determines whether or not the terminal device 1 has become the representative terminal device 1 as a result of discussions with a plurality of terminal devices 1 through inter-vehicle communication or the like. (Step S21). If it is not the representative terminal device 1 (step S21: No), the process ends.
  • the terminal device 1 detects the vehicle position and measures the surrounding environment using a sensor or the like (step S22). Thereby, the vehicle position, the surrounding environment position, the surrounding environment type, the surrounding environment data, and the like included in the representative upload data are generated. Next, the terminal device 1 sets the representative upload flag to “1”, sets the number of other terminal devices 1 that it represents to the representative number, and includes the representative upload including each data generated in step S22. Data is generated (step S23). Then, the terminal device 1 transmits the generated representative upload data to the server device 2 (step S24). Thus, the representative upload process ends.
  • the server device 2 transmits a representative upload request including a representative upload flag to the terminal device 1 to respond to the environment of the target area and the surrounding environment data to be collected.
  • the amount of upload data from the plurality of terminal devices 1 can be controlled. Thereby, necessary surrounding environment data can be efficiently collected.
  • the server device 2 since the representative terminal device 1 transmits representative upload data including a representative upload flag indicating that it is the representative terminal device 1 to the server device 2, the server device 2 receives the upload data received from the terminal device 1. It can be easily known that the other terminal device 1 is represented.
  • the terminal device 1 when the terminal device 1 requested to upload the surrounding environment data from the server device 2 cannot generate the surrounding environment data due to a sensor failure or the like, the other terminal device 1 acts as a proxy. Then, the surrounding environment data is uploaded to the server device 2.
  • the terminal device 1 may not be able to generate the requested surrounding environment data depending on the state of the sensor. For example, when the sensor of the vehicle on which the terminal device 1 is mounted is out of order, the surrounding environment cannot be measured and the surrounding environment data cannot be generated. Further, although the sensor is not malfunctioning, the vehicle does not have the type of sensor necessary for generating the ambient environment data requested from the server device 2, or the sensor that is possessed is the server. If the specifications and software version requested by the apparatus 2 are not satisfied, the requested surrounding environment data cannot be generated. For example, when a rider is required on the vehicle side to generate the surrounding environment data requested by the server device 2, the terminal device 1 mounted on the vehicle that does not have the rider generates the requested surrounding environment data. Can not do it.
  • the terminal device 1 that cannot generate the surrounding environment data (hereinafter, also referred to as “proxy requesting terminal device 1”) has another terminal device 1 that can appropriately generate the requested surrounding environment data (hereinafter, “ Requests upload of the surrounding environment data to the proxy transmission terminal device 1 ”).
  • the proxy transmission terminal device 1 that has received the request from the proxy request terminal device 1 measures the peripheral environment instead of the proxy request terminal device 1, generates the peripheral environment data, and uploads it to the server device 2 (hereinafter referred to as “ Called proxy upload.)
  • the proxy transmission terminal device 1 adds information indicating that it is uploading the surrounding environment data on behalf of the proxy requesting terminal device 1 to the upload data and transmits it to the server device 2.
  • the server device 2 that has received the upload data can easily know that the upload data is being transmitted by the proxy transmission terminal device 1.
  • FIG. 9 shows the format of the proxy upload request.
  • the proxy upload request is a request in which the terminal device 1 that has received the upload request for the surrounding environment data from the server device 2 requests the other terminal device 1 to perform a proxy upload by inter-vehicle communication.
  • the proxy upload request is transmitted from the proxy request terminal device 1 to the proxy transmission terminal device 1.
  • the proxy upload request includes a “basic information part” and a “specific information part”.
  • the basic information part is a part including basic information necessary for a request from one terminal device 1 to another terminal device 1 by inter-vehicle communication, and includes “header” and “vehicle metadata”.
  • the “header” includes a version of a data format used in the inter-vehicle communication and a time stamp indicating the time when the request is transmitted.
  • “Vehicle metadata” is information relating to a vehicle on which the terminal device 1 is mounted, and includes a vehicle ID, a vehicle size, a type of sensor mounted on the vehicle, and the like.
  • the special information part of the proxy upload request includes “proxy upload flag”, “proxy reason”, “sensor type”, “peripheral environment position”, and “peripheral environment type”.
  • the “proxy upload flag” is information indicating whether or not the terminal device 1 that has received the upload request for the surrounding environment data from the server device 2 requests another terminal device 1 to perform proxy upload.
  • the proxy upload flag is set to “1” when requesting proxy upload to another terminal device 1, and is set to “0” when proxy upload is not requested. That is, in the proxy upload request transmitted from the proxy request terminal device 1 to the proxy transmission terminal device 1, the proxy upload flag is set to “1”.
  • “Reason Reason” is information indicating the reason for requesting proxy upload. For example, when the sensor is out of order, the proxy upload flag is set to “1”. When the vehicle does not have a sensor necessary for generating the ambient environment data requested from the server device 2, the proxy upload flag is set to “2”. When a data acquisition error by the sensor occurs and the surrounding environment data cannot be generated, the proxy upload flag is set to “3”.
  • the “sensor type” is information for specifying a sensor necessary for measuring the requested ambient environment data, and is, for example, a lidar, an ultrasonic sensor, a radar, or the like.
  • “Ambient environment position” is information indicating the position of the surrounding environment data requested by the server apparatus 2 to the proxy requesting terminal apparatus 1 and includes the position of the surrounding environment or the ID of the surrounding environment.
  • the “peripheral environment type” is information indicating the type of peripheral environment data requested by the server device 2 to the proxy request terminal device 1.
  • the proxy request terminal device 1 includes the “sensor type,“ peripheral environment position ”, and“ peripheral environment type ”in the proxy upload request and transmits them to the proxy transmission terminal device 1, thereby determining the surrounding environment to be measured.
  • the position and type, and the sensor type to be used are transmitted to the proxy transmission terminal device 1. If the surrounding environment data upload request received from the server device 2 specifies the surrounding environment to be measured by the measurement start position and the measurement end position as in the representative upload request shown in FIG. May include a measurement start position and a measurement end position instead of the surrounding environment position.
  • the proxy upload request process is a process in which the terminal device 1 transmits the proxy upload request shown in FIG. 9 to the other terminal device 1.
  • FIG. 10 is a flowchart of proxy upload request processing. This process is performed by the control unit 14 of the terminal device 1 executing a program prepared in advance.
  • the terminal device 1 determines whether or not a request for uploading ambient environment data has been received from the server device 1 (step S30). If not received (step S30: No), the process ends. On the other hand, when the surrounding environment data upload request is received (step S30: Yes), the terminal device 1 determines whether or not the requested surrounding environment can be measured based on the sensor status of its own vehicle ( Step S31). Specifically, the terminal device 1 determines whether or not it has a sensor necessary for generating the requested ambient environment data, and whether or not it currently operates normally.
  • step S31: Yes the terminal device 1 does not need to request proxy upload to another terminal device 1, and thus the proxy upload request process ends.
  • the terminal device 1 itself measures the surrounding environment, generates the surrounding environment data, and uploads it to the server device 2.
  • the terminal device 1 when measurement of the requested surrounding environment is not possible (step S31: No), the terminal device 1 generates a proxy upload request according to the format shown in FIG. 9 as the proxy request terminal device 1 (step S32). Specifically, the proxy request terminal device 1 sets the proxy upload flag to “1”, sets the reason why the peripheral environment cannot be generated as the proxy reason, and based on the peripheral environment data upload request from the server device 2. A proxy upload request is generated by setting a sensor type, a surrounding environment position, and a surrounding environment type. Then, the proxy request terminal device 1 transmits the generated proxy upload request to another terminal device 1 (step S33). Thus, the proxy upload request process ends.
  • the terminal device 1 that has received the proxy upload request from the proxy request terminal device 1 transmits the surrounding environment data to the server device 2 instead of the proxy request terminal device 1 as the proxy transmission terminal device 1.
  • the upload data transmitted from the proxy transmission terminal device 1 to the server device 2 in this way is referred to as proxy upload data.
  • Fig. 11 shows the format of proxy upload data.
  • the proxy upload data includes a “basic information part” and a “specific information part”.
  • the basic information part is a part including basic information necessary for upload data from the terminal device 1 to the server device 2 and includes “header”, “vehicle metadata”, and “vehicle position”. Since these data are the same as the representative upload data shown in FIG. 7, description thereof is omitted here.
  • the special information section of proxy upload data includes “proxy upload flag”, “proxy reason”, “proxy request vehicle”, “peripheral environment position”, “peripheral environment type”, and “peripheral environment data”.
  • the “proxy upload flag” is a flag indicating whether or not the upload data is transmitted on behalf of another terminal device 1, that is, whether or not proxy upload is being performed.
  • the proxy upload flag is set to “1” when proxy upload is performed, and is set to “0” when proxy upload is not performed.
  • the “proxy reason” is a reason why the proxy request terminal apparatus 1 requests proxy upload, and the proxy reason included in the proxy upload request received from the proxy request terminal apparatus 1 is included as it is.
  • the “proxy request vehicle” is information for identifying the vehicle on which the proxy request terminal device 1 is mounted, for example, the vehicle ID of the vehicle on which the proxy request terminal device 1 is mounted. This is included in the proxy upload data in order to inform the server device 2 of the proxy request vehicle.
  • the identification data of the proxy request terminal device 1 (for example, the ID of the terminal device 1) may be used.
  • the “peripheral environment position” and “peripheral environment type” are the position and type of the peripheral environment measured by the proxy transmission terminal device 1 and are basically the same as those included in the proxy upload request received from the proxy request terminal device 1. It is.
  • the “ambient environment data” is the ambient environment data itself acquired by measurement.
  • the proxy upload process is a process in which the proxy transmission terminal device 1 transmits the proxy upload data illustrated in FIG. 11 to the server device 2.
  • FIG. 12 is a flowchart of proxy upload processing. This process is performed by the control unit 14 of the terminal device 1 executing a program prepared in advance.
  • the terminal device 1 determines whether or not a proxy upload request has been received from the terminal device 1 of another vehicle (step S40). If the proxy upload request has not been received (step S40: No), the process ends. On the other hand, when the proxy upload request is received (step S40: Yes), the terminal device 1 becomes the proxy transmission terminal device 1, detects the vehicle position, and measures the surrounding environment using a sensor or the like (step S41). At this time, the proxy transmission terminal device 1 identifies the peripheral environment to be measured based on the peripheral environment position and the peripheral environment type included in the proxy upload request, and uses the sensor indicated by the sensor type included in the proxy upload request. Measure. Thereby, the vehicle position, the surrounding environment position, the surrounding environment type, the surrounding environment data, and the like that are included in the proxy upload data are generated.
  • the proxy transmission terminal device 1 sets the representative upload flag to “1”, and sets the vehicle ID on which the proxy request terminal device 1 is mounted to the proxy request vehicle. Then, the proxy transmission terminal 1 generates proxy upload data including those data and each data generated in step S41 (step S42), and transmits it to the server device 2. Thus, the proxy upload process ends.
  • the terminal device 1 that cannot generate the ambient environment data requested from the server device 2 due to a sensor failure or the like performs proxy upload to other terminal devices 1. Can be requested. Further, the proxy transmission terminal device 1 requested to perform proxy upload can generate necessary peripheral environment data instead of the proxy request terminal device 1 and upload it to the server device 2. Therefore, even when there is a terminal device 1 in a state such as a sensor failure, the server device 2 can collect necessary surrounding environment data.
  • the sensor used for measuring the surrounding environment is designated.
  • a sensor used for measurement may be specified. For example, there is a case where data measured by a lidar is necessary for a certain feature, and data measured by an ultrasonic sensor is necessary for another feature. Further, there are cases where map data is stored for each sensor in the distribution map DB 5 of the server device 2 and the server device 2 wants to collect data measured by a specific sensor for a certain feature. is there. Therefore, in the third embodiment, a sensor to be used for measurement is designated in an upload request transmitted from the server device 2 to the terminal device 1.
  • the upload request designating the sensor in this way is hereinafter referred to as “sensor designated upload request”.
  • FIG. 13 shows the data format of the sensor-specified upload request.
  • the sensor designated upload request is a request for uploading the ambient environment data measured using the designated sensor to the server device 2 and is transmitted from the server device 2 to the terminal devices 1 of a plurality of vehicles.
  • the sensor designation upload request includes a “basic information part” and a “specific information part”.
  • the basic information part is a part including basic information necessary for a request from the server device 2 to the terminal device 1, and includes “header”, “target vehicle information”, and “target area information”. These pieces of information are the same as the representative upload request shown in FIG.
  • the unique information part of the sensor designation upload request includes “peripheral environment position”, “measurement start position”, “measurement end position”, “upload time interval”, “peripheral environment type”, and “sensor designation”.
  • peripheral environment position “measurement start position”, “measurement end position”, “upload time interval”, and “peripheral environment type” are the same as those in the representative upload request shown in FIG. .
  • “Sensor designation” is information for designating the type of sensor used for measurement of the surrounding environment, and there are cases where one sensor is designated and plural sensors are designated.
  • FIG. 13 shows an example when a plurality of sensors are designated.
  • “sensor designation” does not include information indicating priority, and one sensor to be used for measurement is designated. For example, when only the data measured by the lidar is necessary, the server apparatus 2 sets the lidar to “sensor designation”.
  • priority is designated together. That is, the sensor designated as “sensor designation (first priority)” has the first priority, and the sensor designated as “sensor designation (second priority)” has the second priority.
  • the server device 2 sets “sensor designation (first priority)”. A lidar is set, and an ultrasonic sensor is set to “sensor designation (second priority)”.
  • the priority need not be set.
  • the sensor designation upload request process is a process in which the server apparatus 2 transmits a sensor designation upload request shown in FIG. 13 to a plurality of terminal apparatuses 1.
  • FIG. 14 is a flowchart of the sensor designation upload request process. This process is performed by the control unit 23 of the server device 2 executing a program prepared in advance.
  • the server device 2 determines the surrounding environment to be measured (step S50). That is, the server device 2 determines peripheral environment data to be collected using the terminal device 1 among various information managed on the server device 2 side. Next, the server device 2 determines a sensor to be used in the measurement of the surrounding environment (step S51). Then, the server device 2 sets a peripheral environment position, a measurement start position, a measurement end position, an upload time interval, a peripheral environment type, and the like based on the peripheral environment determined in step S50. The “sensor designation” is set, and a sensor designation upload request as shown in FIG. 13 is generated (step S52). And the server apparatus 2 transmits the produced
  • the terminal device 1 that has received the sensor designation upload request measures the surrounding environment using the designated sensor, generates surrounding environment data, and uploads it to the server device 2.
  • the terminal device 1 of the vehicle that does not have the designated sensor does not upload the surrounding environment data.
  • the server device 2 efficiently collects only necessary data by designating the sensor used for measurement in the surrounding environment data upload request to the terminal device 1. be able to.
  • the position and direction for measuring the surrounding environment are designated.
  • the server device 2 collects ambient environment data using the terminal device 1, data measured at a specific position or orientation (direction) may be necessary. Therefore, in the fourth embodiment, the position and orientation for measuring the surrounding environment are specified in the upload request transmitted from the server device 2 to the terminal device 1.
  • the upload request specifying the position and orientation for measuring the surrounding environment in this way is hereinafter referred to as “position / orientation upload request”.
  • FIG. 15 shows a format of a position / orientation upload request.
  • the position / orientation designation upload request is a request for uploading the ambient environment data measured at the designated position or orientation to the server device 2 and is transmitted from the server device 2 to the terminal devices 1 of a plurality of vehicles.
  • the position / orientation designation upload request includes a “basic information part” and a “specific information part”.
  • the basic information part is a part including basic information necessary for a request from the server device 2 to the terminal device 1, and includes “header”, “target vehicle information”, and “target area information”. These pieces of information are the same as the representative upload request shown in FIG.
  • the specific information part of the upload request specifying the position / orientation includes “peripheral environment position”, “measurement start position”, “measurement end position”, “measurement position”, “measurement direction”, “upload time interval”, “peripheral environment type” "including.
  • peripheral environment position”, “measurement start position”, “measurement end position”, “upload time interval”, and “peripheral environment type” are the same as those in the representative upload request shown in FIG. .
  • Measurement position is information indicating a position where the surrounding environment is measured, that is, a position of a sensor mounted on the vehicle when the surrounding environment is measured. Actually, the position of the vehicle may be used instead of the position of the sensor.
  • the measurement position can be specified by XY coordinates, for example. When the road on which the vehicle travels has a plurality of lanes, the measurement position may be designated by a lane such as “travel lane”, “passing lane”, “second lane from the left”, and the like.
  • Measurement direction is information for designating the direction (direction) in which the surrounding environment should be measured. For example, when it is desired to measure the surrounding environment at a specific angle (orientation) from a certain measurement position, the angle or angle range is designated as the measurement direction. Further, when it is desired to designate either an up lane or a down lane at a measurement position on the road, the measurement direction may be designated by a lane such as “up lane” or “down lane”. Furthermore, the direction of measurement on the road may be specified using east, west, south, and north, such as “westbound” or “eastbound”, and the direction of measurement on the ring road may be “inward”, “outward” May be specified.
  • the position / orientation designation upload request process is a process in which the server apparatus 2 transmits a position / orientation designation upload request shown in FIG. 15 to a plurality of terminal apparatuses 1.
  • FIG. 16 is a flowchart of position / orientation designation upload request processing. This process is performed by the control unit 23 of the server device 2 executing a program prepared in advance.
  • the server device 2 determines the surrounding environment to be measured (step S60). That is, the server device 2 determines peripheral environment data to be collected using the terminal device 1 among various information managed on the server device 2 side. Next, the server device 2 determines at least one of the position and orientation of the surrounding environment to be measured (step S61). Then, the server device 2 sets a surrounding environment position, a measurement start position, a measurement end position, an upload time interval, a surrounding environment type, and the like based on the surrounding environment determined in step S60. Further, the server apparatus 2 sets the position determined in step S61 to “measurement position”, sets the direction to “measurement direction”, and generates a position / orientation designation upload request as shown in FIG. S62). Then, the server device 2 transmits the generated position / orientation designation upload request to the terminal device 1 (step S63). Thus, the position / orientation upload request process ends.
  • the terminal device 1 that has received the position / orientation designation upload request measures the surrounding environment in accordance with the designation of the measurement position and / or measurement direction, generates surrounding environment data, and uploads it to the server device 2. Note that the terminal device 1 that cannot measure the surrounding environment according to the designation of the measurement position and the measurement direction does not upload the surrounding environment data.
  • the server device 2 specifies only the necessary data by specifying the position and / or orientation for measuring the surrounding environment in the upload request for the surrounding environment data to the terminal device 1. It can be collected efficiently.
  • the server device 2 when the server device 2 requests the terminal device 1 to upload the surrounding environment data, the reliability of the data obtained by measuring the surrounding environment is designated.
  • the server device 2 uses the terminal device 1 to collect the surrounding environment data, if data with low reliability is uploaded from many terminal devices 1, the processing load on the server device 2 increases, and the server device There is also a possibility that the accuracy of the data managed by 2 is lowered. Therefore, in the fifth embodiment, in the upload request transmitted from the server device 2 to the terminal device 1, the required reliability of data obtained by measuring the surrounding environment is specified.
  • the upload request designating the reliability in this way is hereinafter referred to as “reliability designated upload request”.
  • FIG. 17 shows the format of the reliability specification upload request.
  • the reliability specification upload request is a request for uploading to the server device 2 only the surrounding environment data having the reliability higher than the specified request reliability, and is transmitted from the server device 2 to the terminal devices 1 of a plurality of vehicles. Is done.
  • the reliability designation upload request includes a “basic information part” and a “specific information part”.
  • the basic information part is a part including basic information necessary for a request from the server device 2 to the terminal device 1, and includes “header”, “target vehicle information”, and “target area information”. These pieces of information are the same as the representative upload request shown in FIG.
  • the unique information part of the upload request with reliability specification first includes “peripheral environment position”, “measurement start position”, “measurement end position”, “upload time interval”, and “peripheral environment type”.
  • these pieces of information are the same as the representative upload request shown in FIG.
  • the reliability-specified upload request includes “required reliability”, “required reliability by sensor”, and “required reliability by feature”. It is sufficient that at least one of “required reliability”, “required reliability by sensor”, and “required reliability by feature” is included.
  • the “required reliability” is a lower limit value of the reliability requested by the server device 2 and is represented by, for example, a percentage (%).
  • this required reliability does not ask
  • the required reliability for each sensor is set when the required reliability differs for each sensor.
  • the “required reliability by sensor (sensor 1)” is set to the lower limit value of the reliability when measured by a lidar
  • the “required reliability by sensor (sensor 2)” is measured by an ultrasonic sensor.
  • the lower limit value of the reliability can be set.
  • “Required reliability for each feature” is set when the required reliability differs for each feature.
  • the “required reliability by feature (feature A)” is set to the lower limit value of the reliability when measuring the feature A
  • the “required reliability by feature (feature B)” is The lower limit value of the reliability when measuring the object B can be set.
  • the terminal device 1 calculates the reliability based on the accuracy of each sensor at the time of measuring the surrounding environment, the appropriateness of each sensor with respect to the surrounding environment to be measured, the surrounding noise environment, and the like. For example, when using a lidar as a sensor, the terminal device 1 can calculate the reliability based on the estimation accuracy of the self-position, whether or not occlusion has occurred, and the like.
  • the reliability designation upload request process is a process in which the server apparatus 2 transmits a reliability designation upload request shown in FIG. 17 to a plurality of terminal apparatuses 1.
  • FIG. 18 is a flowchart of the reliability designation upload request process. This process is performed by the control unit 23 of the server device 2 executing a program prepared in advance.
  • the server device 2 determines the surrounding environment to be measured (step S70). That is, the server device 2 determines peripheral environment data to be collected using the terminal device 1 among various information managed on the server device 2 side. Next, the server device 2 determines the required reliability for the surrounding environment to be measured, that is, the lower limit value of the reliability (step S71). At this time, as described above, when the required reliability is different for each sensor or for each feature, the server device 2 determines the required reliability for each sensor or for each feature.
  • the server device 2 sets a surrounding environment position, a measurement start position, a measurement end position, an upload time interval, a surrounding environment type, and the like based on the surrounding environment determined in step S70. Further, the server device 2 sets the request reliability determined in step S71 to “request reliability”, “sensor-specific request reliability”, or “feature-specific request reliability”, as shown in FIG. A reliable upload specification request is generated (step S72). Then, the server device 2 transmits the generated reliability designation upload request to the terminal device 1 (step S73). In this way, the reliability designation upload request process ends.
  • the terminal device 1 that has received the reliability specification upload request measures the surrounding environment, generates the surrounding environment data, and uploads it to the server device 2 when the generated surrounding environment data is equal to or higher than the required reliability. .
  • the terminal device 1 that has not been able to generate the surrounding environment data that satisfies the required reliability does not upload the surrounding environment data.
  • the server device 2 efficiently collects only the data having the required reliability by specifying the required reliability in the upload request of the surrounding environment data to the terminal device 1.
  • the accuracy of the data managed by the server device can be maintained.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)

Abstract

Selon la présente invention, des données de transmission sont transmises à un dispositif de traitement d'informations à partir d'un dispositif terminal qui génère des données d'environnement concernant des environnements qui ont été détectés par un dispositif de détection installé dans un corps mobile. La structure de données des données de transmission comprend les données d'environnement et des données de transmission par mandataire qui indiquent si les données d'environnement sont en cours de transmission au nom d'un autre dispositif terminal qui peut détecter l'environnement. Ladite structure de données permet au dispositif de traitement d'informations de reconnaître l'existence de données de transmission transmises par mandataire.
PCT/JP2019/011140 2018-03-22 2019-03-18 Structure de données, dispositif terminal, procédé de communication de données, programme et support d'informations WO2019181839A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-054467 2018-03-22
JP2018054467 2018-03-22

Publications (1)

Publication Number Publication Date
WO2019181839A1 true WO2019181839A1 (fr) 2019-09-26

Family

ID=67986478

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/011140 WO2019181839A1 (fr) 2018-03-22 2019-03-18 Structure de données, dispositif terminal, procédé de communication de données, programme et support d'informations

Country Status (1)

Country Link
WO (1) WO2019181839A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210072031A1 (en) * 2018-04-03 2021-03-11 Mobileye Vision Technologies Ltd. Active image sensing for a navgational system
WO2022180669A1 (fr) * 2021-02-24 2022-09-01 パイオニア株式会社 Dispositif de traitement d'informations, procédé de commande, programme et support d'enregistrement

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008027011A (ja) * 2006-07-19 2008-02-07 Nec Corp プローブ情報収集システムおよびその収集装置ならびに収集方法およびプログラム
JP2010015488A (ja) * 2008-07-07 2010-01-21 Denso Corp プローブ情報送信システム及びプローブ情報送信機
JP2012089088A (ja) * 2010-10-22 2012-05-10 Toyota Motor Corp プローブ情報システム及びプローブ情報処理方法
WO2017212639A1 (fr) * 2016-06-10 2017-12-14 パイオニア株式会社 Dispositif de traitement d'informations, dispositif de mesure, et procédé de commande

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008027011A (ja) * 2006-07-19 2008-02-07 Nec Corp プローブ情報収集システムおよびその収集装置ならびに収集方法およびプログラム
JP2010015488A (ja) * 2008-07-07 2010-01-21 Denso Corp プローブ情報送信システム及びプローブ情報送信機
JP2012089088A (ja) * 2010-10-22 2012-05-10 Toyota Motor Corp プローブ情報システム及びプローブ情報処理方法
WO2017212639A1 (fr) * 2016-06-10 2017-12-14 パイオニア株式会社 Dispositif de traitement d'informations, dispositif de mesure, et procédé de commande

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210072031A1 (en) * 2018-04-03 2021-03-11 Mobileye Vision Technologies Ltd. Active image sensing for a navgational system
WO2022180669A1 (fr) * 2021-02-24 2022-09-01 パイオニア株式会社 Dispositif de traitement d'informations, procédé de commande, programme et support d'enregistrement

Similar Documents

Publication Publication Date Title
JP2019168271A (ja) データ構造、情報処理装置、データ通信方法、プログラム及び記憶媒体
KR101703144B1 (ko) 차량의 자율주행 장치 및 그 방법
WO2016151750A1 (fr) Dispositif de mémorisation d'informations de carte, dispositif de commande de conduite automatique, procédé de commande, programme et support d'informations
WO2018225596A1 (fr) Dispositif de traitement d'informations
US10747221B2 (en) Moving body, moving body control system, and moving body control method
KR20160015987A (ko) 실내 인프라 지도 및 센서를 이용한 위치 인식 기반 원격 자율주행 시스템 및 그 방법
JP2019185293A (ja) 車両遠隔制御方法及び車両遠隔制御装置
WO2020090306A1 (fr) Dispositif de traitement d'informations, procédé de traitement d'informations et programme de traitement d'informations
JP2023029477A (ja) 運転支援装置
WO2019181839A1 (fr) Structure de données, dispositif terminal, procédé de communication de données, programme et support d'informations
US20220221298A1 (en) Vehicle control system and vehicle control method
JP2022173318A (ja) 地図データ構造、情報処理装置及び地図データ生成装置
JP7471364B2 (ja) 情報処理装置、データ通信方法、プログラム及び記憶媒体
JP2019168993A (ja) データ構造、情報処理装置、制御方法、プログラム及び記憶媒体
JP2023001276A (ja) データ構造、端末装置、データ通信方法、プログラム及び記憶媒体
JP2023076483A (ja) 情報送信装置、制御方法、プログラム及び記憶媒体
JP2019168798A (ja) データ構造、端末装置、データ通信方法、プログラム及び記憶媒体
JP2019168263A (ja) データ構造、情報処理装置、データ通信方法、プログラム及び記憶媒体
KR20130041698A (ko) 무인 차량의 주행 정보 생성 장치, 이를 구비하는 무인 차량 및 그것의 제어 방법
WO2019181844A1 (fr) Structure de données, dispositif de traitement d'informations, procédé de communication de données, programme, et support d'informations
JP2019168268A (ja) データ構造、情報処理装置、データ通信方法、プログラム及び記憶媒体
JP2019168266A (ja) データ構造、端末装置、データ通信方法、プログラム及び記憶媒体
JP2019168985A (ja) 制御装置、制御方法、プログラム及び記憶媒体
WO2019181843A1 (fr) Structure de données, dispositif de traitement d'informations, procédé de communication de données, programme et support d'informations
JP2019174117A (ja) データ構造、情報送信装置、制御方法、プログラム及び記憶媒体

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19771073

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19771073

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP