WO2021075373A1

WO2021075373A1 - Information processing system, information processing method, and information processing device

Info

Publication number: WO2021075373A1
Application number: PCT/JP2020/038293
Authority: WO
Inventors: 博允内山; 寿夫山崎; 亮太木村; 健太郎土場; 諒渡辺; 中井　幹夫; 信一郎津田
Original assignee: ソニー株式会社
Priority date: 2019-10-18
Filing date: 2020-10-09
Publication date: 2021-04-22
Also published as: EP4047581A1; EP4047581A4; JPWO2021075373A1

Abstract

This information processing system is provided with: a detecting unit (131) for detecting the occurrence of an event on the basis of a dynamic map (300) in which three-dimensional geospatial information and additional information capable of assisting travel of a moving body are associated with one another; an environment information acquiring unit (on-board device 530) for acquiring environmental information indicating the surrounding environment of a moving body (500); and a setting unit (132) for setting a parameter of the environment information acquiring unit (on-board device 530) in accordance with the detected event.

Description

Information processing system, information processing method and information processing equipment

This disclosure relates to an information processing system, an information processing method, and an information processing device.

Technology related to autonomous driving is being developed. Patent Document 1 discloses a technique for measuring the depth of an object located in the first direction based on two images taken by a stereo camera. Patent Document 2 discloses a technique in which a user of a navigation device selects a proposed route based on a dangerous situation existing in an arbitrary environment.

Japanese Unexamined Patent Publication No. 2018-27772 Japanese Unexamined Patent Publication No. 2013-250269

In the above-mentioned conventional technology, the information on the surrounding environment acquired by the moving object tends to increase as the detection target becomes more complicated. Therefore, it is desired that the moving body efficiently obtains necessary information.

Therefore, the present disclosure provides an information processing system, an information processing method, and an information processing device capable of efficiently acquiring information required by a mobile body.

In order to solve the above problems, the information processing system of one form according to the present disclosure is based on a dynamic map in which three-dimensional geospatial information and additional information capable of supporting the traveling of a moving object are associated with each other. A detection unit that detects the occurrence of the above, an environment information acquisition unit that acquires environmental information indicating the surrounding environment of the moving body, a setting unit that sets parameters of the environment information acquisition unit according to the detected event, and a setting unit. To be equipped.

In addition, one form of information processing method according to the present disclosure is a dynamic map in which an information processing device mounted on a moving body associates three-dimensional geospatial information with additional information capable of supporting the traveling of the moving body. Based on the above, the occurrence of an event is detected, the environmental information indicating the surrounding environment of the moving body is acquired by the environmental information acquisition unit, and the parameters of the environmental information acquisition unit are set according to the detected event. That includes.

Further, the information processing device of one form according to the present disclosure is a detection unit that detects the occurrence of an event based on a dynamic map in which three-dimensional geospatial information and additional information capable of supporting the traveling of a moving object are associated with each other. And a setting unit for setting parameters of the environment information acquisition unit that acquires environment information indicating the surrounding environment of the moving body in response to the detected event.

It is a figure for demonstrating an example which realizes an information processing method which concerns on 1st Embodiment. It is a figure for demonstrating an example of a dynamic map used in an information processing method. It is a block diagram which shows an example of the structure of the mobile body and the information processing apparatus which concerns on 1st Embodiment. It is a block diagram which shows an example of the structure of the management apparatus which concerns on 1st Embodiment. It is a figure which shows an example of the data structure of the condition information which concerns on 1st Embodiment. It is a figure which shows an example of the change information which concerns on 1st Embodiment. It is a sequence diagram which shows an example of the processing procedure of the information processing system which concerns on 1st Embodiment. It is a block diagram which shows an example of the structure of the information processing apparatus which concerns on 2nd Embodiment. It is a block diagram which shows an example of the structure of the management apparatus which concerns on 2nd Embodiment. It is a sequence diagram which shows an example of the processing procedure of the information processing system which concerns on 2nd Embodiment. It is a figure for demonstrating an example which realizes an information processing method which concerns on 3rd Embodiment. It is a block diagram which shows an example of the structure of the roadside machine which concerns on 3rd Embodiment. It is a sequence diagram which shows an example of the processing procedure of the information processing system which concerns on 3rd Embodiment. It is a hardware block diagram which shows an example of the computer which realizes the function of an information processing apparatus.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In each of the following embodiments, the same parts are designated by the same reference numerals, so that duplicate description will be omitted.

(First Embodiment)
[Overview of the information processing system according to the first embodiment]
FIG. 1 is a diagram for explaining an example of realizing the information processing method according to the first embodiment. FIG. 2 is a diagram for explaining an example of a dynamic map used in the information processing method.

As shown in FIG. 1, the information processing system 1 includes an information processing device 100 mounted on the mobile body 500 and a management device 200 for managing a plurality of mobile bodies 500. The moving body 500 includes, for example, a vehicle (automobile, electric vehicle, motorcycle, bicycle, etc.), a mobile robot, and the like. The mobile body 500 may mount a plurality of mounting devices 530. In this embodiment, the case where the moving body 500 is a four-wheeled vehicle will be described. The information processing device 100 and the management device 200 have a configuration capable of communicating via a network or directly communicating without going through a network, for example.

The information processing system 1 according to the present embodiment can use V2X communication. V2X communication is communication between the mobile 500 and "something". In the information processing system 1, the communication between the mobile body 500 and the mobile body 500 becomes V2V (Vehicle-to-Vehicle) communication. In the information processing system 1, the communication between the mobile body 500 and the infrastructure is V2I (Vehicle-to-Infrastructure) communication. In the information processing system 1, the communication between the mobile body 500 and the network becomes V2N (Vehicle-to-Network) communication. In the information processing system 1, the communication between the mobile body 500 and the pedestrian becomes V2P (Vehicle-to-Pedestrian) communication.

The mobile body 500 is equipped with a mounting device 530. The on-board device 530 includes, for example, electronic devices such as sensors, cameras, and communication devices. The on-board device 530 operates based on the parameters. The parameters include, for example, parameters such as an effective angle of view, the number of sensors, exposure compensation, an image processing filter, and MIMO (Multiple-Input and Multiple-Output). The on-board device 530 has a configuration capable of exchanging information with, for example, the information processing device 100 and the like. The on-board device 530 detects external and internal information of the mobile body 500, and supplies the detection result to the mobile body 500, the information processing device 100, and the like. The mobile body 500 performs driving support, automatic driving, and the like by using the detection result of the on-board device 530.

For example, when the mobile body 500 moves by automatic operation or the like, it is desirable to use the on-board device 530 or the like to cover all information such as the surrounding environment of the own machine. However, if all the on-board devices 530 of the mobile body 500 are constantly operated, the power consumption of the battery will increase. Therefore, it is an object of the present disclosure to suppress the electric power consumed by the mobile body 500 and to appropriately provide necessary information by the mobile body 500.

The management device 200 is, for example, a so-called cloud server (Cloud Server), which is a server device that executes information processing in cooperation with the information processing device 100. The management device 200 is a device provided outside the mobile body 500. The management device 200 has, for example, a function of managing the dynamic map 300 and providing information and the like of the dynamic map 300 to the information processing device 100.

As shown in FIG. 2, the dynamic map 300 is a database-like map in which vehicles and various traffic information are added to a three-dimensional map, and the information is classified according to the update frequency of the information. The dynamic map 300 has three-dimensional geospatial information 310 and additional information 320 that can support automatic traveling of a vehicle and the like. The geospatial information 310 and the additional information 320 are associated with each other, and have a configuration capable of utilizing information whose situation changes from moment to moment in real time.

The geospatial information 310 includes highly accurate information that allows the position of the own vehicle related to the road and its surroundings to be specified at the lane level. The geospatial information 310 is spatial map information that records various information such as each lane, guardrail, road sign, pedestrian crossing, and highway at an accurate position. The geospatial information 310 is static information in which various information such as roads, structures on roads, lanes, road surfaces, and permanent regulations are updated within one month.

The additional information 320 has quasi-static information 321 and quasi-dynamic information 322, and dynamic information 323. The quasi-static information 321 is information that is updated within one hour, including, for example, traffic regulation information, road construction information, wide area weather information, and the like. The quasi-dynamic information 322 is information that is updated within one minute, including, for example, accident information, traffic congestion information, narrow area weather information, and the like at an observation point. The dynamic information 323 includes, for example, ITS (Intelligent Transport Systems) look-ahead information, and the information is updated within 1 second. The look-ahead information includes, for example, distant information that cannot be detected by a vehicle. The dynamic information 323 includes, for example, information transmitted / exchanged between moving bodies, signal display information, pedestrian / bicycle information in an intersection, straight-ahead vehicle information at an intersection, and the like.

Returning to FIG. 1, the management device 200 communicates with each of the plurality of information processing devices 100 to exchange information. The management device 200 transmits, for example, the target information to the request source in response to a request from the information processing device 100. The management device 200 has, for example, a function of setting an event to be detected by the information processing device 100. Events include, for example, traffic jams, accidents, construction, traffic restrictions, railroad crossings, emergency vehicles, weather changes, infrastructure impacts, and at least one of earthquakes.

[Structure example of the information processing system according to the first embodiment]
Next, an example of the configuration of the information processing system 1 according to the first embodiment will be described. FIG. 3 is a configuration diagram showing an example of the configuration of the mobile body 500 and the information processing device 100 according to the first embodiment. FIG. 4 is a configuration diagram showing an example of the configuration of the management device 200 according to the first embodiment.

As shown in FIG. 3, the mobile body 500 includes a plurality of electronic control units connected via a communication network 501. The communication network 501 is composed of, for example, an in-vehicle communication network or a bus conforming to an arbitrary standard such as CAN (Controller Area Network), LIN (Local Interconnect Network), LAN (Local Area Network), or FlexRay (registered trademark). .. In addition, each part of the mobile body 500 may be directly connected without going through the communication network 501.

In the example shown in FIG. 3, the mobile body 500 includes a drive system control unit 510, a body system control unit 520, an on-board device 530, and an information processing device 100. In the present embodiment, the case where the on-board device 530 and the information processing device 100 are connected via the communication network 501 will be described, but for example, the on-board device 530 and the information processing device 100 may be directly connected via an interface or the like. In the present embodiment, the case where the mobile body 500 is provided with one mounting device 530 will be described, but the mobile body 500 may be configured to include a plurality of mounting devices 530.

The drive system control unit 510 controls the operation of the device related to the drive system of the mobile body 500 according to various programs. For example, the drive system control unit 510 includes a driving force generator for generating a driving force of a moving body 500 such as an internal combustion engine or a driving motor, a driving force transmission mechanism for transmitting the driving force to wheels, and a moving body 500. It functions as a control device such as a steering mechanism for adjusting the steering angle of the wheel and a braking device for generating a braking force of the moving body 500.

The body system control unit 520 controls the operation of various devices mounted on the vehicle body according to various programs. For example, the body system control unit 520 functions as a keyless entry system, a smart key system, a power window device, or a control device for various lamps such as headlamps, back lamps, brake lamps, blinkers or fog lamps. In this case, the body system control unit 520 may be input with radio waves transmitted from a portable device that substitutes for the key or signals of various switches. The body system control unit 520 receives inputs of these radio waves or signals and controls a vehicle door lock device, a power window device, a lamp, and the like.

The on-board device 530 acquires environmental information indicating the surrounding environment of the mobile body 500. The on-board device 530 is an example of an environmental information acquisition unit. The on-board device 530 detects the environmental information of the outside world (surrounding environment) of the moving body 500. For example, the on-board device 530 includes, for example, various sensors, an image pickup device, and the like. The on-board device 530 detects the environment around the on-board device 530 as information on the outside world. The periphery of the mounting device 530 indicates, for example, an area that can be detected by the mounting device 5630. The on-board device 530 can use, for example, at least one of a camera, a distance sensor, a sound wave sensor, a position sensor, a temperature sensor, and a humidity sensor. The on-board device 530 acquires environmental information based on, for example, changeable parameters.

In an example shown in FIG. 3, a case where the on-board device 530 includes a camera 531, a LiDAR (Light Detection and Ringing, Laser Imaging Detection and Ringing) 532, a radar 533, a recognizer 534, a coupling unit 535, and a detection unit 536 will be described. However, it is not limited to this.

The camera 531 includes, for example, an imaging device such as a ToF (Time Of Flight) camera, a stereo camera, a monocular camera, an infrared camera, a Depth camera, and other cameras. The camera 531 is set so that parameters such as setting orientation, angle of view, resolution, exposure time, sensor gain, and reflection cut setting (in the case of a polarized camera) can be changed. The LiDAR 532, for example, measures the scattered light with respect to the laser irradiation that emits in a pulse shape, and detects the distance to an object at a long distance and the property of the object. The LiDAR 532 is set so that parameters such as installation orientation, horizontal resolution, vertical resolution, measurement distance, and laser output can be changed. The radar 533 detects an external object using, for example, infrared rays, millimeter waves, ultrasonic waves, or the like. The radar 533 is set so that parameters such as angle of view, resolution, speed resolution, number of antennas, measurement distance, and multipath prevention can be changed. The camera 531 and LiDAR 532 and radar 533 are examples of sensors. The camera 531 and the LiDAR 532 and the radar 533 supply the respective recognizers 534 with detection information indicating the detection result detected based on the parameters, for example.

The recognizer 534 recognizes the detection result of the connected sensor and supplies the recognition result to the coupling unit 535. The coupling unit 535 reflects the recognition importance indicated by the parameter in the detection result of the sensor and supplies it to the detection unit 536. For example, as for the parameters, when the event is traffic regulation, the importance of the camera 531 is "1", the importance of the LiDAR 532 is "5", and the importance of the radar 533 is "8". In this case, the coupling unit 535 supplies the detection result with the highest importance of the detection result of the radar 533 to the detection unit 536. The detection unit 536 detects external information based on the supplied detection result, and supplies the detection information indicating the detection result to the information processing device 100 or the like via the communication network 501. The detection information is, for example, an example of environmental information. As described above, the on-board device 530 can set the importance of the information detected by the parameter.

In the present embodiment, the case where the mobile body 500 includes one mounting device 530 will be described, but the present invention is not limited to this. For example, the mobile body 500 may be configured to include a plurality of mounting devices 530.

[Configuration Example of Information Processing Device According to First Embodiment]
Next, an example of the functional configuration of the information processing apparatus 100 according to the first embodiment will be described. As shown in FIG. 3, the information processing device 100 includes a communication unit 110, a storage unit 120, and a control unit 130. The control unit 130 is electrically connected to the communication unit 110 and the storage unit 120.

The communication unit 110 communicates with in-vehicle devices such as the on-board device 530 of the mobile body 500, as well as various external electronic devices, management devices 200, base stations, and the like. The communication unit 110 outputs the data received from the management device 200 to the control unit 130, and transmits the data from the control unit 130 to the management device 200. The communication unit 110 outputs the data received from the in-vehicle device to the control unit 130, and transmits the data from the control unit 130 to the corresponding in-vehicle device. The communication protocol supported by the communication unit 110 is not particularly limited, and the communication unit 110 may support a plurality of types of communication protocols.

For example, the communication unit 110 wirelessly communicates with an information processing device 100 or the like mounted on another mobile body 500 by wireless LAN, Bluetooth (registered trademark), NFC (Near Field Communication), WUSB (Wireless USB) or the like. I do.

For example, the communication unit 110 communicates with the management device 200 existing on an external network (for example, the Internet, a cloud network, or a network peculiar to a business operator) via a base station or an access point. Further, for example, the communication unit 110 is used for V2X communication such as vehicle-to-vehicle (V2V) communication, road-to-vehicle (V2I) communication, vehicle-to-home (Vehicle to Home) communication, and pedestrian-vehicle (V2P) communication. I do. Further, for example, the communication unit 110 is provided with a beacon receiving unit, receives radio waves or electromagnetic waves transmitted from a radio station or the like installed on the road, and acquires information such as the current position, traffic congestion, traffic regulation, or required time. To do.

The storage unit 120 stores various data and programs. For example, the storage unit 120 is, for example, a RAM (Random Access Memory), a semiconductor memory element such as a flash memory, a hard disk, an optical disk, or the like. The storage unit 120 stores information received via the communication unit 110. The storage unit 120 stores various information such as parameter information 121, condition information 122, and change information 123, for example. The parameter information 121 includes, for example, information indicating various parameters to be controlled. The condition information 122 includes, for example, information indicating a condition for detecting the occurrence of an event. The condition information 122 includes a condition for each event indicating what should be detected as the occurrence of the event. The change information 123 includes, for example, a table showing the correspondence between various events, parameters to be changed, and values to be changed. The storage unit 120 stores a part or all of the information of the dynamic map 300 provided by the management device 200.

The control unit 130 is, for example, a dedicated or general-purpose computer. The control unit 130 is, for example, an integrated control unit that controls the mobile body 500. The control unit 130 calculates a control target value of the driving force generator, the steering mechanism, or the braking device based on the information inside and outside the vehicle detected by the on-board device 530, and outputs a control command to the drive system control unit 510. can do. For example, the control unit 130 is an ADAS (Advanced Driver Assistance System) that includes collision avoidance or impact mitigation of the moving body 500, follow-up running based on the inter-vehicle distance, vehicle speed maintenance running, vehicle collision warning, vehicle lane deviation warning, and the like. Collaborative control can be performed for the purpose of realizing functions.

The control unit 130 controls the driving force generator, the steering mechanism, the braking device, and the like based on the information around the moving body 500 (outside world) detected by the on-board device 530. As a result, the control unit 130 can perform coordinated control for the purpose of automatic driving or the like that autonomously travels without depending on the operation of the driver.

The control unit 130 can output a control command to the body system control unit 520 based on the information outside the vehicle detected by the on-board device 530. For example, the control unit 130 controls the headlamps according to the position of the preceding vehicle or the oncoming vehicle detected by the on-board device 530, and performs cooperative control for the purpose of anti-glare such as switching the high beam to the low beam. Can be done.

The control unit 130 includes a detection unit 131, a setting unit 132, a notification unit 133, a planning unit 134, and an operation control unit 135. Each functional unit of the detection unit 131, the setting unit 132, the notification unit 133, the planning unit 134, and the operation control unit 135 is, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or the like of the information processing device 100. It is realized by executing the program stored inside with the RAM or the like as a work area. Further, each functional unit may be realized by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array).

The detection unit 131 has a function of detecting the occurrence of a preset event based on the dynamic map 300. For example, when the additional information 320 of the dynamic map 300 satisfies the condition information 122, the detection unit 131 detects the occurrence of an event corresponding to the condition. For example, the detection unit 131 does not detect the occurrence of an event when the additional information 320 of the dynamic map 300 does not satisfy the condition of the condition information 122. When the detection result of the on-board device 530 satisfies the condition information 122, the detection unit 131 detects the occurrence of an event corresponding to the condition. That is, the detection unit 131 can detect the occurrence of an event based on at least one of the detection results of the dynamic map 300 and the on-board device 530 and the condition information 122. Then, the detection unit 131 supplies the detection result to the setting unit 132.

The setting unit 132 sets the parameters of the on-board device (environmental information acquisition unit) 530 according to the event detected by the detection unit 131. That is, when the detection unit 131 detects the occurrence of an event, the setting unit 132 changes the parameter setting of the mounting device 530 mounted on the moving body 500 to the parameter corresponding to the event. For example, the setting unit 132 specifies a parameter corresponding to the event based on the change information 123, and changes the setting of the parameter. The setting unit 132 reflects the changed result in the parameter information 121. The setting unit 132 may set a parameter according to the event as a parameter used by the drive system control unit 510.

The notification unit 133 notifies the result of the setting unit 132 changing the parameters of the on-board device 530. For example, the notification unit 133 can feed back the change result by transmitting the notification information indicating the result of changing the parameter to the management device 200 via the communication unit 110. If it is not necessary to report the parameter change result to the management device 200, the information processing device 100 may delete the notification unit 133 from the configuration.

The planning unit 134 creates a plan for the movement of the moving body 500 based on the detection result of the on-board device 530 based on the parameters. The planning unit 134 has a function of planning a route plan, an action plan, an operation plan, and the like. As a route plan, the planning unit 134 plans, for example, a route to the target value of the moving body 500. As an action plan, the planning unit 134 plans, for example, the action of the mobile body 500 for safely traveling on the planned route within the planned time. Specifically, the planning unit 134 plans, for example, starting, stopping, traveling direction (for example, forward, backward, left turn, right turn, change of direction, etc.), traveling lane, traveling speed, overtaking, and the like. As an operation plan, the planning unit 134 plans, for example, the operation of the moving body 500 for realizing the planned action. Specifically, the planning unit 134 plans, for example, acceleration, deceleration, traveling track, and the like of the moving body 500. When the occurrence of an emergency is recognized, the planning unit 134 plans the operation of the moving body 500 for avoiding an emergency such as a sudden stop or a sharp turn. Then, the planning unit 134 outputs the created plan to the operation control unit 135.

The motion control unit 135 controls the motion of the moving body 500 based on the plan of the planning unit 134. The motion control unit 135 generates travel control information for controlling (supporting) the travel of the moving body 500. The operation control unit 135 controls the drive system control unit 510 based on the travel control information. For example, the motion control unit 135 controls the traveling of the moving body 500 to realize the plan of the planning unit 134. Then, the operation control unit 135 transmits an operation command or the like for driving the moving body 500 to the drive system control unit 510. As a result, the moving body 500 moves by the driving force generated by the control of the drive system control unit 510.

The functional configuration example of the information processing device 100 according to the first embodiment has been described above. The above configuration described with reference to FIG. 3 is merely an example, and the functional configuration of the information processing apparatus 100 according to the first embodiment is not limited to such an example. The functional configuration of the information processing apparatus 100 according to the first embodiment can be flexibly modified according to specifications and operations.

[Structure example of the management device according to the first embodiment]
As shown in FIG. 4, the management device 200 includes a communication unit 210, a storage unit 220, and a control unit 230. The control unit 230 is electrically connected to the communication unit 210 and the storage unit 220.

The communication unit 210 supports the above-mentioned communication protocol and has a function of communicating with the information processing device 100 of the mobile body 500, a base station, and the like. The communication unit 210 outputs the data received from the information processing device 100 to the control unit 230, and transmits the data from the control unit 230 to the information processing device 100. The communication unit 210 has a function of outputting real-time traffic information, traffic regulation information, and the like received via the network to the control unit 230.

The storage unit 220 is realized by, for example, a semiconductor memory element such as a RAM or a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 220 stores various information such as condition information 122 and change information 123 provided to the plurality of information processing devices 100. For example, the storage unit 220 may store the condition information 122 and the change information 123 by classifying them into vehicle types, preferences, and the like. The storage unit 220 stores the dynamic map 300 provided to the information processing device 100.

The control unit 230 controls the operation of the management device 200. The control unit 230 includes a generation unit 231 and a providing unit 232. Each functional unit of the generation unit 231 and the provision unit 232 is realized, for example, by the control unit 230 executing a program stored inside the control unit 230 with a RAM or the like as a work area.

The generation unit 231 generates a dynamic map 300 including real-time additional information 320. The generation unit 231 generates (updates) additional information 320 based on, for example, traffic information, traffic regulation information, etc. received via the communication unit 210, and associates the additional information 320 with the geospatial information 310 to obtain the latest information. Generate the dynamic map 300. The generation unit 231 stores the generated dynamic map 300 in the storage unit 220.

The providing unit 232 provides the condition information 122 for detecting the occurrence of an event to the detecting unit 131 of the information processing device 100 via the communication unit 210. For example, the providing unit 232 acquires the condition information 122 corresponding to the information processing device 100 or the mobile body 500 on which the information processing device 100 is mounted from the storage unit 220, and transmits the condition information 122 to the information processing device 100. .. Further, the providing unit 232 provides the setting unit 132 of the information processing device 100 with the change information 123 for changing the parameters according to the event in which the occurrence is detected via the communication unit 210.

The functional configuration example of the management device 200 according to the first embodiment has been described above. The above configuration described with reference to FIG. 4 is merely an example, and the functional configuration of the management device 200 according to the first embodiment is not limited to such an example. The functional configuration of the management device 200 according to the first embodiment can be flexibly modified according to specifications and operations.

[Example of condition information and change information according to the first embodiment]
FIG. 5 is a diagram showing an example of the data structure of the condition information 122 according to the first embodiment. FIG. 6 is a diagram showing an example of change information 123 according to the first embodiment.

As shown in FIG. 5, the condition information 122 has items such as an occurrence event, a detection method, and a correspondence with the dynamic map 300. For the item of the occurrence event, for example, information indicating an event for detecting the occurrence is set. Information indicating, for example, traffic congestion, changes in weather, impact on infrastructure, construction, accidents, earthquakes, traffic regulations, railroad crossings, emergency vehicles, etc. is set as the item of the occurrence event. For the item of the detection method, for example, information indicating the detection method corresponding to the occurrence event is set. For the item corresponding to the dynamic map 300, for example, information indicating the dynamic map 300 to be referred to when detecting the occurrence of an event is set. The items corresponding to the dynamic map 300 are, for example, information indicating geospatial information 310, quasi-static information 321 and quasi-dynamic information 322 and dynamic information 323, which are static information of the dynamic map 300, corresponding to an event. Is set as appropriate.

For example, when the occurrence event is "traffic jam", the condition information 122 indicates that the traffic jam is detected from the traffic jam information of the quasi-dynamic information 322 of the dynamic map 300 as a detection method. Further, the condition information 122 indicates that, as a detection method, traffic congestion is detected based on information such as a dynamic map 300, a change in traffic volume acquired from the outside, and road traffic information. In this case, the information processing apparatus 100 detects the occurrence of a traffic jam event when the traffic jam information written in the dynamic map 300 relates to the moving body 500 according to the detection method of the condition information 122.

Next, an example of change information 123 will be described. As shown in FIG. 6, the change information 123 has items such as an event to be generated and a parameter to be changed. For the item of the occurrence event, for example, information indicating an event corresponding to the occurrence event of the condition information 122 is set. For the item of the parameter to be changed, for example, information indicating the changed content is set. In the example shown in FIG. 6, the item of the parameter to be changed is set with information indicating the content of each change of the camera 531 and LiDAR 532 of the on-board device 530, the radar 533, and the communication unit 110.

For example, when the event is a traffic jam, the moving body 500 has a slow running speed, but there are many other moving bodies 500 around. Therefore, the change information 123 makes it possible to effectively use the radar 533 by setting the measurement distance to be shortened, the speed resolution to be lowered, and the angle of view and the resolution to be increased. Further, in the case of the MIMO (Multi Input Multi Output) radar, for example, the radar 533 can dynamically change the radar specification (angle of view, resolution, speed distance resolution, measurement distance, etc.). In this case, it is important to appropriately set the parameters of the change information 123 according to the intended use. Further, when the moving body 500 is a vehicle, the reflection of the radar 533 is strong, which causes multipath noise. Therefore, the change information 123 can reduce the erroneous determination of the radar 533 by setting the multipath noise filter stronger when there is a traffic jam.

Further, in the case of traffic congestion, the change information 123 sets that the cycle of V2V / P communication is changed as the change content of V2X communication. For example, the change information 123 is changed so that the sensing cycle of V2V / P communication is sent, or the transmission cycle is changed. For example, the change information 123 can change the Upload speed and band of V2I / N communication. For example, the change information 123 can change the control of the transmission method of V2X communication, the control of the number of antennas, the control of transmission power, the control of modulation coding, and the like.

For example, in the case of a traffic jam, the camera 531 does not need to take a picture of a long distance, but it is preferable to focus on jumping out from the distance between vehicles. Therefore, the change information 123 makes it possible to reduce the blind spot and improve the accuracy of the pop-out detection of the object by making the angle of view of the camera 531 wider than that in the normal time during the traffic jam.

Further, when the information processing device 100 uses the camera 531 of the on-board device 530 and the radar 533 as a fused sensor, the multipath error of the radar 533 due to the reflected wave by the surrounding moving body 500 increases in the congestion. , The reliability of the radar 533 is reduced. Therefore, the change information 123 changes the parameters so as to give priority to the detection result of the camera 531.

For example, when the event is a change in weather, construction, etc., it is expected that the dynamic range of the image captured by the camera 531 will be increased in the moving body 500 due to lightning and construction lighting in lightning and night construction. Therefore, the change information 123 makes it possible to acquire an exposed image by setting the dynamic range to be expanded.

For example, when an event affects the infrastructure, road surface reflection occurs due to road surface freezing or thunderstorms, making it difficult for the camera 531 to detect the road surface condition. Therefore, the change information 123 makes it easy to acquire the road surface condition and the road surface information by changing the camera 531 to a setting that prevents reflection from below. In addition, the change information 123 stops using millimeter-wave band communication that is strongly attenuated by rain or the like by switching the communication band of V2X communication, and enables stable V2X communication by switching to a lower frequency. ing.

For example, if the event is an earthquake, there is a possibility that it may affect public communications, or the road surface condition, building condition, etc. may change. Therefore, the change information 123 raises the priority of important public communication by, for example, lowering the transmission bandwidth and the bit rate from the mobile 500. When the information processing device 100 detects using the information of the dynamic map 300, the change information 123 lowers the priority of the information of the dynamic map 300 and raises the priority of the detection result of the on-board device 530. It may be the content. Further, the change information 123 may be changed according to the seismic intensity of the earthquake.

For example, when the event is a traffic regulation such as a marathon or a festival, the mobile body 500 increases the risk of interpersonal communication, so it is important to detect the human body. Therefore, by setting the change information 123 to, for example, a change content that widens the angle of view of the camera 531 so that the information processing apparatus 100 can easily respond to a sudden accident such as popping out. For example. At night festivals and other events, it is expected that the dynamic range of the camera 531 will increase due to lighting, fireworks, and the like. Therefore, the change information 123 changes the setting of the camera 531 so that an exposed image can be captured in an environment where the dynamic range needs to be expanded.

For example, if the event is an approaching emergency vehicle, the emergency vehicle may be communicating importantly when the emergency vehicle passes by. Therefore, the change information 123 raises the priority of communication of the emergency vehicle by setting the change content to reduce the transmission bandwidth and the bit rate of the mobile body 500. Further, the change information 123 may be a parameter for stopping the moving body 500 when the event is an approach of an emergency vehicle.

[Processing procedure of the information processing system according to the first embodiment]
Next, the processing procedure of the information processing system 1 according to the first embodiment will be described with reference to FIG. 7. FIG. 7 is a sequence diagram showing an example of the processing procedure of the information processing system 1 according to the first embodiment. The processing procedure shown in FIG. 7 is realized by executing a program by the control unit 130 of the information processing device 100 and the control unit 230 of the management device 200.

As shown in FIG. 7, the management device 200 provides the condition information 122 and the change information 123 to the information processing device 100 (step S201). For example, the management device 200 transmits the condition information 122 and the change information 123 stored in the storage unit 220 to each of the plurality of information processing devices 100 via the communication unit 210. By executing the process of step S201 in the management device 200, the control unit 230 functions as the providing unit 232.

The information processing device 100 stores the condition information 122 and the change information 123 received from the management device 200 via the communication unit 110 in the storage unit 120 (step S101). The information processing device 100 starts detecting an event based on the received condition information 122 (step S102).

After that, the management device 200 generates the dynamic map 300 at a predetermined timing (step S202). The predetermined timing includes, for example, a timing at which information regarding the additional information 320 is acquired from the outside, a preset timing, and the like. For example, the management device 200 generates or updates additional information 320 based on traffic information, traffic regulation information, and the like received via the communication unit 210, and associates the additional information 320 with geospatial information to create a dynamic map. Generate 300. For example, the management device 200 may acquire and generate information about the dynamic map 300 or the dynamic map 300 provided by the server device or the like. By executing the process of step S202 in the management device 200, the control unit 230 functions as the generation unit 231.

The management device 200 provides the dynamic map 300 to the information processing device 100 (step S203). For example, the management device 200 transmits a part or all of the generated dynamic map 300 information to each of the plurality of information processing devices 100 via the communication unit 210.

The information processing device 100 stores the dynamic map 300 received from the management device 200 via the communication unit 110 in the storage unit 120 (step S103). The information processing device 100 detects the occurrence of an event based on the dynamic map 300 and the detection information (step S104). For example, when the additional information 320 of the dynamic map 300 and the detection information of the on-board device 530 satisfy the condition information 122, the information processing device 100 stores information indicating that an event corresponding to the condition has been detected. Store in 120. For example, the information processing apparatus 100 stores in the storage unit 120 information indicating that the occurrence of an event is not detected when the additional information 320 and the detection information of the dynamic map 300 do not satisfy the condition of the condition information 122. In the information processing device 100, the control unit 130 functions as the detection unit 131 by executing the process of step S104.

The information processing device 100 determines whether or not the occurrence of an event has been detected based on the result of the process in step S104 (step S105). When the information processing apparatus 100 determines that the occurrence of an event has been detected (Yes in step S105), the information processing apparatus 100 proceeds to step S106. The information processing device 100 changes the parameter settings of the on-board device 530 to the parameters according to the event (step S106). That is, the information processing device 100 sets parameters in the on-board device 530 according to the event. For example, the information processing apparatus 100 identifies the parameter corresponding to the detected event from the change information 123 based on the change information 123, and changes the parameter setting of the on-board device 530 so as to be the setting of the parameter. As a result, the on-board device 530 gives priority to the detection of the target according to the event based on the changed parameter. In the information processing device 100, the control unit 130 functions as the setting unit 132 by executing the process of step S106.

The information processing device 100 reports the parameter change result to the management device 200 (step S107). For example, the information processing device 100 transmits information indicating a parameter change result to the management device 200 via the communication unit 110. After that, the information processing device 100 controls the operation of the moving body 500 based on the detection result of the on-board device 530 that operates with the changed parameters, for example.

The management device 200 stores the received information indicating the change result in the storage unit 220 via the communication unit 210 (step S204). As a result, the management device 200 can confirm the parameters changed by the information processing device 100, so that the change result can be reflected in the change information 123.

If the information processing device 100 determines that the occurrence of an event has not been detected (No in step S105), the moving body 500 of the moving body 500 does not change the parameters, for example, based on the detection result of the on-board device 530. Control operations, etc.

As described above, in the information processing system 1 according to the first embodiment, the management device 200 provides the condition information 122 and the change information 123 to the information processing device 100. In the information processing system 1, the information processing device 100 detects the occurrence of an event based on the condition information 122, the dynamic map 300, and the detection information of the on-board device 530. When the information processing device 100 detects the occurrence of an event, the information processing system 1 changes the parameter settings of the on-board device 530 to the parameters corresponding to the event. As a result, when the information processing system 1 detects the occurrence of various events using the dynamic map 300, the operation of the on-board device 530 suitable for the detected event can be changed. As a result, the information processing system 1 efficiently operates the environment information acquisition unit in a state suitable for the environment in response to various events detected by using the dynamic map 300, so that the environment information required by the mobile body 500 is appropriate. And it can be acquired efficiently. Since the information processing system 1 can efficiently operate the mounting device 530 mounted on the mobile body 500 in response to various events, various mounting devices 530 can be mounted on the mobile body 500. Further, the on-board device 530 can detect the detection information based on the changed parameter and provide the detection information to the mobile body 500. The mobile body 500 can operate according to a plan created based on the detection information.

In the first embodiment, the case where the information processing device 100 changes the parameters of the on-board device 530 based on the change information 123 has been described, but the present invention is not limited to this. For example, the information processing device 100 may change the parameters used by the communication unit 110, the various hardware of the mobile body 500, and the like according to the event based on the change information 123.

The above-mentioned first embodiment shows an example, and various modifications and applications are possible. The information processing system 1 of the first embodiment may be applied to other embodiments and the like.

(Second Embodiment)
[Structure example of the information processing system according to the second embodiment]
Next, the second embodiment will be described. As shown in FIG. 1, the information processing system 1 according to the second embodiment manages the information processing device 100 mounted on the mobile body 500 and the mobile body 500, as in the first embodiment. The device 200 is provided. The information processing device 100 can exchange various information with and from the on-board device 530 mounted on the mobile body 500. In the second embodiment, the management device 200 is an example of an external device provided outside the mobile body 500.

[Configuration Example of Information Processing Device According to Second Embodiment]
FIG. 8 is a configuration diagram showing an example of the configuration of the information processing apparatus 100 according to the second embodiment. As shown in FIG. 8, the information processing device 100 according to the second embodiment includes a communication unit 110, a storage unit 120, and a control unit 130.

The control unit 130 includes a setting unit 132, a notification unit 133, a planning unit 134, an operation control unit 135, and a transmission unit 136. In each functional unit such as the setting unit 132, the notification unit 133, the planning unit 134, the operation control unit 135, and the transmission unit 136, for example, a program stored inside the information processing device 100 by a CPU, MPU, or the like stores a RAM or the like. It is realized by being executed as a work area. Further, each functional unit may be realized by an integrated circuit such as an ASIC or FPGA. Although the information processing device 100 according to the second embodiment will be described in the case where the detection unit 131 is not provided, the information processing device 100 may be configured to include both the detection unit 131 and the transmission unit 136.

The transmission unit 136 transmits the detection information set by the management device 200 to the management device 200 via the communication unit 110. The transmission unit 136 transmits, for example, the detection information detected by the on-board device 530 to the preset management device 200. The transmission unit 136 transmits, for example, information that can identify the information processing device 100, the moving body 500 on which the information processing device 100 is mounted, and the like to the management device 200 in association with the detection information.

When the management device 200 detects the occurrence of an event, the setting unit 132 sets the parameters of the mounting device 530 mounted on the mobile body 500 in response to the change request from the management device 200, and sets the parameters according to the event. Change to. For example, the setting unit 132 identifies the detected event by acquiring information that can identify the type of the event that has been detected from the management device 200. Then, the setting unit 132 specifies the parameter corresponding to the event based on the change information 123, and changes the setting of the parameter. The setting unit 132 reflects the changed result in the parameter information 121.

The functional configuration example of the information processing apparatus 100 according to the second embodiment has been described above. The above configuration described with reference to FIG. 8 is merely an example, and the functional configuration of the information processing apparatus 100 according to the second embodiment is not limited to such an example. The functional configuration of the information processing apparatus 100 according to the second embodiment can be flexibly modified according to specifications and operations.

[Structure example of the management device according to the second embodiment]
FIG. 9 is a configuration diagram showing an example of the configuration of the management device 200 according to the second embodiment. As shown in FIG. 9, the management device 200 includes a communication unit 210, a storage unit 220, and a control unit 230.

The control unit 230 includes a generation unit 231, a provision unit 232, a detection unit 233, and a change request unit 234. In each of the functional units of the generation unit 231 and the provision unit 232, the detection unit 233 and the change request unit 234, for example, the control unit 230 executes the program stored inside the control unit 230 with the RAM or the like as a work area. It will be realized.

The detection unit 233 has a function of detecting the occurrence of a preset event based on the dynamic map 300. For example, when the additional information 320 of the dynamic map 300 satisfies the condition information 122, the detection unit 233 detects the occurrence of an event corresponding to the condition. For example, when the additional information 320 of the dynamic map 300 does not satisfy the condition of the condition information 122, the detection unit 233 does not detect the occurrence of the event. When the detection result of the on-board device 530 acquired from the information processing device 100 satisfies the condition information 122, the detection unit 233 detects the occurrence of an event corresponding to the condition. That is, the detection unit 233 can detect the occurrence of an event based on at least one of the detection results of the dynamic map 300 and the on-board device 530 and the condition information 122. Then, the detection unit 233 supplies the detection result to the change request unit 234.

The change request unit 234 requests the setting unit 132 of the information processing device 100 to change the parameters according to the event detected by the detection unit 233 of the management device 200. The change request unit 234 requests a parameter change by, for example, transmitting request information including information on the detected event and the change request to the information processing apparatus 100. The change request unit 234 may include information indicating the setting of the parameter to be changed in the request information. The change request unit 234 requests, for example, a preset information processing device 100, an information processing device 100 that is a source of detection information used for detecting the occurrence of an event, and the like to change parameters.

The functional configuration example of the management device 200 according to the second embodiment has been described above. The above configuration described with reference to FIG. 9 is merely an example, and the functional configuration of the management device 200 according to the second embodiment is not limited to such an example. The functional configuration of the management device 200 according to the second embodiment can be flexibly modified according to specifications and operations.

[Processing procedure of the information processing system according to the second embodiment]
Next, the procedure of the information processing system 1 according to the second embodiment will be described with reference to FIG. FIG. 10 is a sequence diagram showing an example of the processing procedure of the information processing system 1 according to the second embodiment. The processing procedure shown in FIG. 10 is realized by executing a program by the control unit 130 of the information processing device 100 and the control unit 230 of the management device 200.

As shown in FIG. 10, the management device 200 provides the condition information 122 and the change information 123 to the information processing device 100 (step S201). On the other hand, the information processing device 100 stores the condition information 122 and the change information 123 received from the management device 200 via the communication unit 110 in the storage unit 120 (step S101).

The management device 200 sets the upload of detection information (step S210). For example, the management device 200 generates setting information indicating the type, timing, and the like of the detection information to be uploaded to the information processing device 100. The management device 200 transmits the setting information to the information processing device 100 via the communication unit 210.

When the information processing device 100 receives the setting information, it starts uploading the detection information of the on-board device 530 (step S110). For example, the information processing device 100 recognizes the detection information of the on-board device 530 to be uploaded based on the received setting information. When the on-board device 530 detects the detection information indicated by the setting information, the information processing device 100 starts a process of transmitting the detection information to the management device 200 via the communication unit 110. As a result, the information processing device 100 starts uploading the detection information required by the management device 200.

The management device 200 stores the detection information uploaded by the information processing device 100 in the storage unit 220 (step S211). For example, the management device 200 stores the detection information and the uploaded information indicating the information processing device 100 in the storage unit 220 in association with each other. The management device 200 generates the dynamic map 300 (step S212). The management device 200 generates or updates the additional information 320 based on the traffic information, the traffic regulation information, and the like received via the communication unit 210, and associates the additional information 320 with the geospatial information 310 to associate the dynamic map 300 with the geospatial information 310. To generate. For example, the management device 200 may acquire and generate information about the dynamic map 300 or the dynamic map 300 provided by the server or the like. By executing the process of step S202 in the management device 200, the control unit 230 functions as the generation unit 231.

The management device 200 detects the occurrence of an event related to the moving body 500 based on the dynamic map 300 and the detection information (step S213). For example, when at least one of the additional information 320 and the detection information of the dynamic map 300 satisfies the condition information 122, the management device 200 stores information in the storage unit 220 indicating that an event corresponding to the condition has been detected. Remember. For example, the management device 200 stores in the storage unit 220 information indicating that the occurrence of an event is not detected when the additional information 320 and the detection information of the dynamic map 300 do not satisfy the condition of the condition information 122. In the management device 200, the control unit 230 functions as the detection unit 233 by executing the process of step S213.

The management device 200 determines whether or not the occurrence of an event has been detected based on the result of the process in step S213 (step S214). When the management device 200 determines that the occurrence of the event has been detected (Yes in step S214), the management device 200 proceeds to the process in step S215. The management device 200 requests the information processing device 100 to change the parameters (step S215). For example, the management device 200 generates request information including information on the detected event and the change request, and transmits the request information to the information processing device 100 to be requested via the communication unit 210 to obtain a parameter. Request a change.

The information processing device 100 changes the parameter settings of the on-board device 530 to the parameters according to the event in response to the reception of the request information (step S111). For example, the information processing apparatus 100 identifies the parameter corresponding to the event indicated by the received request information from the change information 123 based on the change information 123, and sets the parameter of the on-board device 530 so as to set the parameter. change. As a result, the on-board device 530 gives priority to the detection of the target according to the event based on the changed parameter. In the information processing device 100, the control unit 130 functions as the setting unit 132 by executing the process of step S111.

The information processing device 100 transmits the parameter change result to the management device 200 (step S112). For example, the information processing device 100 transmits information indicating a parameter change result to the management device 200 via the communication unit 110. After that, the information processing device 100 controls the operation of the moving body 500 based on the detection result of the on-board device 530 that operates with the changed parameters, for example.

The management device 200 stores the received information indicating the change result in the storage unit 220 via the communication unit 210 (step S216). As a result, the management device 200 can confirm the parameters changed by the information processing device 100, so that the change result can be reflected in the change information 123. Then, the management device 200 continues the process of detecting the occurrence of an event, for example.

Further, when the management device 200 determines that the occurrence of the event has not been detected (No in step S214), the management device 200 does not request the information processing device 100 to change the parameter, and continues, for example, a process of detecting the occurrence of the event. To do.

As described above, in the information processing system 1 according to the second embodiment, the management device 200 detects the occurrence of an event based on the condition information 122, the dynamic map 300, and the detection information of the on-board device 530. When the management device 200 detects the occurrence of an event, the information processing system 1 requests the information processing device 100 to change the parameters. In the information processing system 1, the information processing device 100 changes the parameter settings of the on-board device 530 to the parameters according to the event in response to the request of the management device 200. As a result, when the management device 200 detects the occurrence of various events using the dynamic map 300, the information processing system 1 can change the operation of the on-board device 530 suitable for the detected event. As a result, the information processing system 1 efficiently operates the environment information acquisition unit in a state suitable for the environment in response to various events detected by using the dynamic map 300, so that the environment information required by the mobile body 500 is appropriate. And it can be acquired efficiently. Since the information processing system 1 can efficiently operate the mounting device 530 mounted on the mobile body 500 in response to various events, various mounting devices 530 can be mounted on the mobile body 500. Further, the on-board device 530 can detect the detection information based on the changed parameter and provide the detection information to the mobile body 500. The mobile body 500 can operate according to a plan created based on the detection information.

Note that the above-mentioned second embodiment shows an example, and various modifications and applications are possible. The information processing system 1 of the second embodiment may be applied to other embodiments and the like.

For example, the information processing system 1 according to the second embodiment may be configured such that the information processing device 100 and the management device 200 detect the occurrence of an event. For example, the information processing system 1 according to the second embodiment may be configured such that the information processing device 100 and the management device 200 detect the occurrence of different events.

(Third Embodiment)
[Configuration example of the information processing system according to the third embodiment]
Next, a third embodiment will be described. FIG. 11 is a diagram for explaining an example of realizing the information processing method according to the third embodiment. As shown in FIG. 11, the information processing system 1 includes an information processing device 100 mounted on the mobile body 500, a management device 200 for managing a plurality of mobile bodies 500, and a roadside machine 700. The roadside unit 700 is, for example, an electronic device provided outside the mobile body 500 and capable of communicating with the mobile body 500. That is, the roadside machine 700 is an example of an external device provided outside the moving body 500. The roadside machine 700 is provided as an infrastructure on, for example, roads, intersections, traffic lights, parking lots, and the like. For example, the roadside machine 700 has a configuration capable of exchanging various information with and from an unspecified number of moving bodies 500 approaching.

In the third embodiment, the case where the information processing device 100 has the configuration of the information processing device 100 according to the second embodiment shown in FIG. 8 will be described. The case where the management device 200 has the configuration of the management device 200 according to the second embodiment shown in FIG. 9 will be described. That is, the information processing device 100 and the management device 200 according to the third embodiment can be realized by changing the destination to which various information is exchanged.

[Structure example of roadside machine according to the third embodiment]
FIG. 12 is a configuration diagram showing an example of the configuration of the roadside machine 700 according to the third embodiment. As shown in FIG. 12, the roadside unit 700 includes a communication unit 710, a storage unit 720, a control unit 730, and a sensor unit 740.

The communication unit 710 supports the above-mentioned communication protocol and has a function of communicating with, for example, the management device 200, the information processing device 100 of the mobile body 500, the base station, and the like. The communication unit 710 outputs the data received from the information processing device 100 to the control unit 230, and transmits the data from the control unit 230 to the information processing device 100. The communication unit 710 outputs the data received from the management device 200 to the control unit 730, and transmits the data from the control unit 730 to the management device 200.

The storage unit 720 is realized by, for example, a semiconductor memory element such as a RAM or a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 720 stores various information such as parameter information 121, condition information 122, and change information 123, for example. For example, the storage unit 720 may store the condition information 122 and the change information 123 by classifying them into vehicle types, preferences, and the like. The storage unit 720 stores the dynamic map 300 provided by the management device 200.

The control unit 730 is, for example, a dedicated or general-purpose computer. The control unit 730 controls the operation of the roadside machine 700. The control unit 730 includes a detection unit 731, a change request unit 732, and a setting unit 733. Each function unit of the detection unit 731, the change request unit 732, and the setting unit 733 is realized by, for example, the CPU, MPU, or the like executing a program stored inside the roadside machine 700 with the RAM or the like as a work area. To. Further, each functional unit may be realized by an integrated circuit such as an ASIC or FPGA.

The detection unit 731 has a function of detecting the occurrence of a preset event based on the dynamic map 300. For example, when the additional information 320 of the dynamic map 300 satisfies the condition information 122, the detection unit 731 detects the occurrence of an event corresponding to the condition. For example, the detection unit 731 does not detect the occurrence of an event when the additional information 320 of the dynamic map 300 does not satisfy the condition of the condition information 122. When the detection result of the on-board device 530 acquired from the information processing device 100 satisfies the condition information 122, the detection unit 731 detects the occurrence of an event corresponding to the condition. That is, the detection unit 731 can detect the occurrence of an event based on at least one of the detection results of the dynamic map 300 and the on-board device 530 and the condition information 122. Then, the detection unit 731 supplies the detection result to the change request unit 732.

The change request unit 732 requests the setting unit 132 of the information processing device 100 to change the parameters according to the event detected by the detection unit 731. The change request unit 732 requests a parameter change, for example, by transmitting request information including information on the detected event and the change request to the information processing apparatus 100. The change request unit 732 may include information indicating the setting of the parameter to be changed in the request information. The change request unit 732 requests, for example, a preset information processing device 100, an information processing device 100 that is a source of detection information used for detecting the occurrence of an event, and the like to change parameters.

The setting unit 733 sets the parameters of the sensor unit (environmental information acquisition unit) 740 according to the event detected by the detection unit 731. That is, when the detection unit 731 detects the occurrence of an event, the setting unit 733 changes the parameter setting of the sensor unit 740 to the parameter corresponding to the event. For example, the setting unit 733 identifies the parameter corresponding to the event based on the change information 123, and changes the setting of the parameter. The setting unit 733 reflects the changed result in the parameter information 121.

The sensor unit 740 acquires environmental information indicating the surrounding environment of its own device. That is, the sensor unit 740 is an example of the environmental information acquisition unit. The sensor unit 740 includes various sensors such as a moving body 500, a sensor for detecting an object such as a human being, and a sensor for detecting a road surface condition. The sensor unit 740 detects the surrounding environment according to the changeable parameter of the parameter information 121. The parameters include, for example, parameters such as a detection range, a sensor to be used, and the number of sensors. The sensor unit 740 acquires, for example, environmental information of a position that is difficult for the driver, the moving body 500, or the like to detect. The sensor unit 740 supplies, for example, environmental information indicating the surrounding environment of the own device to the control unit 730. Then, the control unit 730 provides the environmental information acquired by the sensor unit 740 to the mobile body 500 or the like via the communication unit 710.

The functional configuration example of the roadside machine 700 according to the third embodiment has been described above. The above configuration described with reference to FIG. 12 is merely an example, and the functional configuration of the roadside machine 700 according to the third embodiment is not limited to such an example. The functional configuration of the roadside machine 700 according to the third embodiment can be flexibly modified according to specifications and operations.

[Processing procedure of the information processing system according to the third embodiment]
Next, the procedure of the information processing system 1 according to the third embodiment will be described with reference to FIG. FIG. 13 is a sequence diagram showing an example of the processing procedure of the information processing system 1 according to the third embodiment. The processing procedure shown in FIG. 13 is realized by executing a program by each of the control unit 130 of the information processing device 100, the control unit 230 of the management device 200, and the control unit 730 of the roadside machine 700.

As shown in FIG. 13, the management device 200 provides the condition information 122 and the change information 123 to the roadside unit 700 (step S221). For example, the management device 200 transmits the condition information 122 and the change information 123 stored in the storage unit 220 to each of the plurality of roadside units 700 via the communication unit 210. By executing the process of step S221 in the management device 200, the control unit 230 functions as the providing unit 232.

The roadside unit 700 stores the condition information 122 and the change information 123 received from the management device 200 via the communication unit 110 in the storage unit 720 (step S311).

The management device 200 sets the upload of detection information (step S222). For example, the management device 200 generates setting information indicating the type, timing, and the like of the detection information to be uploaded to the information processing device 100. The management device 200 sets the upload of the detection information by transmitting the setting information to the information processing device 100 via the communication unit 210.

When the information processing device 100 receives the setting information, it starts uploading the detection information of the on-board device 530 (step S121). For example, the information processing device 100 recognizes the detection information of the on-board device 530 to be uploaded based on the received setting information. When the on-board device 530 detects the detection information indicated by the setting information, the information processing device 100 starts a process of transmitting the detection information to the communicable roadside device 700 via the communication unit 110. As a result, the information processing device 100 starts uploading the necessary detection information on the roadside device 700 approached by the mobile body 500.

The management device 200 generates the dynamic map 300 at a predetermined timing (step S223). For example, the management device 200 generates or updates additional information 320 based on traffic information, traffic regulation information, and the like received via the communication unit 210, and associates the additional information 320 with geospatial information to create a dynamic map. Generate 300. For example, the management device 200 may acquire and generate information about the dynamic map 300 or the dynamic map 300 provided by the server or the like. By executing the process of step S2223 in the management device 200, the control unit 230 functions as the generation unit 231.

The management device 200 provides the dynamic map 300 to the roadside machine 224 (step S224). For example, the management device 200 transmits a part or all of the generated dynamic map 300 information to each of the plurality of roadside units 700 via the communication unit 210.

The roadside machine 700 detects the occurrence of an event related to the moving body 500 based on the dynamic map 300 and the detection information (step S312). For example, when the additional information 320 and the detection information of the dynamic map 300 satisfy the condition information 122, the roadside machine 700 stores in the storage unit 720 information indicating that the occurrence of an event corresponding to the condition is detected. For example, the roadside machine 700 stores in the storage unit 720 information indicating that the occurrence of an event is not detected when the additional information 320 and the detection information of the dynamic map 300 do not satisfy the condition of the condition information 122. In the roadside machine 700, the control unit 730 functions as the detection unit 731 by executing the process of step S312.

The roadside machine 700 determines whether or not the occurrence of an event has been detected based on the result of the process in step S312 (step S313). When the roadside machine 700 determines that the occurrence of the event has been detected (Yes in step S313), the process proceeds to step S314. The roadside machine 700 requests the information processing device 100 to change the parameters (step S314). For example, the roadside unit 700 generates request information including information on the detected event and the change request, and transmits the request information to the information processing device 100 via the communication unit 710 to request the parameter change. To do. In the roadside machine 700, the control unit 730 functions as the change request unit 732 by executing the process of step S314.

The roadside machine 700 changes the parameters of the sensor unit 740 to the parameters according to the event (step S315). For example, the roadside machine 700 identifies the parameter corresponding to the event from the change information 123, and changes the parameter setting of the sensor unit 740 so as to set the parameter. As a result, the roadside machine 700 gives priority to detecting the surrounding environment according to the event based on the changed parameters. In the roadside machine 700, the control unit 730 functions as the setting unit 733 by executing the process of step S315.

The information processing device 100 changes the parameter settings of the on-board device 530 to the parameters according to the event in response to the reception of the request information (step S122). For example, the information processing device 100 identifies the parameter corresponding to the event indicated by the request information received from the roadside unit 700 from the change information 123 based on the change information 123, and sets the parameter so that the on-board device 530 is set. Change the parameter settings of. As a result, the on-board device 530 gives priority to the detection of the target according to the event based on the changed parameter. In the information processing device 100, the control unit 130 functions as the setting unit 132 by executing the process of step S122.

The information processing device 100 transmits the parameter change result to the management device 200 (step S123). For example, the information processing device 100 transmits information indicating a parameter change result to the management device 200 via the communication unit 110. The information processing device 100 may transmit the parameter change result to the roadside machine 700, and the roadside machine 700 may transfer the parameter change result to the management device 200. After that, the information processing device 100 controls the operation of the moving body 500 based on the detection result of the on-board device 530 that operates with the changed parameters, for example.

The management device 200 stores the received information indicating the change result in the storage unit 220 via the communication unit 210 (step S225). As a result, the management device 200 can confirm the parameters changed by the information processing device 100, so that the change result can be reflected in the change information 123. Then, the management device 200 continues the process of detecting the occurrence of an event, for example.

Further, when the roadside unit 700 determines that the occurrence of the event has not been detected (No in step S313), the roadside unit 700 does not request the information processing apparatus 100 to change the parameter, and continues, for example, the process of detecting the occurrence of the event. To do.

As described above, in the information processing system 1 according to the third embodiment, the roadside unit 700 detects the occurrence of an event based on the condition information 122, the dynamic map 300, and the detection information of the on-board device 530. When the roadside machine 700 detects the occurrence of an event, the information processing system 1 requests the information processing device 100 to change the parameters. In the information processing system 1, the information processing device 100 changes the parameter settings of the on-board device 530 to the parameters according to the event in response to the request of the roadside machine 700. As a result, when the roadside machine 700 detects the occurrence of various events using the dynamic map 300, the information processing system 1 can change the operation of the on-board device 530 suitable for the detected event. As a result, the information processing system 1 efficiently operates the environment information acquisition unit in a state suitable for the environment in response to various events detected by using the dynamic map 300, so that the environment information required by the mobile body 500 is appropriate. And it can be acquired efficiently. Since the information processing system 1 can efficiently operate the mounting device 530 mounted on the mobile body 500 in response to various events, various mounting devices 530 can be mounted on the mobile body 500. Further, the on-board device 530 can detect the detection information based on the changed parameter and provide the detection information to the mobile body 500. The mobile body 500 can operate according to a plan created based on the detection information.

Note that the above-mentioned third embodiment shows an example, and various modifications and applications are possible. The information processing system 1 of the third embodiment may be applied to other embodiments and the like.

For example, the information processing system 1 according to the third embodiment may be configured such that the information processing device 100, the management device 200, and the roadside machine 700 detect the occurrence of an event. For example, the information processing system 1 according to the third embodiment may be configured such that the information processing device 100, the management device 200, and the roadside device 700 detect the occurrence of different events.

For example, the information processing system 1 according to the third embodiment has described the case where the roadside unit 700 sets the parameters corresponding to the event in the sensor unit 740, but the present invention is not limited to this. For example, the information processing system 1 may be configured such that the roadside machine 700 does not change the parameter of the sensor unit 740 to the parameter corresponding to the event. In this case, the information processing system 1 may delete step S315 shown in FIG.

[Hardware configuration]
The information processing apparatus according to the present embodiment described above may be realized by, for example, a computer 1000 having a configuration as shown in FIG. Hereinafter, the information processing apparatus 100 according to the embodiment will be described as an example. FIG. 14 is a hardware configuration diagram showing an example of a computer 1000 that realizes the functions of the information processing device 100. The computer 1000 includes a CPU 1100, a RAM 1200, a ROM (Read Only Memory) 1300, an HDD (Hard Disk Drive) 1400, a communication interface 1500, and an input / output interface 1600. Each part of the computer 1000 is connected by a bus 1050.

The CPU 1100 operates based on the program stored in the ROM 1300 or the HDD 1400, and controls each part. For example, the CPU 1100 expands the program stored in the ROM 1300 or the HDD 1400 into the RAM 1200 and executes processing corresponding to various programs.

The ROM 1300 stores a boot program such as a BIOS (Basic Output Output System) executed by the CPU 1100 when the computer 1000 is started, a program depending on the hardware of the computer 1000, and the like.

The HDD 1400 is a computer-readable recording medium that non-temporarily records a program executed by the CPU 1100 and data used by the program. Specifically, the HDD 1400 is a recording medium for recording an information processing program according to the present disclosure, which is an example of program data 1450.

The communication interface 1500 is an interface for the computer 1000 to connect to an external network 1550 (for example, the Internet). For example, the CPU 1100 receives data from another device or transmits data generated by the CPU 1100 to another device via the communication interface 1500.

The input / output interface 1600 is an interface for connecting the input / output device 1650 and the computer 1000. For example, the CPU 1100 receives data from an input device such as a keyboard or mouse via the input / output interface 1600. Further, the CPU 1100 transmits data to an output device such as a display, a speaker, or a printer via the input / output interface 1600. Further, the input / output interface 1600 may function as a media interface for reading a program or the like recorded on a predetermined recording medium (media). The media is, for example, an optical recording medium such as a DVD (Digital Versaille Disc), a magneto-optical recording medium such as MO (Magnet-Optical disk), a tape medium, a magnetic recording medium, or a semiconductor memory.

For example, when the computer 1000 functions as the information processing device 100 according to the embodiment, the CPU 1100 of the computer 1000 executes the program loaded on the RAM 1200, thereby executing the detection unit 131, the setting unit 132, and the notification unit of the control unit 130. The functions of the unit 133, the planning unit 134, the operation control unit 135, the transmission unit 136, and the like are realized. Further, the HDD 1400 stores the program related to the present disclosure and the data in the storage unit 120. The CPU 1100 reads the program data 1450 from the HDD 1400 and executes the program, but as another example, these programs may be acquired from another device via the external network 1550.

Although the preferred embodiments of the present disclosure have been described in detail with reference to the accompanying drawings, the technical scope of the present disclosure is not limited to such examples. It is clear that anyone with ordinary knowledge in the technical field of the present disclosure may come up with various modifications or modifications within the scope of the technical ideas set forth in the claims. Is, of course, understood to belong to the technical scope of the present disclosure.

Further, the effects described in the present specification are merely explanatory or exemplary and are not limited. That is, the techniques according to the present disclosure may exhibit other effects apparent to those skilled in the art from the description herein, in addition to or in place of the above effects.

In addition, it is possible to create a program for causing the hardware such as the CPU, ROM, and RAM built in the computer to exhibit the same function as the configuration of the information processing device 100, and read the program recorded by the computer. Possible recording media may also be provided.

Further, each step related to the processing of the information processing system 1 of the present specification does not necessarily have to be processed in chronological order in the order described in the sequence. For example, each step related to the processing of the information processing system 1 may be processed in an order different from the order described in the sequence, or may be processed in parallel.

Further, in the present specification, the case where the information processing device 100 is realized by the electronic control unit of the mobile body 500 has been described, but the present invention is not limited to this. The information processing device 100 may be realized by, for example, another electronic control unit such as a mounting device, a communication device, a drive system control unit 510, and a body system control unit 520 mounted on the mobile body 500. In the present specification, the case where the external device is the management device 200 and the roadside machine 700 has been described, but the present invention is not limited thereto. For example, the external device includes an electronic device, a communication device, and the like provided outside the mobile body 500 and providing various information to the mobile body 500.

(effect)
The information processing system 1 has a detection unit 131 for detecting the occurrence of an event and a movement based on a dynamic map 300 in which the three-dimensional geospatial information 310 and the additional information 320 capable of supporting the traveling of the moving body 500 are associated with each other. It includes an on-board device (environmental information acquisition unit) 530 that acquires environmental information indicating the surrounding environment of the body 500, and a setting unit 132 that sets parameters of the on-board device 530 according to a detected event.

As a result, when the information processing system 1 detects the occurrence of an event based on the dynamic map 300, the parameters corresponding to the event can be set in the on-board device 530. As a result, the information processing system 1 efficiently operates the environment information acquisition unit in a state suitable for the environment in response to various events detected by using the dynamic map 300, so that the environment information required by the mobile body 500 is appropriate. And it can be acquired efficiently. Further, since the information processing system 1 can efficiently operate the on-board device 530 in response to an event, even if the mobile body 500 uses various on-board devices 530, the efficiency of the acquired environmental information can be improved. Can be done.

The information processing system 1 further includes an operation control unit 135 that generates travel control information that supports the travel of the moving body 500 based on environmental information.

As a result, the information processing system 1 can generate driving control information based on the environmental information when the on-board device 530 detects the environmental information based on the parameters changed according to the event. As a result, the information processing system 1 can realize the operation suitable for the event on the moving body 500 based on the environmental information acquired by the parameters corresponding to the event.

In the information processing system 1, the on-board device 530 is provided on the mobile body 500, and the setting unit 132 sets the parameters of the on-board device 530.

As a result, in the information processing system 1, the detection unit 131 can detect the occurrence of an event, and the setting unit 132 can change the parameter of the on-board device 530 of the mobile body 500 to the parameter corresponding to the event. As a result, since the information processing system 1 changes the parameters of the on-board device 530 in response to the occurrence of an event, the on-board device 530 of the mobile body 500 can appropriately and efficiently acquire the environmental information.

The information processing system 1 further includes a providing unit 232 that provides the detection unit 131 with condition information 122 for detecting the occurrence of an event, and the detection unit 131 generates an event based on the dynamic map 300 and the condition information 122. Is detected.

As a result, in the information processing system 1, when the providing unit 232 provides the condition information 122 to the detection unit 131, the detection unit 131 can detect the occurrence of the event indicated by the condition information 122. As a result, the information processing system 1 can change the parameters corresponding to various types of events by providing the detection side with information for detecting the occurrence of the event, so that the environment information suitable for the event can be efficiently provided. Can be obtained in.

In the information processing system 1, the providing unit 232 provides the setting unit 132 with the change information 123 for changing the parameters according to the detected event.

As a result, in the information processing system 1, the providing unit 232 can provide the change information 123 to the setting unit 132, and the setting unit 132 can change the parameters of the on-board device 530 based on the change information 123. As a result, the information processing system 1 can be changed to parameters suitable for various types of events, so that the efficiency of the acquired environmental information can be further improved.

In the information processing system 1, the detection unit 131 detects the occurrence of an event based on the environmental information acquired by the on-board device 530.

As a result, the information processing system 1 allows the detection unit 131 to detect the occurrence of an event based on the environmental information of the on-board device 530. As a result, the information processing system 1 can increase the types of events to be detected by detecting the occurrence of events based on the dynamic map 300 and the environmental information of the on-board device 530. Efficiency can be further improved.

The information processing system 1 further includes an external device provided outside the mobile body 500, and the detection unit 233 is provided in the external device and notifies the setting unit 132 that the occurrence of an event is detected based on the dynamic map 300. Notice.

As a result, the information processing system 1 can detect the occurrence of an event outside the mobile body 500 based on the dynamic map 300, and notify the setting unit 132 of the mobile body 500 that the occurrence of the event has been detected. .. As a result, the information processing system 1 does not need to detect the occurrence of an event in the mobile body 500, so that the processing load on the mobile body 500 side can be reduced and environmental information can be efficiently acquired in response to various events. Can be done.

In the information processing system 1, the external device requests the communication unit 210 capable of communicating with the mobile body 500 and the setting unit 132 of the mobile body 500 to change the parameters according to the event detected by the detection unit 233 of the external device. A change requesting unit 234 and a change requesting unit 234 are provided.

As a result, the information processing system 1 detects the occurrence of an event in the external device of the mobile body 500 based on the dynamic map 300, and changes the parameters according to the event detected by the change request unit 234 of the mobile body 500. It can be requested to the setting unit 132. As a result, the information processing system 1 does not need to detect the occurrence of an event in the mobile body 500, so that the processing load on the mobile body 500 side can be reduced and environmental information can be efficiently acquired in response to various events. Can be done.

In the information processing system 1, the detection unit 233 acquires the detection information detected by the on-board device 530 mounted on the mobile body 500, and detects the occurrence of an event based on the detection information.

As a result, the information processing system 1 can detect the occurrence of an event based on the detection information of the on-board device 530 by the external detection unit 233 of the mobile body 500. As a result, the information processing system 1 detects the occurrence of an event outside the mobile body 500 based on the detection information of the dynamic map 300 and the on-board device 530, without increasing the processing load on the mobile body 500 side. , It is possible to efficiently acquire environmental information by increasing the types of events to be detected.

In the information processing system 1, the external device is a device provided in the infrastructure, and the change requesting the setting unit 132 of the mobile body 500 to change the parameters according to the event detected by the detection unit 731 of the external device. A request unit 732 is further provided.

As a result, the information processing system 1 detects the occurrence of an event in the infrastructure outside the mobile body 500 based on the dynamic map 300, and changes the parameters according to the event detected by the change request unit 732 to the mobile body. It can be requested to the setting unit 132 of 500. As a result, the information processing system 1 does not need to detect the occurrence of an event in the mobile body 500, so that the processing load on the mobile body 500 side can be reduced and environmental information can be efficiently acquired in response to various events. Can be done.

In the information processing system 1, the external device includes a sensor unit 740 that detects the surrounding environment of the own device, and the setting unit 733 sets the parameters of the sensor unit 740 according to the detected event.

As a result, in the information processing system 1, an external device outside the mobile body 500 can set the parameters of the sensor unit 740 in response to an event. As a result, the information processing system 1 can operate the sensor unit 740 of the external device with the parameters corresponding to the event, so that the external device can acquire the surrounding environment suitable for the event.

The information processing system 1 further includes a generation unit 231 that generates a dynamic map 300 including real-time additional information 320, and the detection unit 131 detects the occurrence of an event based on the dynamic map 300 generated by the generation unit 231.

As a result, when the information processing system 1 generates the dynamic map 300 including the real-time additional information 320, the detection unit 131 can detect the occurrence of the event based on the dynamic map 300. As a result, the information processing system 1 can set parameters suitable for the event generated outside the mobile body 500, so that the environment information suitable for the event can be acquired.

In the information system 1, the event includes at least one of traffic jam, accident, construction, traffic regulation, railroad crossing, emergency vehicle, weather change, and earthquake.

As a result, the information processing system 1 can detect the occurrence of at least one event such as traffic jam, accident, construction, traffic regulation, railroad crossing, emergency vehicle, weather change, and earthquake. As a result, the information processing system 1 can efficiently acquire environmental information in response to at least one event of traffic jam, accident, construction, traffic regulation, railroad crossing, emergency vehicle, weather change, and earthquake.

The information processing system 1 further includes a notification unit 133 that notifies the result of changing the parameters of the on-board device 530 by the setting unit 132.

As a result, the information processing system 1 can reflect the change result in the change information 123 by reporting the parameter change result to, for example, the moving body 500, the outside of the moving body 500, or the like by the notification unit 133. .. As a result, the information processing system 1 can efficiently acquire environmental information with parameters suitable for various events.

The information processing method is based on a dynamic map 300 in which the information processing device 100 mounted on the mobile body 500 associates the three-dimensional geospatial information 310 with the additional information 320 capable of supporting the traveling of the mobile body 500. This includes detecting the occurrence of an event, acquiring environmental information indicating the surrounding environment of the moving body 500 by the on-board device 530, and setting parameters of the on-board device 530 according to the detected event.

As a result, when the information processing method detects the occurrence of an event based on the dynamic map 300, the parameters corresponding to the event can be set in the on-board device 530. As a result, the information processing system 1 efficiently operates the environment information acquisition unit in a state suitable for the environment in response to various events detected by using the dynamic map 300, so that the environment information required by the mobile body 500 is appropriate. And it can be acquired efficiently. Further, since the information processing method can efficiently operate the on-board device 530 in response to an event, it is possible to improve the efficiency of the acquired environmental information even if the mobile body 500 uses various on-board devices 530. it can.

The information processing device 100 detects the occurrence of a preset event based on the dynamic map 300 in which the three-dimensional geospatial information 310 and the additional information 320 capable of supporting the traveling of the moving body are associated with each other. And a setting unit 132 for setting parameters of the on-board device 530 that acquires environmental information indicating the surrounding environment of the moving body 500 according to the detected event.

As a result, when the information processing device 100 detects the occurrence of an event based on the dynamic map 300, the parameter of the on-board device 530 can be changed to the parameter corresponding to the event. The information processing device 100 can operate the mobile body 500 based on the detection information of the on-board device 530 whose parameters have been changed. As a result, the information processing apparatus 100 efficiently operates the environmental information acquisition unit in a state suitable for the environment in response to various events detected by using the dynamic map 300, so that the environmental information required by the mobile body 500 is appropriate. And it can be acquired efficiently. Further, since the information processing device 100 can efficiently operate the mounted device 530 in response to an event, even if the mobile body 500 uses various mounted devices 530, the efficiency of the acquired environmental information can be improved. Can be done.

The following configurations also belong to the technical scope of the present disclosure.
(1)
A detector that detects the occurrence of an event based on a dynamic map that associates three-dimensional geospatial information with additional information that can support the movement of a moving object.
An environmental information acquisition unit that acquires environmental information indicating the surrounding environment of the moving object, and
A setting unit that sets the parameters of the environment information acquisition unit according to the detected event, and a setting unit.
Information processing system equipped with.
(2)
The information processing system according to (1) above, further comprising an operation control unit that generates travel control information that supports the travel of the moving body based on the environmental information.
(3)
The environmental information acquisition unit is a mounting device provided on the mobile body, and is a mounting device.
The information processing system according to (1) or (2), wherein the setting unit sets parameters of the on-board device.
(4)
A providing unit that provides the detection unit with condition information for detecting the occurrence of the event is further provided.
The information processing system according to any one of (1) to (3), wherein the detection unit detects the occurrence of the event based on the dynamic map and the condition information.
(5)
The information processing system according to (4), wherein the providing unit provides the setting unit with change information for changing to the parameter according to the detected event.
(6)
The information processing system according to (5), wherein the detection unit detects the occurrence of the event based on the environmental information acquired by the environmental information acquisition unit.
(7)
An external device provided outside the moving body is further provided.
The information processing system according to (3), wherein the detection unit is provided in the external device and notifies the setting unit that the occurrence of the event has been detected based on the dynamic map.
(8)
The external device is
A communication unit capable of communicating with the mobile body,
The information processing system according to (7), further comprising a change requesting unit that requests the setting unit of the moving body to change to the parameter in response to the event detected by the detecting unit of the external device.
(9)
The information processing system according to (8), wherein the detection unit acquires detection information detected by the mounting device mounted on the moving body and detects the occurrence of the event based on the detection information.
(10)
The external device is a device provided in the infrastructure.
The information processing system according to (7), further comprising a change requesting unit that requests the setting unit of the moving body to change to the parameter in response to the event detected by the detecting unit of the external device.
(11)
The external device includes a sensor unit that detects the surrounding environment of the own device.
The information processing system according to (10), wherein the setting unit sets parameters of the sensor unit according to the detected event.
(12)
It further includes a generator that generates the dynamic map containing the additional information in real time.
The information processing system according to any one of (1) to (11), wherein the detection unit detects the occurrence of the event based on the dynamic map generated by the generation unit.
(13)
The information processing system according to any one of (1) to (12) above, wherein the event includes at least one of traffic jam, accident, construction, traffic regulation, railroad crossing, emergency vehicle, weather change, and earthquake.
(14)
The information processing system according to any one of (1) to (13), further comprising a notification unit in which the setting unit notifies the result of changing the parameter of the environment information acquisition unit.
(15)
The information processing device mounted on the mobile body
Detecting the occurrence of an event based on a dynamic map in which three-dimensional geospatial information and additional information capable of assisting the traveling of the moving object are associated with each other.
Acquiring environmental information indicating the surrounding environment of the moving object by the environmental information acquisition unit,
Setting the parameters of the environmental information acquisition unit according to the detected event,
Information processing methods including.
(16)
A detector that detects the occurrence of an event based on a dynamic map that associates three-dimensional geospatial information with additional information that can support the movement of a moving object.
A setting unit that sets parameters of the environment information acquisition unit that acquires environment information indicating the surrounding environment of the moving body according to the detected event, and a setting unit.
Information processing device equipped with.
(17)
On the computer
Detecting the occurrence of an event based on a dynamic map that associates three-dimensional geospatial information with additional information that can assist the movement of a moving object.
To set the parameters of the environment information acquisition unit that acquires the environment information indicating the surrounding environment of the moving body according to the detected event.
Controlling the operation of the moving body based on the environmental information,
A program that executes.
(18)
A detector that detects the occurrence of an event based on a dynamic map that associates three-dimensional geospatial information with additional information that can support the movement of a moving object.
An on-board device that acquires environmental information indicating the surrounding environment of the moving body, and
A setting unit that sets the parameters of the on-board device according to the detected event, and
An operation control unit that controls the operation of the moving body based on the environmental information,
A mobile body equipped with.

1 Information processing system 100 Information processing device 110 Communication unit 120 Storage unit 121 Parameter information 122 Condition information 123 Change information 130 Control unit 131 Detection unit 132 Setting unit 133 Notification unit 134 Planning unit 135 Operation control unit 136 Transmission unit 200 Management device 210 Communication Unit 220 Storage unit 230 Control unit 231 Generation unit 232 Providing unit 233 Detection unit 234 Change request unit 300 Dynamic map 500 Mobile device 530 On-board device (environmental information acquisition unit)
700 Roadside unit 710 Communication unit 720 Storage unit 730 Control unit 731 Detection unit 732 Change request unit 733 Setting unit 740 Sensor unit (environmental information acquisition unit)

Claims

A detector that detects the occurrence of an event based on a dynamic map that associates three-dimensional geospatial information with additional information that can support the movement of a moving object.
An environmental information acquisition unit that acquires environmental information indicating the surrounding environment of the moving object, and
A setting unit that sets the parameters of the environment information acquisition unit according to the detected event, and a setting unit.
Information processing system equipped with.
The information processing system according to claim 1, further comprising an motion control unit that generates travel control information that supports the travel of the moving body based on the environmental information.
The environmental information acquisition unit is a mounting device provided on the mobile body, and is a mounting device.
The information processing system according to claim 2, wherein the setting unit sets parameters of the on-board device.
A providing unit that provides the detection unit with condition information for detecting the occurrence of the event is further provided.
The information processing system according to claim 3, wherein the detection unit detects the occurrence of the event based on the dynamic map and the condition information.
The information processing system according to claim 4, wherein the providing unit provides the setting unit with change information for changing to the parameter according to the detected event.
The information processing system according to claim 5, wherein the detection unit detects the occurrence of the event based on the environmental information acquired by the environmental information acquisition unit.
An external device provided outside the moving body is further provided.
The information processing system according to claim 3, wherein the detection unit is provided in the external device and notifies the setting unit that the occurrence of the event has been detected based on the dynamic map.
The external device is
A communication unit capable of communicating with the mobile body,
The information processing system according to claim 7, further comprising a change requesting unit that requests the setting unit of the moving body to change to the parameter in response to the event detected by the detecting unit of the external device.
The information processing system according to claim 8, wherein the detection unit acquires detection information detected by the mounting device mounted on the moving body, and detects the occurrence of the event based on the detection information.
The external device is a device provided in the infrastructure.
The information processing system according to claim 7, further comprising a change requesting unit that requests the setting unit of the moving body to change to the parameter in response to the event detected by the detecting unit of the external device.
The external device includes a sensor unit that detects the surrounding environment of the own device.
The information processing system according to claim 10, wherein the setting unit sets parameters of the sensor unit according to the detected event.
It further includes a generator that generates the dynamic map containing the additional information in real time.
The information processing system according to claim 2, wherein the detection unit detects the occurrence of the event based on the dynamic map generated by the generation unit.
The information processing system according to claim 2, wherein the event includes at least one of traffic jam, accident, construction, traffic regulation, railroad crossing, emergency vehicle, weather change, and earthquake.
The information processing system according to claim 2, further comprising a notification unit in which the setting unit notifies the result of changing the parameter of the environment information acquisition unit.
The information processing device mounted on the mobile body
Detecting the occurrence of an event based on a dynamic map in which three-dimensional geospatial information and additional information capable of assisting the traveling of the moving object are associated with each other.
Acquiring environmental information indicating the surrounding environment of the moving object by the environmental information acquisition unit,
Setting the parameters of the environmental information acquisition unit according to the detected event,
Information processing methods including.
A detector that detects the occurrence of an event based on a dynamic map that associates three-dimensional geospatial information with additional information that can support the movement of a moving object.
A setting unit that sets parameters of the environment information acquisition unit that acquires environment information indicating the surrounding environment of the moving body according to the detected event, and a setting unit.
Information processing device equipped with.