WO2020027142A1 - Système de traitement d'informations d'espace de mouvement, procédé de traitement d'informations d'espace de mouvement et dispositif de communication - Google Patents

Système de traitement d'informations d'espace de mouvement, procédé de traitement d'informations d'espace de mouvement et dispositif de communication Download PDF

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Publication number
WO2020027142A1
WO2020027142A1 PCT/JP2019/029859 JP2019029859W WO2020027142A1 WO 2020027142 A1 WO2020027142 A1 WO 2020027142A1 JP 2019029859 W JP2019029859 W JP 2019029859W WO 2020027142 A1 WO2020027142 A1 WO 2020027142A1
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WIPO (PCT)
Prior art keywords
moving
information
representative
space
vehicle
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PCT/JP2019/029859
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English (en)
Japanese (ja)
Inventor
警宇 項
雅尊 平井
智仁 寺澤
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株式会社デンソー
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Priority claimed from JP2019138607A external-priority patent/JP7157018B2/ja
Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Publication of WO2020027142A1 publication Critical patent/WO2020027142A1/fr
Priority to US17/165,323 priority Critical patent/US11893897B2/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/22—Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W8/00—Network data management
    • H04W8/22—Processing or transfer of terminal data, e.g. status or physical capabilities

Definitions

  • the present disclosure relates to a mobile space information processing system, a mobile space information processing method, and a communication device.
  • Japanese Patent Application Laid-Open No. 2012-133726 discloses a technique for suppressing an increase in the processing load for transmitting to an information center due to frequent changes in the vehicles to be collected. Specifically, in Patent Literature 2, after a vehicle in which the traveling direction is the same as that of the own vehicle and the traveling speed is the same as that of the own vehicle is set as one vehicle group, information of the vehicles constituting the vehicle group is described. There is disclosed a technique in which the collected information is collected in one vehicle and the collected information is transmitted to an information center.
  • communication is limited to one vehicle, so that it is possible to reduce the amount of communication, but it is not possible to flexibly respond to requests to obtain information from other vehicles by communication.
  • the vehicle may frequently enter and exit the vehicle group, and the processing load may be reduced. In some cases, it could not be sufficiently suppressed.
  • the present disclosure includes the following moving space information processing system.
  • a mobile space information processing system includes a moving body that moves in a space, and an information processing device that exchanges information with the moving body to maintain spatial information that is information on the space.
  • the mobile unit is a first communication unit that exchanges, by communication, mobile unit side information including at least information on the position of the mobile unit in the space with the information processing device, and the mobile unit is moving.
  • An image acquisition unit for acquiring an image of a space, and when instructed by the information processing apparatus as a representative moving object, extracts probe information on the space from the acquired image, and the moving object side information including the probe information,
  • a control unit that transmits the information to the information processing apparatus.
  • the information processing apparatus may further include: a second communication unit configured to communicate with the moving body; and acquiring the moving body side information using the communication, and acquiring the space information according to the position information included in the moving body side information.
  • a moving body grasping unit that grasps a moving body moving in a predetermined moving range, and at least one moving body is specified as a representative moving body from the moving bodies moving in the moving range.
  • a specifying unit that instructs the specified moving object as a representative moving object, and a maintenance unit that receives the probe information from the representative moving object, and uses the probe information to maintain the space information. Is provided.
  • the space information is information on a space in which the moving body moves, and is information that regulates the movement of the moving body and guides the movement.
  • the moving object is a vehicle such as a motorcycle
  • map information including a road surface state on which the vehicle travels corresponds.
  • the moving object is a flying object such as a drone
  • the information is information for regulating or guiding the movement of the moving object in a three-dimensional space. Further, a ship or the like can be assumed as the moving body.
  • the moving body side information is a general term for information that the moving body sends to the information processing device.
  • the moving body side information includes at least information on the position of the moving body in space, and includes probe information in the case of the representative moving body.
  • the probe information is information obtained from an image, and is information on a space. If the moving object is a vehicle, the information includes stationary information on road lane markings and features. If the moving object is a ship, the information includes stationary information such as rocky reefs and waterfronts. If the moving object is a drone, the information includes stationary information such as steel towers, electric wires, and irregularities on land.
  • This moving space information processing system sets at least one moving body as a representative moving body among moving bodies moving in a predetermined moving range in the space, and sets probe information received from the representative moving body.
  • Develop spatial information such as maps using By setting the representative mobile unit, it is possible to adjust the communication amount from the mobile unit that communicates with the information processing apparatus, the progress of the maintenance of the spatial information using the probe information, and the like.
  • FIG. 1 is a schematic configuration diagram of a moving space information processing system
  • FIG. 2 is a flowchart illustrating a basic operation of the mobile space information processing system
  • FIG. 3 is an explanatory diagram showing an example of the vehicle information.
  • FIG. 4 is an explanatory diagram showing an example of a road section.
  • FIG. 5 is an explanatory diagram showing an example of vehicle information to be stored.
  • FIG. 6 is an explanatory diagram showing the accuracy of map maintenance as a lane marking maintenance rate and a feature maintenance rate.
  • FIG. 7 is a flowchart illustrating a vehicle-side information transmission processing routine executed on the vehicle side.
  • FIG. 8 is an explanatory diagram illustrating an example of an image acquired by the image acquisition unit.
  • FIG. 9 is an explanatory diagram illustrating an example of probe information extracted from an acquired image
  • FIG. 10 is an explanatory diagram showing an example of the information of the lane marking, which is one of the static information.
  • FIG. 11 is an explanatory diagram showing an example of information of a feature which is also one of the static information
  • FIG. 12 is a flowchart illustrating an information reception processing routine on the center side that receives vehicle-side information
  • FIG. 13 is an explanatory diagram showing an example of the withdrawal information.
  • FIG. 14 is a flowchart illustrating an example of an interrupt process on the center side that has received the leaving information.
  • FIG. 15 is a schematic diagram illustrating a configuration of a communication system according to the present embodiment.
  • FIG. 15 is a schematic diagram illustrating a configuration of a communication system according to the present embodiment.
  • FIG. 16 is a schematic diagram illustrating a configuration of a mobile body equipped with a communication device.
  • FIG. 17 is a diagram showing a flowchart of a joining process in the present embodiment
  • FIG. 18 is a diagram for explaining the step S130.
  • FIG. 19 is a diagram showing a flowchart of a communication process in the present embodiment
  • FIG. 20 is a diagram illustrating a method of setting a moving object group different from the above-described embodiment
  • FIG. 21 is a diagram showing a flowchart of a representative setting process different from the above embodiment
  • FIG. 22 is a diagram illustrating an example using a moving object different from the above-described embodiment.
  • A. First embodiment A-1.
  • System configuration As shown in the system configuration diagram of FIG. 1, the moving space information processing system 200 of the first embodiment obtains probe information from running vehicles 111, 112, 113, etc., which is a kind of a moving object, and the vehicle travels. This is a system that prepares spatial information, here a road map.
  • the moving space information processing system 200 includes a moving object control device 120 mounted on each vehicle, and an information processing device 150 that receives information from each vehicle and maintains a map.
  • the mobile control device 120 includes a first communication unit 121 that communicates with the information processing device 150 via an antenna 124, a GNSS processing unit 122 that processes signals from a plurality of navigation satellites, and a signal from the GNSS processing unit 122.
  • the vehicle position identification unit 123 that receives and identifies the vehicle position, an image acquisition unit 130 such as a video camera that captures at least the front SZ of the vehicle 112, and analyzes the images acquired by the image acquisition unit 130 to obtain probe information to be described later.
  • An image analysis unit 132 to be extracted, a control unit 140 that controls the entire mobile unit control device 120, and the like are provided.
  • Each of the vehicles 111, 112, 113, etc., is equipped with such a mobile body control device 120.
  • the control unit 140 acquires the vehicle position identified by the vehicle position identification unit 123 at predetermined intervals, and periodically transmits the acquired vehicle position to the information processing device 150 using the first communication unit 121. Further, when the control unit 140 receives the designation of the representative vehicle from the information processing device 150, the image analysis unit 132 analyzes the extracted image of the front SZ of the vehicle 112 and extracts the probe information at predetermined intervals. Send to 150. Also when transmitting the probe information, the own vehicle position specified by the own vehicle position specifying unit 123 is transmitted together. Even when the transmission is performed only for the own vehicle position or when the probe information is included, the first communication unit 121 is used. Is used. Of course, different communication units may be used for the two communications.
  • a 3G or 4G communication network may be used if the vehicle is located at its own location, and a 5G communication network may be used if probe information is included.
  • the information on the vehicle, which is the moving body, transmitted through the first communication unit 121 corresponds to the moving body side information. All the vehicles 111, 112, and 113 always transmit the moving body side information to the information processing device 150 at predetermined intervals, and usually include the information of the own vehicle position.
  • probe information which is information on a road on which the vehicle is traveling is included. The probe information will be described later in detail.
  • the information processing device 150 receives vehicle-side information corresponding to the moving-body-side information at a predetermined interval from a large number of vehicles 111, 112, 113, and the like. For this reason, in the following description, the information processing device 150 may be abbreviated to the center 150 of the moving space information processing system 200 when it is referred to in relation to the relationship with the vehicle. In the present embodiment, the mobile space information processing system 200 performs maintenance of a map using probe information from a large number of vehicles, and thus may be simply referred to as a map maintenance system 200.
  • the information processing device 150 includes a second communication unit 151 that communicates with each vehicle via the antenna 154, and a CPU 160 that performs various controls such as specifying the vehicle via the second communication unit 151.
  • An external storage device 172 for storing a certain map database (map DB) is provided.
  • a semiconductor memory is generally used.
  • the external storage devices 171 and 172 may be a semiconductor memory, a magnetic storage medium such as a hard disk, or a fusion drive combining the both.
  • the vehicle DB and the map DB may be stored on a so-called cloud side. In addition, these databases need not be stored collectively, and may be divided and stored as necessary from the viewpoint of capacity, security, and the like.
  • the CPU 160 implements various functions by executing the programs stored in the memory 170.
  • the vehicle traveling is grasped by aggregating the mobile body side information from the vehicles 111, 112, 113, etc., via the second communication unit 151, and this is recognized.
  • a moving body grasping unit 162 to be registered in the vehicle DB, a specifying unit 161 to specify a vehicle satisfying specific conditions from the vehicles registered in the vehicle DB, a maintenance unit 163 to maintain a map stored in the map DB, and the like. is there.
  • the image analysis unit 132 analyzes an image captured by the image acquisition unit 130 of a vehicle traveling on a road, and transmits this to the information processing device (center) 150 as probe information to prepare a map.
  • the map referred to here is not merely a map as a road map, but is a map including information such as the position and type of a lane, the position and type of a landmark such as a signal and a sign, and the content thereof. That is, such a map corresponds to spatial information in which information on a space in which the moving body moves is aggregated.
  • FIG. 2 shows a list of a plurality of processing routines in order to clearly show the operation of the map maintenance system 200.
  • a first communication processing routine executed by the mobile control device 120 at predetermined intervals and a second communication processing routine executed by the center 150 are described in parallel.
  • the representative vehicle specifying processing routine executed by the center 150 is shown on the right side of the vehicle DB.
  • the mobile control devices 120 of the vehicles 111, 112, 113, etc. repeatedly execute the first communication processing routine shown in FIG. 2 at predetermined intervals.
  • the control unit 140 of the mobile control device 120 acquires information on the current vehicle position from the vehicle position identification unit 123 and specifies the vehicle position (step T100).
  • control unit 140 prepares own vehicle information (step T110).
  • the own vehicle information is, as shown in FIG. 3, an own vehicle ID for distinguishing the own vehicle from other vehicles, a rank of image processing capability mounted on the vehicle, and a GNSS processing unit mounted on the vehicle.
  • the information may include information such as communication capability and the state of the vehicle (vehicle speed, steering angle, yaw rate, running distance, and the like).
  • Vehicle ID is a unique code given to a vehicle to distinguish the vehicle.
  • Each vehicle is provided with a first communication unit 121, and a unique MAC address (Media Access Control address) is assigned to each communication device. Therefore, this MAC address may be used as the own vehicle ID. .
  • MAC address Media Access Control address
  • a unique ID for each vehicle issued by a public agency or the like may be used similarly to the license plate.
  • the image processing capacity is shown in three stages: A: high, B: normal, and C: low.
  • the processing power may be ranked by a numerical value such as how many pixels or voxels can be processed in one second. In this case, it may be indicated as an absolute processing capability, or may be a relative ranking among vehicle groups of the same vehicle size.
  • the GNSS capability is illustrated in FIG. 3 assuming that the accuracy in specifying the vehicle position is L1: 10 cm, L2: 50 cm, and L3: 1 meter.
  • a predetermined ranking such as A, B, or C may be used.
  • the current road section included in the vehicle information is information indicating which of the road sections prepared in advance on the map is currently running.
  • the road on which the vehicle can travel is provided with a unique code indicating a road section for each predetermined range in advance. In FIG. 3, this is indicated as R11.
  • An example of a road section is shown in FIG. FIG. 4 shows that a three-lane road is divided into road sections 1, 2, and 3.
  • a link in a map for road search in which an intersection is a node and a link between nodes is a link may be one road section, but since information such as signs and signboards is also included in the map, A fine range may be divided and each may be a road section.
  • FIG. 4 shows that a three-lane road is divided into road sections 1, 2, and 3.
  • a link in a map for road search in which an intersection is a node and a link between nodes is a link may be one road section, but since information such as signs and signboards is also included in the map, A fine range may
  • one road section includes three lanes (first traveling lane, second traveling lane, and overtaking lane), and further includes a median strip and a road shoulder on the opposite side.
  • Each lane is separated by a dashed center line, and the median strip side and the road shoulder side of the lane are separated by a solid line.
  • the vehicle side and the center side have the same map, each vehicle determines its own current vehicle position by itself, and prepares it as one of the moving body side information. Since moving body side information from a large number of vehicles is constantly sent at predetermined intervals, the load on the center 150 handling this is not small. If the road section is specified on the vehicle side, the load on the center 150 can be reduced. Alternatively, the vehicle may send the absolute coordinates (latitude, longitude, altitude) of the vehicle specified by the GNSS to the center 150, and the center 150 may specify the road section. This can reduce the load on the vehicle. Further, the configuration of the road section can be freely changed on the center 150 side. Therefore, it is easy to cope with a case where a change in the road configuration occurs, such as a new road being opened or a road being closed.
  • step T110 When the preparation of the vehicle information described above with reference to FIG. 3 as an example (FIG. 2, step T110) is completed, the control unit 140 of the mobile unit control device 120 of the vehicle 112 transmits the vehicle information to the center 150 ( Step T120). After the above processing, the process exits to NEXT and ends this routine once.
  • the first communication processing routine is repeatedly executed at predetermined intervals in each vehicle.
  • the second communication processing routine is executed on the center 150 side in accordance with the first communication processing on the vehicle side.
  • the second communication processing routine uses a signal from the second communication unit 151 as an interrupt signal, and is started each time vehicle information is sent from each vehicle.
  • CPU 160 performs a process of receiving own vehicle information from the vehicle (step T220), and stores the received own vehicle information of each vehicle in the vehicle DB in external storage device 171 (step T230). ).
  • the CPU 160 exits to NEXT, temporarily completes the processing, and ends. Whenever the own vehicle information is transmitted from another vehicle, the CPU 160 executes the second communication processing.
  • the vehicle DB accumulates own vehicle information of each vehicle by the CPU 160 of the center 150 repeatedly executing the second communication processing routine.
  • This example is shown in FIG. In FIG. 5, the vehicle information sent from each vehicle is merely accumulated in chronological order, but in this case, an index is assigned to the vehicle ID, the current road section, and the like. Therefore, it is easy to search for a vehicle by vehicle ID or to search for a vehicle existing in a specified road section.
  • the vehicle DB may be stored in the form of being arranged for each road section from the beginning.
  • the vehicle ID already exists in the vehicle DB the current road section of the vehicle is updated. Since the image processing capability and the GNSS accuracy are usually determined for each vehicle, once registered, the own vehicle information need not be received or updated again. Of course, if the GNSS accuracy or the like changes depending on the reception state of the radio wave from the communication satellite or the like, it may be updated every time. When such a road section or the like is updated, the time of the update is recorded in the vehicle DB, and when the update is not performed for a certain period of time or more, the vehicle stops running (when the ignition switch is turned off). ), And may be deleted from the vehicle DB.
  • the center 150 executes the representative vehicle specifying process routine shown at the right end of FIG. This process is repeated at predetermined intervals for all road sections as shown in the drawing while the center 150 is powered on (steps T300s to T300e).
  • the CPU 160 first selects a road section (step T310).
  • the road sections may be selected in the order registered in advance, or may be selected in a random order or sequentially from roads with a low map maintenance ratio.
  • a road section is selected, a vehicle traveling on the road section is searched (step T320).
  • the vehicle search is completed in a short time by treating the vehicle DB (see FIG. 5) described above as a road section as an index.
  • an array of the found vehicles is created (step T330).
  • a representative vehicle setting process is performed next (step T340).
  • a flag Fp indicating that the vehicle is a representative vehicle is transmitted to the vehicle set as the representative vehicle.
  • the flag Fp is transmitted after being set to a value 1 indicating that the vehicle is a representative vehicle.
  • the maintenance status is an index indicating the accuracy of spatial information, that is, the accuracy of spatial information.
  • this is called a maintenance state, and a state in which all the information required for the map is complete is 100%, and a state in which all the information required is not complete is 0%.
  • FIG. 6 shows an example.
  • the map maintenance rate (accuracy) for each road section is represented by two, the lane mark maintenance rate and the feature maintenance rate. In FIG. 6, each maintenance rate is shown in increments of 25%, but may be set more finely.
  • the lane marking maintenance rate indicates how much information on lane markings existing in each road section has been adjusted.
  • the lane marking is a dashed line that separates a lane, a solid line that indicates the separation of a lane from a median strip or a road shoulder, and line data such as a road edge like a road shoulder or a median strip. is there.
  • the data of these lane markings is data that can be used for automatic driving and the like.
  • a feature means a thing existing on the ground, and in particular, a thing registered in advance to be posted on a map. Sometimes called a landmark.
  • signals, signs, signs, stop lines, and the like are registered as features. Data on these features can also be used in automatic driving and the like.
  • Section maintenance rate and feature maintenance rate are (A) If both are 100%, the representative vehicle is one of the traveling vehicles; (B) If both are less than 25%, the representative vehicle is all the traveling vehicles; At least one of the section maintenance rate and the feature maintenance rate is (C) In the case of 50% or more and less than 100%, the representative vehicle is 1/4 or 3 of the number of vehicles, whichever is greater; (D) In the case of 25% or more and less than 50%, the number of representative vehicles is ⁇ or 6 of the number of vehicles traveled, whichever is greater; Therefore, for example, if there are 10 vehicles traveling on a certain road section, Under the condition of (a), one unit Under the condition of (c), three units (2, 5 ⁇ 3) In the condition of (d), 6 units (5 ⁇ 6) Under the condition (b), 10 vehicles (all vehicles) Becomes
  • the number of vehicles set as the representative vehicle is set to increase gradually.
  • a representative vehicle is set from a plurality of vehicles traveling on the road section, a vehicle having a high image processing capability is selected.
  • a GNSS accuracy is high. Set them in order.
  • the vehicles with the vehicle IDs “C1” and “C3” are traveling on the road section R11. Since the image processing capabilities are both “A”, the vehicle with the vehicle ID “C1” is set as the representative vehicle based on the GNSS accuracy.
  • the flag Fp set to the value 1 is transmitted to the set vehicle.
  • the priority may be such that the GNSS accuracy is prioritized. Alternatively, the priority may be set according to another capability, for example, the communication capability.
  • the vehicle-side information transmission processing routine shown in FIG. 7 is repeatedly executed at predetermined intervals in each of the vehicles 111, 112, 113, and the like.
  • the control unit 140 of the vehicle-side mobile unit control device 120 determines whether or not the flag Fp stored therein has a value of 1 (step T400).
  • the flag Fp has a value of 0 by default, and when the center 150 sets a representative vehicle, the flag Fp on the vehicle side is set to a value of 1 by data transmitted from the center 150. If the value of the flag Fp is not 1, it is determined that the own vehicle is not the representative vehicle, and the process ends without performing any operation. In this case as well, as shown in FIG. 2, the vehicle transmits its own vehicle position and own vehicle information to the center 150 at predetermined intervals. Therefore, if a vehicle that has not been set as the representative vehicle is traveling due to a change in the road section on which the vehicle is traveling or the situation of another vehicle that is traveling, the representative vehicle is switched at a given timing. May occur.
  • step T400 determines the own vehicle position from the own vehicle position specifying unit 123. Obtain (step T410). It is determined whether or not the acquired vehicle position is within the road section designated by the center 150 (step T420). If the acquired vehicle position is within the designated road section, an image is captured using the image acquisition unit 130. It is determined whether or not it is possible (step T430). Typically, the representative vehicle analyzes an image captured using the image acquisition unit 130 and transmits the analyzed information to the center 150 as probe information. For example, when heavy rain falls, when snow falls, or when fog or gas is trapped.
  • the image acquisition unit 130 When the image acquisition unit 130 is out of order, there is a high possibility that significant data cannot be obtained from the images even when the vehicles 111, 112, 113, and the like image. Therefore, it is determined whether such a situation exists. Note that weather conditions such as rainfall / snowfall, fog / gas, etc. can be acquired by the vehicle via the center 150. Further, the failure of the image acquisition unit 130 may be acquired directly from the image acquisition unit 130, or may be acquired from a diagnostic ECU (not shown).
  • the processing exits to “NEXT”, and the processing routine is temporarily terminated.
  • a process of imaging the external SZ using the image acquisition unit 130 is performed (step T440).
  • the image acquisition unit 130 may be driven to acquire one still image, or a plurality of still images may be acquired. Alternatively, a moving image of several seconds may be obtained.
  • the image thus obtained is analyzed by the image analysis unit 132, and processing for acquiring probe information is performed (step T450).
  • This process is a process of extracting the information on the lane markings and the features from the obtained image.
  • the probe information includes static information described later.
  • dynamic information such as traffic congestion information may be included.
  • the “static information” means static information that does not fluctuate with time, season, and the like, such as a road surface and features around a road.
  • the dynamic information refers to information that dynamically changes depending on time of day, season, and the like, such as traffic congestion information, sunshine, rainfall, and snowfall. In the present embodiment, only static information is handled as probe information, but details of the processing will be described later.
  • a process of transmitting the static information to the center 150 together with the own vehicle position is performed (step T460).
  • the own vehicle position and the static information correspond to moving body side information (here, vehicle side information). Thereafter, the process exits to "NEXT" and temporarily ends the processing routine.
  • FIG. 9 is an explanatory diagram illustrating an image GP1 captured by a vehicle using the image acquisition unit 130.
  • the image GP1 is taken from a running vehicle, and includes a lane marking, a sign, and the like drawn on the road surface in addition to the two preceding vehicles.
  • the image analyzer 132 analyzes this image. Prior to analysis, various information is extracted from the image using binarization of the image, dynamic pattern matching, or the like.
  • information on a lane marking and a feature is handled as static information.
  • the lane marking corresponds to movement range restriction information indicating information relating to the movement range of the road surface on which the vehicle moves.
  • a line indicating a road edge such as a road shoulder indicates that the vehicle cannot move any further, but a solid line or a broken line between the lanes indicates whether the lane can be changed as a traveling rule.
  • the image GP1 includes an image D1 indicating a road shoulder, an image D2 of a solid line indicating a road edge drawn inside the road shoulder, an image D3 of a dashed line drawn between driving lanes, and a solid line indicating a road edge on the median strip side.
  • Image D4 an image D5 of a sign provided near a road shoulder, an image D6 of a signal, an image D7 of a signboard, and the like.
  • the image analysis unit 132 analyzes these images and extracts data as shown in FIG. 8 and 9, the same reference numerals D1 to D7 are used in FIGS. 8 and 9.
  • the image shown in FIG. 8 is analog data (but not binary-converted data) captured by the image acquisition unit 130 such as a camera. ),
  • the image shown in FIG. 9 is digital data that has been analyzed and extracted.
  • the point sequence is obtained by calculating the distance in the depth direction by analyzing the image and combining the three-dimensional data (x, y, z) with the information on the own vehicle position specified by the own vehicle position specifying unit 123.
  • the set is digital data.
  • the information on the depth direction can be easily calculated by regarding the road surface as a plane if the height of the ground and the depression angle of the image acquisition unit 130 are known.
  • the road surface may be three-dimensionally represented by using the data of the gradient originally possessed by the map, and the three-dimensional data of each point constituting the line segment may be obtained from the image.
  • the image analysis unit 132 simultaneously analyzes whether the line segment is a solid line or a broken line.
  • An example of this data is shown in FIG.
  • the four line segments D1 to D4 shown in FIG. 9 are shown as data 1 to data 4.
  • Each line segment is represented as DLi (a, x, y, z) 1-m.
  • i corresponds to the data number
  • a corresponds to the type of line segment.
  • botsdots is a small disk embedded at intervals on roads sometimes used in the United States and the like.
  • the types of line segments may be many more types, or may be a part of the above.
  • ⁇ Data suffix 1-m ⁇ indicates that there are m points from 1 to m that constitute the line segment. Therefore, for example, data 1 indicating the road shoulder is represented as DL1 (4, x, y, z) 1-m ⁇ . In this example, the data has a fixed length, and if there is no more data, NULL is inserted. However, each data may be configured as variable-length data. Alternatively, a line segment may be defined as vector data connecting a start point and an end point, instead of a set of dots. In this case, a solid line represents a set of a plurality of broken lines, and a broken line represents a set of a plurality of short straight lines.
  • a line segment is to be expressed to some extent accurately, it will be treated as a set of a plurality of data, but even if the line segment is approximated as a small number (one minimum) of straight lines Good.
  • a tag may be attached to distinguish it from a solid line.
  • approximation may be performed using a curve such as a Bezier curve or a spline curve.
  • the image captured by the image acquisition unit 130 includes a feature.
  • the image analysis unit 132 analyzes and extracts an object registered in advance from the image.
  • the features extracted in the embodiment there are a signboard, a signal, a sign, a pole, a stop line, a crosswalk, and the like. Needless to say, a larger number of features may be registered and extracted, or may be fewer.
  • the features related to the traffic of the vehicle or provided in the vicinity of the traffic route are given. However, structures such as bridges, tunnels, tollgates, service areas, lakes, rivers, and rivers are shown. , Hills, large trees, etc., and the shape and features of the ground surface may be included.
  • the three features (signs, signals, and signboards) D5, D6, and D7 shown in FIG. 9 are shown as data 5, 6, and 7 in FIG.
  • Each feature is represented as DCj (p, x, y, z) 1-n.
  • j corresponds to the data number
  • b corresponds to the type of feature.
  • ⁇ Data suffix 1-n ⁇ indicates that there are n pieces of data representing features, from 1 to n.
  • the data 5 indicating the sign is represented as DCJ (3, x, y, z) 1-n ⁇ .
  • the data format of the feature is determined in advance for each type of feature.
  • the absolute coordinates of the center point, the radius from the center, and the like are used.
  • the coordinates include the absolute coordinates of each point of a polygon representing the outer diameter, the number of signals and the direction of an arrow.
  • text data may be added to the data. As the text data, if a sign displays a number or a character, the sign is recognized.
  • the sign is a sign, a character or a sign of a character written on the sign is recognized.
  • image data may be directly included. In such a case, it is desirable to compress the image data using a compression technique such as JPEG in order to reduce the load of data transfer.
  • step T460 in FIG. 7 the static information including the data 1 to 7 shown in FIGS. 10 and 11 is transmitted as probe information to the center 150 together with the information on the own vehicle position.
  • FIG. 12 shows the processing of the center 150 that receives the vehicle-side information including the own vehicle position and the static information from the vehicle.
  • the center 150 receives the transmission of the vehicle-side information including the own vehicle position and the static information from the vehicle set as the representative vehicle (step T500). Subsequently, a road section in which the representative vehicle is traveling is specified from the own vehicle position of the representative vehicle (step T510). If a road section can be identified, a process of preparing a map of the section is performed (step T520). The maintenance of the map is performed by supplementing the missing data in the corresponding road section of the map DB stored in the external storage device 172.
  • Such map maintenance may be performed in real time each time vehicle-side information is received from the representative vehicle, or may be batch-processed later, for example, at night, when the traveling load of the vehicle decreases and the communication load decreases. It may be performed. Naturally, the device for communication with the representative vehicle and the storage of the vehicle side information and the device for maintaining the map DB may be separated, and the device for maintaining the map may be performed by another device.
  • the map is prepared, as shown in FIG. 6, the lane marking maintenance rate and the feature maintenance rate calculated for each road section constituting the map are updated.
  • the representative vehicle acquires and analyzes the image of the vehicle front SZ described above, transmits probe information including static information obtained by the analysis, and transmits vehicle-side information including the own vehicle position. Upon receiving the information, a map maintenance process is performed. While repeating such information collection and communication, the representative vehicle may depart from the designated road section. The processing in this case is shown in step T420 and subsequent steps in FIG.
  • the vehicle obtains its own vehicle position from the own vehicle position specifying unit 123 and determines that the traveling road section is not within the specified road section (step T420: “NO”), the vehicle sends the vehicle to the center 150. Is transmitted from the designated road section (step T480). An example of the leaving information to be transmitted is shown in FIG.
  • the departure information includes a vehicle ID indicating a vehicle departed from the designated road section, and a departure flag Fr set to a value of 1. Then, the flag Fp stored in the vehicle is reset to a value of 0 (step T490), the process exits to "NEXT", and the present processing routine is temporarily ended.
  • the center 150 receiving the transmission of the departure from the representative vehicle executes the departure interruption processing routine shown in FIG. 14 as the interruption processing.
  • the CPU 160 of the center 150 first receives the leaving information (step T600), identifies the leaving vehicle from the vehicle ID included in the leaving information, and travels on the road section including the vehicle.
  • the process of updating the representative vehicle is performed for one or more vehicles performing the process (step T610).
  • the update of the representative vehicle is performed by setting a new representative vehicle from the vehicles other than the departed vehicle (the vehicle having the vehicle ID of C1 in this example) from the arrangement of vehicles shown in FIG. As described above, all vehicles transmit their own vehicle positions to the center 150 at predetermined intervals (FIG.
  • Steps T100 to T120 the center 150 stores this information in the vehicle DB (FIG. 2).
  • Step T230 since an array of vehicles is created for each road section (FIG. 2: Step T330), a vehicle other than the departed vehicle is set as a new representative vehicle by referring to this array. It is easy.
  • the center 150 transmits the flag Fp set to the value 1 to the updated representative vehicle (step T620).
  • a new representative vehicle is set, and the transmission of the vehicle-side information (FIG. 7) and the map maintenance (FIG. 12) are continued.
  • the representative vehicle is selected from the vehicles traveling on the road section in the order of the vehicle having the higher image processing capability and the vehicle having the higher GNSS accuracy.
  • the representative vehicle may repeat leaving and updating for each road section.
  • a representative vehicle is set in advance for a continuous road section where traveling is assumed, and this continuous road section is set.
  • the center 150 obtains in advance a destination from the vehicle and a route to the destination, and based on the information, obtains information over a plurality of road sections. What is necessary is just to set so that it may become a representative vehicle.
  • the setting of the representative vehicle based on the destination and the like will be described in detail in a second embodiment.
  • the processing when the representative vehicle has left has been described.
  • updating of the representative vehicle is performed not only when the representative vehicle leaves but also when the configuration of the vehicle traveling on a certain road section changes. Do. For example, even when a new vehicle enters a certain road section, the representative vehicle may be updated. In particular, it is effective to update the representative vehicle when the newly added vehicle has high image processing capability and GNSS accuracy.
  • the setting of the representative vehicle may not be changed for a certain period.
  • the moving space information processing system (map maintenance system) 200 sets at least one of the vehicles running on the road as the representative vehicle, and sets the lane markings and terrestrial features obtained from the vehicle.
  • a map DB can be maintained using static information including data as probe information.
  • the number of vehicles that transmit probe information as representative vehicles is set based on the status of map maintenance for each road section on the map.
  • static information can be quickly collected and a map can be maintained.
  • map maintenance can be advanced in a short period of time without increasing communication volume.
  • the reason why at least one representative vehicle is set and the static information is transmitted even in a road section having a maintenance rate of 100% is to confirm a maintained road. Even in a road section once the map has been developed, road conditions may change due to construction or disasters.If such conditions change, the maintenance rate will be reduced, the number of representative vehicles will be increased, and the map will be renewed. Maintenance should be performed. In addition, when it is judged that the possibility of fluctuations or abnormalities in the road condition is higher than a predetermined threshold value by using road monitoring technology using reports from road users or drones other than maintenance rate Then, the number of representative vehicles may be increased and the map may be re-maintained.
  • the vehicles other than the representative vehicle since the vehicles other than the representative vehicle always transmit own vehicle information including the position of the own vehicle and the capability of the own vehicle to the center 150, the setting and updating of the representative vehicle can be easily performed. . Further, since each of the vehicles 111, 112, 113, etc. does not communicate with anything other than the center 150, the amount of communication does not increase and the destination of each vehicle is not notified to other vehicles.
  • the representative vehicle that is the representative moving body transmits the probe information to the center 150 in real time while traveling on the designated road section, but the vehicle side is provided with an external storage device such as a hard disk,
  • the probe information may be stored in association with a road section, and when the vehicle comes to a place where high-speed communication is possible such as a wireless LAN environment, the probe information may be transmitted collectively.
  • the moving space information processing system 200 may treat a ship or a drone as a moving object. There are no section lines on the road surface for ships, but there are waterway edges and other features. In a canal or the like, since a signal is also present, a system similar to the moving space information processing system 200 described above can be used.
  • the feature includes at least one of a signboard, a bridge, a lighthouse, a sign, and a rocky reef.
  • the movement range restriction information includes at least one of a coastline, a seawall, and a pier.
  • the present invention can be applied to a drone, a small airplane, and the like.
  • the feature includes at least one of a building, a steel tower, a telephone pole, an electric wire, a signboard, and a sign protruding from the ground into the air.
  • the movement range restriction information includes at least a guide light indicating a flight route.
  • the communication system 500 includes the communication device 100 and a base station BS.
  • the communication device 100 is mounted on the mobile MC.
  • a vehicle is used as the moving body MC.
  • the present invention is not limited to this, and the communication device 100 may be mounted on a moving body other than the vehicle, such as a ship or a drone.
  • the base station BS is a radio station that can communicate with the communication device 100.
  • the base station BS includes a server 135, and the server 135 collects and manages information communicated with the communication device 100.
  • the information managed by the server 135 is used for a telematics service for vehicles, a roadside-vehicle coordination service, and a car-vehicle coordination service.
  • the mobile unit MC includes a communication unit 100, a mobile unit control unit 110, a navigation device 22, and a GNSS sensor 24.
  • the mobile unit control unit 110 is a functional unit that controls the mobile unit MC, and is configured as a well-known computer including a CPU and a memory such as a ROM or a RAM. Since the navigation device 22 and the GNSS sensor 24 are electrically connected to the mobile unit control unit 110, the output results from these devices are notified.
  • the GNSS sensor 24 acquires the current position of the navigation device 22. Specifically, the GNSS sensor 24 measures the current position (longitude / latitude) of the moving object MC based on a navigation signal received from an artificial satellite constituting GNSS (Global Navigation / Satellite / System).
  • GNSS Global Navigation / Satellite / System
  • the navigation device 22 is a car navigation device that performs route search and route guidance.
  • the navigation device 22 of the present embodiment includes an interface (not shown) that receives an input from a user of the mobile object MC. After inputting the destination from this interface, the navigation device 22 determines a route to the destination using a map built in the navigation device 22, and then provides route guidance.
  • the navigation device 22 is connected to the GNSS sensor 24, and uses information on the current position obtained from the GNSS sensor 24 for route guidance.
  • the communication device 100 of the present embodiment is electrically connected to the mobile control unit 110 of the mobile MC, the communication device 100 can receive various information of the mobile MC from the mobile control unit 110. is there.
  • the connection between the communication device 100 and the mobile unit MC is not limited to this, and for example, a connection by wireless communication may be used.
  • the communication device 100 and the mobile unit MC are not connected, and the communication device 100 may include the navigation device 22 and the GNSS sensor 24 separately.
  • the communication device 100 is a device that can communicate with the base station BS and other communication devices.
  • the communication device 100 includes, as functional units, a self-information acquiring unit 11, an other-person information acquiring unit 12, a determining unit 13, a mobile unit group setting unit 14, a representative setting unit 16, and a transmitting unit 17.
  • the communication device 100 is configured as a well-known computer including a CPU and a memory such as a ROM or a RAM, and realizes functions of each unit by executing a predetermined program stored in the ROM.
  • the communication device 100 first performs a joining process in which a mobile MC on which the communication device 100 is mounted joins a mobile group.
  • the joining process is performed periodically (for example, every five minutes) when the mobile unit MC equipped with the communication device 100 has not joined the mobile unit group.
  • the communication device 100 acquires self information including information on a destination of the mounted mobile unit (step S110).
  • the function unit of the communication device 100 in step S110 is the self information acquisition unit 11.
  • the communication device 100 acquires the information of the destination and the unique information of the mobile MC.
  • the information on the destination is acquired from the navigation device 22 via the mobile control unit 110.
  • the unique information of the mobile unit MC is stored in the mobile unit control unit 110 in advance, and is acquired from the mobile unit control unit 110.
  • the communication device 100 acquires other person information including the destination of another moving object located in the vicinity (for example, within 100 m) (step S120).
  • the functional unit of the communication device 100 in step S120 is the third party information acquisition unit 12.
  • the communication device 100 uses the communication function built into the communication device 100 to acquire information on the destination of another mobile object and information unique to the other mobile object as the other party information. .
  • the communication device 100 makes a transmission request for other information to another communication device located in the vicinity, and in response to this request, the other communication device located in the vicinity By transmitting the other person information, the communication device 100 acquires the other person information.
  • the information on the destination is acquired from the navigation device via the moving body control unit of another person, as in the case of the self information.
  • the unique information of the moving object of the other person is stored in advance in the moving object control unit of the other person and acquired from the moving object control unit of the other person.
  • the communication device 100 determines whether or not there is another moving object that is a destination in the same direction as the destination of the own moving object MC using the self information and the other person information (step S130). ).
  • the function unit of the communication device 100 in step S130 is the determination unit 13.
  • the “destination in the same direction as the destination of the own mobile unit MC” refers to a destination included in the same prefecture as the prefecture including the destination of the own mobile unit MC.
  • FIG. 18 is a diagram for explaining the step S130.
  • FIG. 18 shows a plurality of moving objects and destinations for each of the moving objects.
  • the lowermost moving body on the paper is the own moving body MC
  • other moving bodies other than the own moving body are the moving bodies MC1 to MC6 in order from the bottom on the paper.
  • the prefecture in which the communication device 100 includes the destination of its own mobile unit MC is XX prefecture.
  • the moving objects whose destinations include the prefecture XX are the moving objects MC1 to MC3 and MC5 to MC6.
  • the prefecture including the destination is the ⁇ prefecture.
  • step S130 If it is determined that there is another moving object that is a destination in the same direction as the destination of the own moving object MC (step S130: YES), the communication device 100 determines the same direction as the destination of the own moving object MC. It is set so that the own mobile unit and the other mobile unit which is the destination of the above belong to the same mobile unit group (step S140), and the flow ends.
  • the functional unit of the communication device 100 in step S140 is the mobile unit group setting unit 14.
  • the own mobile unit MC is set so as to belong to the mobile unit group H.
  • the mobile units included in the mobile unit group have shared in advance the unique information of the mobile units included in the mobile unit group when joining the mobile unit group, Notifies the other mobile groups constituting the mobile group H of its own unique information, thereby belonging to the mobile group H.
  • other moving objects that are destinations in the same direction and in the same direction as the own moving object MC do not have to form a moving object group in advance. In other words, even when the moving object group does not exist around the moving object MC, another moving object that is the same destination and the same direction as the own moving object MC exists around the moving object MC. In this case, the moving object and the own moving object MC form a moving object group.
  • step S130 when it is determined that there is no other moving object that is a destination in the same direction as the destination of the own moving object MC (step S130: YES), the communication device 100 does not join the moving object group. , End the flow. This joining process is repeatedly performed at predetermined intervals (for example, one minute) until the own mobile unit joins a specific mobile unit group.
  • the communication device 100 After the mobile device MC of the communication device 100 performs the joining process, the communication device 100 performs a representative setting process of setting a representative mobile device from the mobile device group.
  • the functional unit of the communication device 100 in the representative setting process is the representative setting unit 16.
  • the communication device 100 sets a representative mobile unit that represents the mobile unit group from the mobile unit group including the mobile unit MC on which the communication device 100 is mounted.
  • the representative setting is performed by the communication device 100 newly joining the mobile unit group.
  • the present invention is not limited to this, and the representative setting may be performed by the mobile set as the representative mobile when the mobile MC equipped with the communication device 100 joins the mobile group.
  • the communication devices 100 mounted on both mobile units perform representative setting in parallel.
  • the communication device 100 sets a representative moving object according to the level of its ability to process self information and other person information. Specifically, the communication device 100 sets a mobile unit having the highest surplus processing capacity as a representative among the mobile units constituting the mobile unit group.
  • a moving body having a high surplus processing capacity is a moving body having the highest processing performance of the CPU constituting the moving body control unit 110 of the moving body, and the free space of the memory constituting the moving body control unit 110. Is the most common.
  • the processing performance of the CPU is a product of the operating frequency and the IPC (Instructions @ Per @ Clock @ cycle).
  • the present invention is not limited to this.
  • the communication device 100 may set, as a representative, a moving object having the longest distance from the current position to the destination among the moving objects constituting the moving object group.
  • the communication device 100 may set, as a representative mobile unit, a mobile unit that has finally joined the mobile unit group among mobile units included in the mobile unit group.
  • the method of setting the representative moving object can be simplified.
  • the current position to the destination are set. May be set as a representative.
  • the communication device 100 After the setting of the representative, the communication device 100 transmits the unique information of the representative moving object to other moving objects constituting the moving object group, and the representative setting process ends.
  • the communication device 100 After the representative is set, the communication device 100 performs a communication process.
  • the function unit of the communication device 100 in the communication processing is the transmission unit 17. Specifically, as shown in FIG. 19, first, the communication device 100 determines whether or not its own mobile unit MC is a representative (step S200). If the own mobile unit MC is determined to be the representative (step S200: YES), the communication apparatus 100 moves from another mobile unit constituting the mobile unit group to which the mobile unit MC belongs to to the base station. After collecting the body information (step S210), the collected information is transmitted to the base station (step S220), and the flow ends.
  • the moving object information includes unique information and destination information of each moving object constituting the moving object group.
  • step S200 if the own mobile unit MC is not set as the representative (step S200: NO), the communication device 100 transmits the self information to the mobile unit set as the representative (step S230), and the flow ends. .
  • the communication process is repeatedly performed at a predetermined interval (for example, 10 seconds).
  • the information transmitted to the base station BS in the communication processing is used for a telematics service for vehicles, a road-vehicle coordination service, and a car-vehicle coordination service.
  • the other mobiles whose destinations are destinations in the same direction and the own mobile MC are connected to the same mobile group H. can do.
  • the destinations of the moving objects constituting the moving object group H are closer to each other, the number of moving objects falling out of the moving object group H can be reduced.
  • the processing load for transmitting information to the BS can be reduced.
  • the representative setting unit 16 of the communication device 100 sets the mobile having the highest surplus processing capability among the mobiles constituting the mobile group as the representative mobile. By doing so, since the mobile having the highest surplus processing capacity transmits information to the base station, it is possible to smoothly transmit information to the base station.
  • the “destination in the same direction as the destination of the own mobile unit MC” refers to a destination included in the same prefecture as the destination including the destination of the own mobile unit MC.
  • the “destination in the same direction as the destination of the own mobile unit MC” is a predetermined range (for example, 10 minutes later), and a point to be reached after a predetermined time (for example, 1 km radius). It may be within. That is, the mobile unit group setting unit 14 uses the self information and the other person information to determine that the destination is in the same direction when the point to be reached is within the predetermined range after the predetermined time. You may decide. By doing so, it is possible to reduce the number of moving objects coming out of the moving object group until after a predetermined time.
  • the “destination in the same direction as the destination of the own mobile unit MC” may be the same route as the route to be passed to the destination of the own mobile unit MC.
  • the moving body group may be set to a moving body group H1 composed of moving bodies aiming at National Highway No. ⁇ and a moving body group H2 composed of moving bodies aiming at Prefectural Road No. ⁇ . Good.
  • the “destination in the same direction as the destination of the own mobile unit MC” is, for example, a direction from the current position to the destination of another mobile unit in a direction from the current position to the destination of the own mobile unit MC. Alternatively, it may be within ⁇ 10 °. By doing so, even when the destination of the own mobile unit and the destination of another mobile unit are far from each other, it is possible to make the mobile units having the same route halfway into the same mobile unit group. Therefore, it is possible to reduce the number of moving bodies coming out of the moving bodies to the moving body group.
  • the processing performance of the CPU configuring the moving body control unit 110 of the moving body is the highest, and the free space of the memory configuring the moving body control unit 110 is used. Is the largest, but not limited to this.
  • a moving object having a high surplus processing capacity may be selected by the method shown in FIG.
  • the communication device 100 extracts the one having the highest processing performance of the CPU constituting the mobile unit control unit 110 of the mobile unit (step S310). Thereafter, the communication device 100 extracts the mobile unit having the largest free space in the memory constituting the mobile unit control unit 110 (step S320). Then, the communication device 100 determines whether or not the free space in the memory of the moving object is equal to or larger than a predetermined threshold value Ct (for example, 10% of the entire memory) (Step S330). If the free space of the memory of the moving object is equal to or larger than the predetermined threshold value Ct (step S330: YES), the communication apparatus 100 sets the moving object as a representative moving object (step S340), and the flow is as follows. finish.
  • a predetermined threshold value Ct for example, 10% of the entire memory
  • step S330: YNO the communication device 100 excludes the moving object extracted in step S310 (step S350). Then, when there is a moving object that has not been excluded in step S350 (step S360: YES), the communication device 100 returns to step S310. That is, the communication device 100 excludes the mobile with the highest processing performance, and extracts the mobile with the highest processing performance among the other mobiles in step S310. On the other hand, when there is no mobile object that has not been excluded in step S350 (step S360: NO), the communication device 100 extracts the mobile object having the highest processing performance of the CPU constituting the mobile object control unit 110.
  • Step S370 the one having the largest free space in the memory constituting the moving body control unit 110 of the moving body is extracted (Step S380). Then, the communication device 100 sets the mobile object as a representative (S340). In this way, when a moving object whose free space in the memory is equal to or larger than the threshold value Ct exists in the moving object group, the moving object having the highest CPU processing performance can be set as the representative moving object.
  • a vehicle is used as a moving body.
  • a drone may be used as a moving body as shown in FIG.
  • the “destination in the same direction as the destination of the own mobile unit MC” may be a destination included in the same municipalities as the municipalities including the destination of the own mobile unit MC.
  • the moving object group is set to a moving object group H3 constituted by a moving object aiming at XX city and a moving object group H4 constituted by a moving object aiming at xx city.
  • a part of the configuration realized by hardware may be replaced with software.
  • At least a part of the configuration realized by software can be realized by a discrete circuit configuration.
  • the software (computer program) can be provided in a form stored in a computer-readable recording medium.
  • the “computer-readable recording medium” is not limited to a portable recording medium such as a flexible disk or a CD-ROM, but may be fixed to an internal storage device in the computer such as various RAMs or ROMs or a computer such as a hard disk. It also includes the external storage device that is used. That is, the “computer-readable recording medium” has a broad meaning including any recording medium that can fix data packets, not temporarily.
  • the present disclosure is not limited to the above-described embodiment, and can be implemented with various configurations without departing from the spirit thereof.
  • the technical features in the embodiments corresponding to the technical features in each embodiment described in the summary of the invention may be used to solve some or all of the above-described problems, or to provide one of the above-described effects. In order to achieve a part or all, replacement or combination can be appropriately performed. Unless the technical features are described as essential in the present specification, they can be deleted as appropriate.

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Abstract

L'invention concerne un système de traitement d'informations d'espace de mouvement comprenant des corps mobiles et un dispositif de traitement d'informations, le dispositif de traitement d'informations échangeant des informations avec les corps mobiles qui se déplacent à travers un espace et maintenant des informations d'espace, qui sont des informations relatives à l'espace. Les corps mobiles délivrent en sortie, par télécommunication, des informations côté corps mobile qui comprennent au moins des informations concernant la position des corps mobiles dans l'espace; des informations côté corps mobile sont acquises par télécommunication à partir des corps mobiles; au moins un corps mobile parmi les corps mobiles se déplaçant à travers une plage de déplacement prédéfinie à l'intérieur de l'espace est spécifié en tant que corps mobile représentatif conformément à des informations de position incluses dans les informations côté corps mobile; et le corps mobile spécifié est réglé en tant que corps mobile représentatif. L'ensemble de corps mobiles en tant que corps mobile représentatif acquiert une image de l'espace dans lequel les corps mobiles se déplacent, et des informations de sonde relatives à l'espace sont extraites de l'image. Des informations côté corps mobile comprenant les informations de sonde sont ensuite transmises et les informations de sonde reçues du corps mobile représentatif sont utilisées pour maintenir les informations d'espace.
PCT/JP2019/029859 2018-08-03 2019-07-30 Système de traitement d'informations d'espace de mouvement, procédé de traitement d'informations d'espace de mouvement et dispositif de communication WO2020027142A1 (fr)

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JP2018146358 2018-08-03
JP2019138607A JP7157018B2 (ja) 2018-08-03 2019-07-29 移動空間情報処理システム、移動空間情報処理方法および通信装置
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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
JP2012133726A (ja) * 2010-12-24 2012-07-12 Nissan Motor Co Ltd 車載通信装置および通信方法
JP2012155660A (ja) * 2011-01-28 2012-08-16 Denso Corp 地図データ生成装置および走行支援装置
JP2012173979A (ja) * 2011-02-21 2012-09-10 Renesas Electronics Corp プローブデータ収集システムおよびプローブデータ収集システムの動作方法
WO2018131153A1 (fr) * 2017-01-16 2018-07-19 株式会社日立製作所 Dispositif et procédé de commande de corps mobile

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* 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
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
JP2012133726A (ja) * 2010-12-24 2012-07-12 Nissan Motor Co Ltd 車載通信装置および通信方法
JP2012155660A (ja) * 2011-01-28 2012-08-16 Denso Corp 地図データ生成装置および走行支援装置
JP2012173979A (ja) * 2011-02-21 2012-09-10 Renesas Electronics Corp プローブデータ収集システムおよびプローブデータ収集システムの動作方法
WO2018131153A1 (fr) * 2017-01-16 2018-07-19 株式会社日立製作所 Dispositif et procédé de commande de corps mobile

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