WO2021161671A1 - 情報処理方法、情報処理システム及び情報処理装置 - Google Patents

情報処理方法、情報処理システム及び情報処理装置 Download PDF

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Publication number
WO2021161671A1
WO2021161671A1 PCT/JP2020/048205 JP2020048205W WO2021161671A1 WO 2021161671 A1 WO2021161671 A1 WO 2021161671A1 JP 2020048205 W JP2020048205 W JP 2020048205W WO 2021161671 A1 WO2021161671 A1 WO 2021161671A1
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Prior art keywords
processing result
preprocessing
processing
result
autonomous
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English (en)
French (fr)
Japanese (ja)
Inventor
元嗣 穴吹
本田　義雅
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Panasonic Intellectual Property Management Co Ltd
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Panasonic Intellectual Property Management Co Ltd
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Priority to EP20918381.3A priority Critical patent/EP4105907B1/en
Priority to CN202080031968.4A priority patent/CN113785340B/zh
Priority to EP24210364.6A priority patent/EP4477489A3/en
Priority to CN202411391334.6A priority patent/CN118968797A/zh
Priority to JP2022500254A priority patent/JP7692152B2/ja
Publication of WO2021161671A1 publication Critical patent/WO2021161671A1/ja
Priority to US17/510,957 priority patent/US11866065B2/en
Anticipated expiration legal-status Critical
Priority to US18/517,234 priority patent/US12195039B2/en
Priority to JP2025061740A priority patent/JP7811748B2/ja
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

Definitions

  • This disclosure relates to an information processing method, an information processing system, and an information processing device related to the autonomous movement of an autonomous mobile body.
  • Patent Documents 1 and 2 propose a method for improving safety by multiplexing systems such as a power supply, a detection function, and a control function in an autonomous driving vehicle.
  • the present disclosure provides an information processing method and the like that can improve the performance of autonomous movement.
  • the information processing method is an information processing method to be executed by a computer, the first processing result which is the result of the first preprocessing which is the preprocessing of the traveling control processing in the autonomous movement processing of the autonomous moving body, and the above-mentioned.
  • the sensing data acquired by the autonomous moving body is acquired from the autonomous moving body, and based on the sensing data, the second preprocessing, which is a preprocessing higher than the first preprocessing, is executed to acquire the second processing result.
  • the difference between the first processing result and the second processing result is determined, and a change instruction for changing the first processing result to the third processing result is output to the autonomous moving body according to the determined difference.
  • the third processing result is obtained based on at least one of the first processing result and the second processing result.
  • a recording medium such as a system, method, integrated circuit, computer program or computer-readable CD-ROM, and the system, method, integrated circuit, computer program. And any combination of recording media may be realized.
  • the performance of autonomous movement can be improved.
  • FIG. 1 is a block diagram showing an example of an autonomous driving vehicle and a remote autonomous driving server according to the first embodiment.
  • FIG. 2 is a flowchart showing an example of the information processing method according to the first embodiment.
  • FIG. 3 is a flowchart showing another example of the information processing method according to the first embodiment.
  • FIG. 4 is a block diagram showing an example of an autonomous driving vehicle, a remote automatic driving server, and a remote processing management server according to a modified example of the first embodiment.
  • FIG. 5 is a flowchart showing an example of an information processing method according to a modified example of the first embodiment.
  • FIG. 6 is a block diagram showing an example of the autonomous driving vehicle and the remote autonomous driving server according to the second embodiment.
  • FIG. 7 is a flowchart showing an example of the operation of the autonomous driving vehicle according to the second embodiment.
  • FIG. 8 is a block diagram showing an example of an autonomous driving vehicle, a remote automatic driving server, and a remote processing management server according to a modified example of the second embodiment.
  • FIG. 9 is a flowchart showing an example of the operation of the autonomous driving vehicle according to the modified example of the second embodiment.
  • FIG. 10 is a flowchart showing an example of an information processing method according to a modification common to each embodiment.
  • the information processing method is an information processing method to be executed by a computer, and is a first process which is a result of a first preprocess which is a preprocess of a travel control process in the autonomous movement process of an autonomous moving body.
  • the result and the sensing data acquired by the autonomous moving body are acquired from the autonomous moving body, and the second preprocessing, which is a preprocessing higher than the first preprocessing, is executed based on the sensing data to perform the second processing.
  • the second preprocessing which is more advanced than the first preprocessing, is executed on the server or the like, and the difference between the first processing result, which is the result of the first preprocessing, and the second processing result, which is the result of the second preprocessing, is determined. NS. Then, according to the difference, the first processing result, which is the result of the first preprocessing, which is the preprocessing of the traveling control processing of the autonomous moving body, is based on the second processing result, which is the result of the advanced second preprocessing.
  • a change instruction to be changed to the processing result is output to the autonomous mobile body.
  • a change instruction for changing the first processing result to a third processing result obtained by correcting or restricting the first processing result is output to the autonomous moving body according to the difference.
  • the third processing result which is higher than the first processing result, is used for the traveling control processing of the autonomous moving body, so that the performance of the autonomous movement can be improved.
  • the first pre-processing is executed using the first resource
  • the second pre-processing is executed using the second resource
  • the first resource and the second resource are different resources. May be good.
  • the second preprocessing which is more advanced than the first preprocessing, may be executed using a second resource different from the first resource used for executing the first preprocessing. Therefore, the second preprocessing can be processed with higher accuracy, higher speed, or lower delay than the first preprocessing.
  • the first preprocessing is executed by using the first algorithm
  • the second preprocessing is executed by using the second algorithm
  • the first algorithm and the second algorithm are different algorithms. May be good.
  • the second preprocessing which is more advanced than the first preprocessing, may be executed by using a second algorithm different from the first algorithm used for executing the first preprocessing. Therefore, the second preprocessing enables higher accuracy, higher speed, lower delay, or more multifunctional processing than the first preprocessing.
  • first pre-processing and the second pre-processing may include a recognition process for recognizing the environment in which the autonomous mobile body is placed.
  • each pre-processing may include the recognition processing, and the result of the recognition processing may be used for the traveling control processing of the autonomous moving body. Therefore, the safety or comfort of the autonomous mobile body can be improved.
  • first pre-processing and the second pre-processing may include a traveling determination process of the autonomous moving body.
  • each pre-processing may include the traveling determination processing of the autonomous moving body, and the result of the traveling determination processing of the autonomous moving body may be used for the traveling control processing of the autonomous moving body. Therefore, the safety or comfort of the autonomous mobile body can be improved.
  • the third processing result may be the second processing result.
  • the second processing result which is the result of the second preprocessing, which is more advanced than the first preprocessing, is used for the traveling control processing of the autonomous moving body, the performance of the autonomous movement can be improved.
  • the third processing result may be obtained by correcting the first processing result based on the difference.
  • the third processing result obtained by correcting the first processing result based on the difference between the second processing result and the first processing result, which is the result of the second preprocessing which is more advanced than the first preprocessing. Is used to control the running of an autonomous moving body, so that the performance of autonomous moving can be improved.
  • the second pre-processing is executed to acquire the second processing result, and the change instruction is given autonomously as a response to the request. It may be output to a moving body.
  • the second preprocessing can be executed at the timing when the autonomous mobile body requests the execution of the advanced second preprocessing.
  • the request may include information that specifies a specific process of the second preprocess, execute the specific process, and acquire the result of the second process.
  • the request when the request is received, it is determined whether or not to execute the second preprocessing, and when it is determined that the second preprocessing is not executed, the request may be rejected or ignored.
  • the determination of whether or not to execute the second preprocessing is determined by at least the resource possessed by the autonomous mobile body, the moving state of the autonomous mobile body, the external environment of the autonomous mobile body, the time, and the response time to the request. It may be done based on one.
  • the second preprocessing is executed depending on the resources of the autonomous mobile, the moving state of the autonomous mobile, the external environment of the autonomous mobile, the time, or the response time to the request.
  • the second preprocessing is executed and the result of the third processing is used to perform the autonomous mobile. Even if the travel control process is performed, the performance of autonomous movement may not be improved. In such cases, the request can be rejected or ignored.
  • the information processing system is an information processing system capable of communicating with an autonomous moving body, and is the result of a first preprocessing which is a preprocessing of traveling control processing in the autonomous movement of the autonomous moving body.
  • the first processing result and the sensing data acquired by the autonomous moving body are acquired from the autonomous moving body, and the second preprocessing, which is a higher preprocessing than the first preprocessing, is executed based on the sensing data.
  • a change instruction is given to acquire the second processing result, determine the difference between the first processing result and the second processing result, and change the first processing result to the third processing result according to the determined difference. It is output to the autonomous moving body, and the third processing result is obtained based on at least one of the first processing result and the second processing result.
  • the information processing device is an information processing device mounted on an autonomous moving body, and executes a first preprocessing which is a preprocessing of traveling control processing in the autonomous operation of the autonomous moving body.
  • the first processing result is acquired, the sensing data acquired by the autonomous moving body is output to an external device, and the second preprocessing, which is a higher preprocessing than the first preprocessing, is executed based on the sensing data.
  • the second processing result obtained is obtained from the external device, the difference between the first processing result and the second processing result is determined, and the first processing result is obtained according to the determined difference. It is changed to 3 processing results, and the 3rd processing result is obtained based on at least one of the 1st processing result and the 2nd processing result.
  • the second preprocessing which is more advanced than the first preprocessing, is executed by an external device such as a server with less power consumption, and the second processing result, which is the result of the second preprocessing, is transmitted to the autonomous driving vehicle, and the first preprocessing
  • the first processing result which is the result of the first preprocessing, which is the preprocessing of the traveling control processing of the autonomous moving body, is based on the second processing result, which is the result of the advanced second preprocessing. 3 It is changed to the processing result.
  • the first processing result is changed to the third processing result obtained by correcting or restricting the first processing result.
  • the third processing result which is higher than the first processing result, is used for the traveling control processing of the autonomous moving body, so that the performance of the autonomous movement can be improved.
  • the request for execution of the second preprocessing may be output to the external device, and the result of the second processing may be acquired as a response to the request.
  • the external device can execute the second preprocessing.
  • the request is made to the outside based on at least one of the resources of the autonomous mobile, the moving state of the autonomous mobile, the external environment of the autonomous mobile, the time, and the response time to an inquiry to the external device. It may be output to the device of.
  • the second preprocessing may be executed to improve the performance of autonomous movement.
  • a request can be output when the situation is such that the performance of autonomous movement can be improved.
  • the request includes information for designating a specific process of the second preprocess
  • the second process result may be a result obtained by executing the specific process
  • a specific process desired by the autonomous mobile body can be specified from the second pre-process, and an external device can selectively execute the specific process.
  • the second processing result is acquired after a predetermined time or more has elapsed from the output of the sensing data or the output of the request, (A) the determination of the difference is not executed, or (B) the first processing result.
  • the difference between a part of the processing results and the processing result corresponding to the part of the second processing result is determined, and according to the determined difference, the first processing result
  • the processing result of the part of the above may be changed to the third processing result.
  • the processing load of the information processing apparatus can be reduced by not executing the difference determination or by executing the difference determination only for some processing results that are not affected by the delay. Can be done.
  • FIG. 1 is a block diagram showing an example of an autonomous driving vehicle (specifically, an information processing device 20 mounted on the autonomous driving vehicle) and a remote automatic driving server 10 according to the first embodiment.
  • an autonomous driving vehicle specifically, an information processing device 20 mounted on the autonomous driving vehicle
  • a remote automatic driving server 10 according to the first embodiment.
  • An autonomous vehicle is, for example, a vehicle that can be driven automatically without a human being performing a driving operation.
  • Self-driving cars are equipped with sensors such as cameras, thermography, radar, LiDAR (Light Detection and Ringing), sonar, GPS (Global Positioning System) or IMU (Inertial Measurement Unit), and recognize the surrounding environment, etc. It can run autonomously.
  • the self-driving car is an example of an autonomous mobile body.
  • the autonomous mobile body may be a mobile robot, a flying object such as a drone, or a ship.
  • the remote automatic driving server 10 can wirelessly communicate with the automatic driving vehicle and remotely control the automatic driving of the automatic driving vehicle.
  • Autonomous driving is an example of autonomous movement.
  • the self-driving car is equipped with an information processing device 20.
  • the information processing device 20 is a computer including a processor, a memory, a communication interface, and the like.
  • the memory is a ROM (Read Only Memory), a RAM (Random Access Memory), or the like, and can store a program executed by the processor.
  • the information processing device 20 includes a sensing data acquisition unit 21, a sensing data transmission unit 22, a vehicle automatic driving system 23, a first processing result transmission unit 24, a processing result change unit 25, a communication confirmation unit 26, and a travel restriction unit 27.
  • the sensing data acquisition unit 21, the sensing data transmission unit 22, the vehicle automatic driving system 23, the first processing result transmission unit 24, the processing result change unit 25, the communication confirmation unit 26, and the travel restriction unit 27 use the programs stored in the memory. It is realized by the processor that executes it.
  • the sensing data acquisition unit 21 acquires sensing data from sensors such as a camera, thermography, radar, LiDAR, sonar, GPS, or IMU provided in the autonomous driving vehicle.
  • the sensing data acquisition unit 21 may acquire sensing data from a sensor installed in another vehicle, a traffic light, or the like.
  • the sensing data transmission unit 22 transmits the sensing data acquired by the sensing data acquisition unit 21 to the remote automatic operation server 10.
  • the sensing data transmission unit 22 transmits the sensing data to the remote automatic operation server 10 via, for example, a communication interface included in the information processing device 20.
  • the sensing data transmission unit 22 can transmit sensing data with low delay by using, for example, a data compression technology and a high-speed transmission technology such as 5G.
  • the vehicle automatic driving system 23 executes the first preprocessing, which is the preprocessing of the traveling control processing in the automatic driving processing of the autonomous driving vehicle, and the first processing result.
  • the first processing result is the result of the first preprocessing.
  • the pre-processing includes a recognition process or a driving determination process of an autonomous vehicle.
  • the recognition process includes a process of recognizing the environment in which the autonomous vehicle is placed.
  • the environment includes self-position, surrounding objects, road surface conditions, weather, or road conditions.
  • the pre-processing includes self-position estimation processing of the autonomous driving vehicle, detection processing of objects around the autonomous driving vehicle, movement prediction processing of objects around the autonomous driving vehicle, traveling judgment processing of the autonomous driving vehicle, or driving judgment processing of the autonomous driving vehicle.
  • routes planning processing for autonomous vehicles includes a recognition result or a driving determination result of an autonomous vehicle.
  • the processing results include the estimation result of the self-position of the self-driving car, the detection result of the object around the self-driving car, the movement prediction result of the object around the self-driving car, the driving judgment result of the self-driving car, or the driving judgment result of the self-driving car.
  • route planning results for autonomous vehicles includes route planning results for autonomous vehicles.
  • the first processing result transmission unit 24 transmits the first processing result, which is the result of the first preprocessing executed by the vehicle automatic driving system 23, to the remote automatic driving server 10.
  • the first processing result transmission unit 24 transmits the first processing result to the remote automatic operation server 10 via, for example, a communication interface included in the information processing device 20.
  • the sensing data transmission unit 22 may transmit only the sensing data used when the vehicle automatic driving system 23 executes the first preprocessing, or the vehicle automatic driving system 23 executes the first preprocessing. In addition to the sensing data used at that time, sensing data not used when executing the first preprocessing (for example, high-resolution sensing data that cannot be handled by the vehicle automatic driving system 23) may be transmitted.
  • the processing result changing unit 25 changes the first processing result to the third processing result based on the change instruction received from the remote automatic operation server 10. That is, the processing result changing unit 25 changes the first processing result to the third processing result, so that the third processing result is replaced with the first processing result that should have been originally used for the traveling control of the autonomous driving vehicle. Will be used.
  • the communication confirmation unit 26 confirms the communication status of wireless communication between the autonomous driving vehicle and the remote autonomous driving server 10. For example, the communication confirmation unit 26 transmits an inquiry to the remote automatic operation server 10 via a communication interface or the like provided in the information processing device 20, and confirms the communication status according to a response to the inquiry. Specifically, the communication confirmation unit 26 can determine that the communication is not connected when there is no response to the inquiry, and can determine that the communication delay has occurred when there is a delay in the response to the inquiry. When the communication confirmation unit 26 determines that the communication connection is not established or that a communication delay has occurred, the communication confirmation unit 26 notifies the travel restriction unit 27 of a travel restriction instruction for restricting the travel.
  • the travel restriction unit 27 restricts the travel of the autonomous vehicle based on the travel restriction instruction. Specifically, the traveling restriction unit 27 decelerates or stops the self-driving car and expands the avoidance margin. As a result, even if the communication between the autonomous driving vehicle and the remote autonomous driving server 10 is interrupted, the safety of the autonomous driving vehicle can be ensured.
  • the remote automatic operation server 10 is a computer including a processor, a memory, a communication interface, and the like.
  • the remote automatic driving server 10 is an example of an information processing system capable of wireless communication with an automatic driving vehicle.
  • the memory is a ROM, RAM, or the like, and can store a program executed by the processor.
  • the remote automatic operation server 10 includes a sensing data acquisition unit 11, a pseudo automatic operation system 12, a first processing result acquisition unit 13, a difference determination unit 14, and a change instruction output unit 15.
  • the sensing data acquisition unit 11, the pseudo-automatic operation system 12, the first processing result acquisition unit 13, the difference determination unit 14, and the change instruction output unit 15 are realized by a processor or the like that executes a program stored in the memory.
  • the components constituting the remote automatic operation server 10 may be distributed and arranged in a plurality of servers.
  • the sensing data acquisition unit 11 acquires the sensing data acquired by the autonomous driving vehicle from the autonomous driving vehicle.
  • the sensing data acquisition unit 11 acquires the sensing data transmitted from the autonomous driving vehicle and received via the communication interface or the like provided in the remote autonomous driving server 10.
  • the pseudo-autonomous driving system 12 executes the second pre-processing, which is the pre-processing of the traveling control processing in the automatic driving of the autonomous driving vehicle, based on the sensing data acquired by the sensing data acquisition unit 11, and acquires the second processing result. do.
  • the second pretreatment is a higher pretreatment than the first pretreatment.
  • the pseudo-autonomous driving system 12 may perform the second preprocessing using the learning model.
  • the second processing result is the result of the second preprocessing.
  • the resources used in the vehicle automatic driving system 23 are reduced, and the algorithm is reduced in calculation amount.
  • the resource is the processing amount or processing speed of the processor, the memory capacity, the electric power, or the like.
  • the remote automatic operation server 10 has few restrictions on cost, power consumption, space, and the like. Therefore, it is possible to increase the resources used in the pseudo-autonomous driving system 12 and increase the amount of calculation of the algorithm. Therefore, the second pre-processing executed by the remote automatic driving server 10 can be made more advanced than the first pre-processing executed by the information processing device 20 mounted on the autonomous driving vehicle.
  • the first preprocessing is executed using the first resource (for example, a small resource in the autonomous driving vehicle), and the second preprocessing is the second resource different from the first resource (for example, a large resource in the remote autonomous driving server 10).
  • the second preprocessing can be made a higher preprocessing than the first preprocessing. That is, the second resource is more abundant than the first resource.
  • the first preprocessing is executed by using the first algorithm (for example, an algorithm that can handle a small amount of calculation in an autonomous vehicle), and the second preprocessing is a second algorithm (for example, an algorithm different from the first algorithm).
  • the second pre-processing can be made more advanced than the first pre-processing by being executed by using (for example, an algorithm having a large amount of calculation that can be handled by the remote automatic driving server 10). That is, the second algorithm is more sophisticated than the first algorithm.
  • the first preprocessing may be executed using both the first resource and the first algorithm, and the second preprocessing may be executed using both the second resource and the second algorithm.
  • the first processing result acquisition unit 13 acquires the first processing result from the autonomous driving vehicle.
  • the first processing result acquisition unit 13 acquires the first processing result transmitted from the autonomous driving vehicle and received via the communication interface or the like provided in the remote autonomous driving server 10.
  • the difference determination unit 14 determines the difference between the first processing result acquired by the first processing result acquisition unit 13 and the second processing result acquired by the pseudo-automatic operation system 12. The details of the operation of the difference determination unit 14 will be described later.
  • the change instruction output unit 15 outputs a change instruction for changing the first processing result to the third processing result to the autonomous driving vehicle according to the difference determined by the difference determination unit 14. That is, the change instruction output unit 15 instructs the autonomous driving vehicle to change the first processing result to the third processing result, so that the first processing vehicle should have been originally used for the traveling control of the autonomous driving vehicle.
  • the third processing result will be used instead of the processing result. A specific example of the third processing result will be described later.
  • FIG. 2 is a flowchart showing an example of the information processing method according to the first embodiment.
  • the information processing method according to the first embodiment is a method executed by a computer (specifically, a processor) included in the remote automatic driving server 10. Therefore, FIG. 2 is also a flowchart showing the operation of the remote automatic operation server 10.
  • the remote automatic driving server 10 uses the first processing result, which is the result of the first preprocessing, which is the preprocessing of the traveling control processing in the automatic driving process of the autonomous driving vehicle, and the sensing data acquired by the autonomous driving vehicle. Obtained from (step S11). For example, the remote autonomous driving server 10 acquires the detection process by the autonomous driving vehicle performing detection processing of obstacles around the autonomous driving vehicle (for example, detection of the number of obstacles or detection of the position of obstacles) from sensing data. Get the result. Further, for example, the remote autonomous driving server 10 acquires the estimation processing result acquired by the autonomous driving vehicle performing the estimation processing of the position of the autonomous driving vehicle from the sensing data. Further, for example, the remote autonomous driving server 10 acquires the driving judgment processing result acquired by the autonomous driving vehicle performing the driving judgment processing (for example, determining whether to continue or stop) from the sensing data. do.
  • the remote autonomous driving server 10 acquires the detection process by the autonomous driving vehicle performing detection processing of obstacles around the autonomous driving vehicle (for example, detection of the number of obstacles or detection of the position
  • the remote automatic operation server 10 executes the second preprocessing, which is a preprocessing higher than the first preprocessing, based on the sensing data, and acquires the second processing result (step S12).
  • the remote automatic driving server 10 performs detection processing of obstacles around the autonomous driving vehicle (for example, detection of the number of obstacles or detection of the position of obstacles) from the sensing data, and acquires the detection processing result.
  • the remote automatic driving server 10 performs estimation processing of the position of the automatic driving vehicle from the sensing data and acquires the estimation processing result.
  • the remote automatic driving server 10 performs a traveling determination process (for example, determination of whether to continue or stop the traveling) of the autonomous driving vehicle from the sensing data, and acquires the traveling determination processing result.
  • the remote automatic operation server 10 determines whether or not there is a processing delay in the second preprocessing (step S13). For example, in the remote automatic operation server 10, the resource occupancy rate for the second preprocessing may be high and a processing delay may occur in the second preprocessing.
  • the remote automatic driving server 10 When there is a processing delay in the second preprocessing (Yes in step S13), the remote automatic driving server 10 outputs an instruction for restricting the traveling of the autonomous driving vehicle (step S14). For example, it is preferable that the driving control of the autonomous driving vehicle is performed without delay as much as possible from the timing when the sensing data is acquired. If it takes time to perform driving control using the result of preprocessing after the sensing data is acquired, the autonomous vehicle will move significantly from the point where the sensing data was acquired, and it will be executed based on the sensing data. This is because the result of the preprocessing to be performed may not be valid at the current position of the autonomous driving vehicle deviated from the point where the sensing data was acquired.
  • the remote automatic driving server 10 outputs an instruction for restricting the traveling of the automatic driving vehicle to the automatic driving vehicle.
  • the instruction for restricting the traveling of the self-driving car is, for example, an instruction for decelerating or stopping the self-driving car or increasing the avoidance margin.
  • the remote autonomous driving server 10 may notify the autonomous driving vehicle of an alert when there is a processing delay in the second preprocessing.
  • the remote automatic operation server 10 determines the difference between the first processing result and the second processing result when there is no processing delay in the second preprocessing (No in step S13) (step S15). For example, the remote automatic operation server 10 determines the difference between the number of obstacles indicated by the first processing result and the number of obstacles indicated by the second processing result. Further, for example, in the remote automatic operation server 10, the difference between the position of the obstacle indicated by the first processing result and the position of the obstacle indicated by the second processing result (for example, the position of the obstacle indicated by the second processing result is correct). The RMS (Root Mean Square) error value of the position of the obstacle indicated by the first processing result) is determined.
  • RMS Room Mean Square
  • the difference between the position of the autonomous driving vehicle indicated by the first processing result and the position of the autonomous driving vehicle indicated by the second processing result (for example, the position of the autonomous driving vehicle indicated by the second processing result).
  • the RMS error value of the position of the self-driving car indicated by the first processing result when is correct) is determined.
  • the difference between the traveling determination processing result of the autonomous driving vehicle indicated by the first processing result and the traveling determination processing result of the autonomous driving vehicle indicated by the second processing result (for example, the first in a certain period of time).
  • the number of times that the travel determination processing result indicated by the processing result and the travel determination processing result indicated by the second processing result are different from each other) is determined. It should be noted that these are merely exemplified as an example of determining the difference, and are not limited to these.
  • the remote automatic operation server 10 determines whether or not the determined difference satisfies a predetermined condition (step S16).
  • the predetermined condition is, for example, a condition relating to the magnitude of the determined difference.
  • the remote automatic operation server 10 determines whether or not the number of obstacles indicated by the first processing result and the number of obstacles indicated by the second processing result are different. Further, for example, the remote automatic operation server 10 determines whether or not the RMS error value is equal to or greater than a predetermined threshold value. Further, for example, in the remote automatic driving server 10, the number of times that the travel judgment processing result indicated by the first processing result and the traveling determination processing result indicated by the second processing result are different in a certain period is equal to or more than a predetermined threshold value. Judge whether or not. It should be noted that these are merely exemplified as an example of predetermined conditions, and are not limited to these.
  • the remote automatic driving server 10 When the determined difference satisfies a predetermined condition (Yes in step S16), the remote automatic driving server 10 outputs a change instruction for changing the first processing result to the third processing result to the automatic driving vehicle (step S17). ..
  • a predetermined condition for example, when the number of obstacles indicated by the first processing result and the number of obstacles indicated by the second processing result are different, the RMS error value is equal to or greater than the predetermined threshold value. In this case, the number of times that the travel determination processing result indicated by the first processing result and the travel determination processing result indicated by the second processing result are different from each other in a certain period is equal to or greater than a predetermined threshold value.
  • the third processing result is obtained based on at least one of the first processing result and the second processing result. Since the second processing result is the result of the advanced second preprocessing, the third processing result, which is the result of the processing based on the second processing result, is the advanced processing result.
  • the third processing result may be the second processing result.
  • the first processing result is not used for the driving control of the autonomous driving vehicle
  • the second processing result which is the result of the advanced second preprocessing
  • the third processing result may be obtained by correcting the first processing result based on the determined difference.
  • the first processing result is not used for the traveling control of the autonomous driving vehicle, and the first processing result is corrected based on the difference between the second processing result and the first processing result, which are the results of the advanced second preprocessing.
  • the result (that is, the corrected first processing result) is used for the traveling control of the autonomous driving vehicle, and the performance of the autonomous driving can be improved.
  • the remote autonomous driving server 10 may output an instruction for restricting the traveling of the autonomous driving vehicle when the determined difference satisfies a predetermined condition (Yes in step S16). Further, in this case, the remote automatic driving server 10 may notify the remote observer or the occupant of the automatic driving vehicle of the abnormality.
  • the remote automatic driving server 10 does not output the above change instruction to the automatic driving vehicle when the determined difference does not satisfy the predetermined condition (No in step S16) (step S18).
  • the determined difference does not satisfy the predetermined condition
  • the predetermined condition for example, when the number of obstacles indicated by the first processing result and the number of obstacles indicated by the second processing result are the same, the RMS error value is less than the predetermined threshold value.
  • the number of times that the travel determination processing result indicated by the first processing result and the travel determination processing result indicated by the second processing result are different in a certain period is less than a predetermined threshold value.
  • the first processing result is not inferior to the second processing result, and the autonomous driving vehicle uses the first processing result which is not inferior to the second processing result without receiving the change instruction.
  • the first processing result is automatically operated. It can be used for driving control of a car.
  • the autonomous vehicle may ignore the received change instruction and restrict the running of the autonomous vehicle.
  • the autonomous driving vehicle cannot effectively utilize the third processing result even if the first processing result is changed to the third processing result, and the autonomous driving vehicle cannot be effectively used. This is because there is a risk of a dangerous situation.
  • the sensing data acquired by the autonomous driving vehicle is easily affected by the weather, and even if the vehicle automatic driving system 23 executes the first preprocessing using the sensing data affected by the weather, the correct first processing result is obtained. It may not be obtained. For example, when the weather is rainy or cloudy and the visibility around the self-driving car is poor, there is a possibility that obstacles existing around the self-driving car cannot be recognized correctly. Therefore, it may be determined whether or not the weather is suitable for automatic driving by the vehicle automatic driving system 23. This will be described with reference to FIG.
  • FIG. 3 is a flowchart showing another example of the information processing method according to the first embodiment.
  • step S19 is added.
  • Other points that is, steps S11 to S18 are the same as those shown in FIG. 2, and thus the description thereof will be omitted.
  • the remote automatic driving server 10 determines whether or not the weather is suitable for automatic driving by the vehicle automatic driving system 23 when there is no processing delay in the second preprocessing (No in step S13) (step S19). For example, when the weather is fine, it is determined that the weather is suitable for automatic driving by the vehicle automatic driving system 23, and when the weather is rainy or cloudy, it is determined that the weather is not suitable for automatic driving by the vehicle automatic driving system 23. Will be done.
  • the remote automatic driving server 10 determines the difference between the first processing result and the second processing result in step S15, and the like.
  • the change instruction is output without performing (step S17). This is because if the weather is not suitable for automatic driving by the vehicle automatic driving system 23, it is assumed that the first processing result will be inferior to the second processing result even if the difference is not determined. ..
  • the remote automatic driving server 10 When the weather is suitable for automatic driving by the vehicle automatic driving system 23 (Yes in step S19), the remote automatic driving server 10 performs the processes after step S15 as described in FIG. If the weather is suitable for automatic driving by the vehicle automatic driving system 23, the first processing result may not be inferior to the second processing result, and a difference is determined and a change instruction is output. This is because it is better to decide whether or not to do it.
  • the first executed in the autonomous driving vehicle (specifically, the information processing device 20 mounted on the autonomous driving vehicle) in which the computers that can be installed are limited from the viewpoints of cost, power consumption, space, and the like.
  • the remote automatic driving server 10 with less restrictions on cost, power consumption, space, etc. executes the second pre-processing, which is more advanced than the first pre-processing, and is the result of the first pre-processing. The difference between the processing result and the second processing result, which is the result of the second preprocessing, is determined.
  • the first processing result which is the result of the first preprocessing, which is the preprocessing of the traveling control processing of the autonomous driving vehicle
  • the second processing result which is the result of the advanced second preprocessing.
  • a change instruction to be changed to the processing result is output to the autonomous driving vehicle.
  • a change instruction for changing the first processing result to a third processing result obtained by correcting or restricting the first processing result is output to the autonomous driving vehicle according to the difference.
  • the third processing result which is more advanced than the first processing result, is used for the traveling control processing of the autonomous driving vehicle, so that the performance of the automatic driving can be improved. For example, by improving the performance of autonomous driving, it is possible to expand the travelable area of the autonomous driving vehicle.
  • FIG. 4 is a block showing an example of an autonomous driving vehicle (specifically, an information processing device 20a mounted on the autonomous driving vehicle), a remote automatic driving server 10a, and a remote processing management server 30 according to a modified example of the first embodiment. It is a figure.
  • the information processing device 20a further includes a remote processing requesting unit 28, and instead of the sensing data acquisition unit 21, the sensing data transmission unit 22, and the first processing result transmission unit 24, the sensing data acquisition unit 21a, the sensing data transmission unit 22a, and the first It is different from the information processing apparatus 20 in the first embodiment in that one processing result transmission unit 24a is provided. Since the other points are the same as those in the information processing apparatus 20, the description thereof will be omitted.
  • the remote processing request unit 28 is realized by a processor or the like that executes a program stored in the memory like other components.
  • the remote processing request unit 28 outputs a request for execution of the second preprocessing to the remote automatic operation server 10a via the remote processing management server 30.
  • the remote processing management unit 31 of the remote processing management server 30 receives the above request and receives a plurality of remote automatic operation servers. Inquires 10a whether or not the second preprocessing can be executed, and selects the remote automatic operation server 10a capable of executing the second preprocessing from a plurality of remote automatic operation servers 10a according to the result of the inquiry. do.
  • the remote processing management unit 31 notifies the automatic driving vehicle of the selected remote automatic driving server 10a.
  • the remote processing request unit 28 instructs the sensing data acquisition unit 21a to acquire the sensing data, and instructs the sensing data transmission unit 22a to transmit the sensing data to the selected remote automatic operation server 10a. 1 Instructs the processing result transmission unit 24a to transmit the first processing result to the selected remote automatic operation server 10a.
  • the sensing data acquisition unit 21a acquires the sensing data by the sensor provided in the autonomous driving vehicle by receiving an instruction from the remote processing request unit 28. Other points regarding the sensing data acquisition unit 21a are the same as those of the sensing data acquisition unit 21, and thus the description thereof will be omitted.
  • the sensing data transmission unit 22a transmits the sensing data acquired by the sensing data acquisition unit 21a to the selected remote automatic operation server 10a. Other points regarding the sensing data transmission unit 22a are the same as those of the sensing data transmission unit 22, and thus the description thereof will be omitted.
  • the first processing result transmission unit 24a transmits the first processing result, which is the result of the first preprocessing executed by the vehicle automatic driving system 23a, to the selected remote automatic driving server 10a.
  • the other points regarding the first processing result transmitting unit 24a are the same as those of the first processing result transmitting unit 24, and thus the description thereof will be omitted.
  • the remote automatic operation server 10a further includes a request acquisition unit 16 and a second preprocessing execution determination unit 17, and instead of the sensing data acquisition unit 11 and the pseudo automatic operation system 12, the sensing data acquisition unit 11a and the pseudo automatic operation system 12a are used. It is different from the remote automatic operation server 10 in the first embodiment in that it is provided. Since the other points are the same as those in the remote automatic operation server 10, the description thereof will be omitted.
  • the request acquisition unit 16 and the second preprocessing execution determination unit 17 are realized by a processor or the like that executes a program stored in the memory in the same manner as other components.
  • the request acquisition unit 16 acquires a request for execution of the second preprocessing from the autonomous driving vehicle. For example, the request acquisition unit 16 acquires a request for execution of the second preprocessing from the autonomous driving vehicle via the remote processing management server 30.
  • the second pre-processing execution determination unit 17 determines whether or not to execute the second pre-processing when receiving a request. For example, the second pre-processing execution determination unit 17 may determine whether or not to execute the second pre-processing based on the task status or the resource status of the remote automatic operation server 10a. For example, when many tasks are executed or resources are low in the remote automatic operation server 10a, it is determined that the second preprocessing is not executed. Further, for example, the second pre-processing execution determination unit 17 determines whether or not to execute the second pre-processing, the resources possessed by the self-driving car, the moving state of the self-driving car, the external environment of the self-driving car, and the time.
  • the moving state is the moving speed, acceleration, deceleration, moving direction (steering angle), etc. of the autonomous driving vehicle. For example, if the resources of the autonomous driving vehicle are insufficient, or if the autonomous driving vehicle is moving at a high vehicle speed, a large acceleration, or a large steering angle, the external environment of the autonomous driving vehicle is impaired. An environment where objects are close to each other, an environment where there are many or moving objects, an environment where the self-driving car is located in a place with heavy traffic (for example, an intersection), an environment where the surrounding light is dark, and the weather.
  • the second preprocessing is executed. Further, for example, when the resources of the autonomous driving vehicle are sufficient, when the moving state of the autonomous driving vehicle is, for example, a state where the vehicle speed is slow, a state where the acceleration is small, or a state where the steering angle is small, the external environment of the autonomous driving vehicle is changed.
  • the second preprocessing is executed depending on the resources of the self-driving car, the moving state of the self-driving car, the external environment of the self-driving car, the time or the response time to the request.
  • the second pre-processing is executed and the third processing result is used to use the self-driving car.
  • the remote automatic operation server 10a can reject or ignore the request.
  • the sensing data acquisition unit 11a acquires the sensing data when it is determined that the second preprocessing is to be executed when the request is received from the autonomous driving vehicle. Other points regarding the sensing data acquisition unit 11a are the same as those of the sensing data acquisition unit 11, and thus the description thereof will be omitted.
  • the pseudo-autonomous driving system 12a executes the second pre-processing based on the sensing data acquired by the sensing data acquisition unit 11a when it is determined to execute the second pre-processing when requested by the autonomous driving vehicle. And the second processing result is acquired.
  • Other points regarding the pseudo-automatic operation system 12a are the same as those of the pseudo-automatic operation system 12, and thus the description thereof will be omitted.
  • FIG. 5 is a flowchart showing an example of an information processing method in a modified example of the first embodiment.
  • the information processing method according to the modified example of the first embodiment is a method executed by a computer (specifically, a processor) included in the remote automatic operation server 10a. Therefore, FIG. 5 is also a flowchart showing the operation of the remote automatic operation server 10a.
  • the flowchart shown in FIG. 5 is different from the flowchart shown in FIG. 2 in that steps S21, S22 and S23 are added. Other points (that is, steps S11 to S18) are the same as those shown in FIG. 2, and thus the description thereof will be omitted.
  • the remote automatic driving server 10a determines whether or not a request for execution of the second preprocessing has been received from the automatic driving vehicle (step S21).
  • the remote automatic driving server 10a If the remote automatic driving server 10a has not received a request for execution of the second preprocessing from the automatic driving vehicle (No in step S21), the remote automatic driving server 10a repeats the processing in step S21 until the request is received.
  • the remote automatic driving server 10a determines whether or not to execute the second preprocessing (step S22).
  • the remote automatic operation server 10a determines that the second preprocessing is not executed (No in step S22)
  • the remote automatic operation server 10a rejects or ignores the request (step S23).
  • the remote processing management server 30 does not select the remote automatic operation server 10a that rejects or ignores the request as the server that executes the second preprocessing, and the second preprocessing from another remote automatic operation server 10a. Select the server on which you want to run. If all the remote autonomous driving servers 10a reject or ignore the request, the remote processing management server 30 may instruct the autonomous driving vehicle to restrict the traveling.
  • step S22 When the remote automatic operation server 10a determines that the second preprocessing is to be executed (Yes in step S22), the processing after step S11 is performed as described in FIG.
  • the request from the self-driving car may include information that specifies a specific process in the second pre-process.
  • the remote automatic operation server 10a executes a specific process in step S12 and acquires the second process result. This is because, depending on the moving state of the autonomous vehicle, the external environment, etc., it may be sufficient to determine the difference only for a specific process (for example, obstacle detection process only, driving determination process only, etc.).
  • the remote autonomous driving server 10a can selectively execute a specific process desired by, for example, an autonomous vehicle, which is designated from the second preprocess.
  • the area where obstacle detection is performed may be limited. For example, when an autonomous vehicle changes lanes, obstacle detection may be performed for the lane to which the lane is changed.
  • the remote processing management server 30 When the remote processing management server 30 receives a request from a plurality of autonomous vehicles, the remote processing management server 30 responds to the resources of each autonomous vehicle, the moving state of each autonomous vehicle, the external environment of each autonomous vehicle, the time, and the request. Self-driving cars that preferentially accept requests based on at least one response time may be selected.
  • the execution of the second preprocessing on the remote automatic driving server 10a may be started when there is a request from the automatic driving vehicle.
  • the remote automatic driving server 10a can execute the second preprocessing at the timing when the autonomous driving vehicle requests the execution of the advanced second preprocessing.
  • FIG. 6 is a block diagram showing an example of an autonomous driving vehicle (specifically, an information processing device 200 mounted on the autonomous driving vehicle) and a remote automatic driving server 100 according to the second embodiment.
  • an autonomous driving vehicle specifically, an information processing device 200 mounted on the autonomous driving vehicle
  • a remote automatic driving server 100 according to the second embodiment.
  • the remote automatic driving server 100 performs wireless communication with the automatic driving vehicle.
  • the self-driving car is equipped with an information processing device 200.
  • the information processing device 200 is a computer including a processor, a memory, a communication interface, and the like.
  • the memory is a ROM, RAM, or the like, and can store a program executed by the processor.
  • the information processing device 200 includes a sensing data acquisition unit 201, a sensing data transmission unit 202, a vehicle automatic driving system 203, a second processing result acquisition unit 204, a difference determination unit 205, a processing result change unit 206, a communication confirmation unit 207, and a travel restriction.
  • a unit 208 is provided.
  • the sensing data acquisition unit 201, the sensing data transmission unit 202, the vehicle automatic driving system 203, the second processing result acquisition unit 204, the difference determination unit 205, the processing result change unit 206, the communication confirmation unit 207, and the travel restriction unit 208 are stored in the memory. It is realized by a processor or the like that executes the stored program.
  • the functions of the sensing data acquisition unit 201, the sensing data transmission unit 202, the vehicle automatic driving system 203, the communication confirmation unit 207, and the travel restriction unit 208 are the sensing data acquisition unit 21, the sensing data transmission unit 22, and the vehicle automatic in the first embodiment. Since the functions of the operation system 23, the communication confirmation unit 26, and the travel restriction unit 27 are basically the same, the description thereof will be omitted.
  • the second processing result acquisition unit 204 acquires the second processing result obtained by executing the second preprocessing, which is a preprocessing higher than the first preprocessing, from the remote automatic operation server 100 based on the sensing data. For example, the second processing result acquisition unit 204 acquires the second processing result transmitted from the remote automatic driving server 100 and received via the communication interface or the like provided in the automatic driving vehicle.
  • the difference determination unit 205 determines the difference between the first processing result acquired by the vehicle automatic driving system 203 and the second processing result acquired by the second processing result acquisition unit 204.
  • the difference determination unit 205 in the second embodiment and the difference determination unit 14 in the first embodiment differ only in whether they are provided in the information processing device 200 or the remote automatic operation server 10. Is basically the same. Therefore, a detailed description of the difference determination unit 205 will be omitted.
  • the processing result changing unit 206 changes the first processing result to the third processing result according to the determined difference.
  • the processing result changing unit 25 has described an example in which the first processing result is changed to the third processing result in response to the change instruction from the remote automatic operation server 10.
  • the processing is performed.
  • the result changing unit 206 changes the first processing result to the third processing result according to the difference determined by the autonomous driving vehicle itself.
  • the remote automatic operation server 100 is a computer including a processor, a memory, a communication interface, and the like.
  • the remote automatic operation server 100 is an example of an external device of the information processing device 200.
  • the memory is a ROM, RAM, or the like, and can store a program executed by the processor.
  • the remote automatic operation server 100 includes a sensing data acquisition unit 101, a pseudo automatic operation system 102, and a second processing result transmission unit 103.
  • the sensing data acquisition unit 101, the pseudo-automatic operation system 102, and the second processing result transmission unit 103 are realized by a processor or the like that executes a program stored in the memory.
  • the components constituting the remote automatic operation server 100 may be distributed and arranged in a plurality of servers.
  • the functions of the sensing data acquisition unit 101 and the pseudo-automatic driving system 102 are basically the same as the functions of the sensing data acquisition unit 11 and the pseudo-automatic driving system 12 in the first embodiment, the description thereof will be omitted.
  • the second processing result transmission unit 103 transmits the second processing result, which is the result of the second preprocessing executed by the pseudo-autonomous driving system 102, to the autonomous driving vehicle.
  • the second processing result transmission unit 103 transmits the second processing result to the autonomous driving vehicle via the communication interface or the like provided in the remote autonomous driving server 100.
  • the second processing result is transmitted from the remote automatic driving server 100 to the automatic driving vehicle, and the difference between the first processing result and the second processing result is not determined by the remote automatic driving server 100, and the automatic driving is performed. It is done in the car.
  • FIG. 7 is a flowchart showing an example of the operation of the autonomous driving vehicle (specifically, the information processing device 200) according to the second embodiment.
  • the autonomous driving vehicle determines whether or not the autonomous driving vehicle is connected to the remote automatic driving server 100 by communication (step S41).
  • the autonomous driving vehicle restricts the traveling of the autonomous driving vehicle when the autonomous driving vehicle is not connected to the remote automatic driving server 100 by communication (No in step S41) (step S42).
  • the autonomous driving vehicle cannot acquire the second processing result, that is, cannot determine the difference between the first processing result and the second processing result.
  • the first processing result cannot be changed to the third processing result. Therefore, if the autonomous driving vehicle is not connected to the remote autonomous driving server 100 by communication, the autonomous driving vehicle may be in a dangerous state, so that the traveling of the autonomous driving vehicle is restricted. Therefore, even if the communication between the autonomous driving vehicle and the remote autonomous driving server 10 is interrupted, the safety can be ensured in the autonomous driving vehicle.
  • the autonomous driving vehicle is a preprocessing of the traveling control process in the automatic driving of the autonomous driving vehicle based on the sensing data. 1 Preprocessing is executed and the first processing result is acquired (step S43).
  • the autonomous driving vehicle performs detection processing of obstacles around the autonomous driving vehicle (for example, detection of the number of obstacles or detection of the position of obstacles) from the sensing data, and acquires the detection processing result.
  • the autonomous driving vehicle performs estimation processing of the position of the autonomous driving vehicle from the sensing data, and acquires the estimation processing result.
  • the autonomous driving vehicle performs a traveling determination process (for example, determination of whether to continue or stop the traveling) from the sensing data and acquires the traveling determination processing result.
  • the autonomous driving vehicle outputs the sensing data acquired by the autonomous driving vehicle to the remote automatic driving server 100 (step S44).
  • the remote automatic operation server 100 that has received the sensing data executes the second preprocessing, which is a preprocessing higher than the first preprocessing, based on the sensing data, and acquires the second processing result. Then, the remote automatic driving server 100 transmits the acquired second processing result to the automatic driving vehicle.
  • the autonomous driving vehicle determines whether or not the second processing result transmitted from the remote autonomous driving server 100 has been acquired without delay (step S45). For example, when the autonomous driving vehicle acquires the second processing result after a lapse of a predetermined time or more from the output of the sensing data or the output of the request, it determines that the second processing result could not be acquired without delay. When a communication delay occurs between the autonomous driving vehicle and the remote autonomous driving server 100, the second processing result may not be acquired without delay.
  • step S45 the self-driving car does not execute the difference determination and limits the running of the self-driving car (step S42).
  • the autonomous driving vehicle can effectively utilize the third processing result even if the first processing result is changed to the third processing result. This is because the self-driving car may be in a dangerous state.
  • step S45 determines the difference between the first processing result and the second processing result (step S46), and the determined difference is predetermined. It is determined whether or not the condition is satisfied (step S47).
  • the processing in steps S46 and S47 is the same as the processing in steps S15 and S16 described with reference to FIG. 2 except that the processing is performed by the autonomous vehicle, and thus the description thereof will be omitted.
  • the self-driving car executes a process of changing the first processing result to the third processing result (step S48). Then, the travel control process is executed using the third process result.
  • the first processing result is not used for the driving control processing of the autonomous driving vehicle, and the third processing result based on the second processing result, which is the result of the advanced second preprocessing, is used for the driving control of the autonomous driving vehicle. Therefore, the performance of automatic driving can be improved.
  • the self-driving car may restrict the running of the self-driving car when the determined difference satisfies a predetermined condition (Yes in step S47). Further, in this case, the self-driving car may notify the remote observer or the occupant of the self-driving car of the abnormality.
  • the self-driving car does not execute the above-mentioned changing process when the determined difference does not satisfy the predetermined condition (No in step S47).
  • the first processing result is not inferior to the second processing result
  • the autonomous driving vehicle does not have to change the first processing result to the third processing result
  • the second processing result is not inferior to the second processing result. It is possible to control the running of the autonomous driving vehicle by using the first processing result which is not inferior.
  • step S50 the self-driving car determines whether or not it has arrived at the destination (step S50), and if it has not arrived at the destination (No in step S50), from step S41 to step S49 until it arrives at the destination.
  • the self-driving car is stopped and the process ends.
  • the second preprocessing which is more advanced than the first preprocessing, is executed in a small number of external devices (for example, the remote automatic driving server 100), and the second processing result, which is the result of the second preprocessing, is transmitted to the autonomous driving vehicle, and the second preprocessing is performed.
  • the difference between the first processing result, which is the result of the first preprocessing, and the second processing result, which is the result of the second preprocessing, is determined in the autonomous driving vehicle.
  • the first processing result which is the result of the first preprocessing, which is the preprocessing of the traveling control processing of the autonomous driving vehicle, is based on the second processing result, which is the result of the advanced second preprocessing. 3 It is changed to the processing result.
  • the first processing result is changed to the third processing result obtained by correcting or restricting the first processing result.
  • the third processing result which is more advanced than the first processing result, is used for the traveling control processing of the autonomous driving vehicle, so that the performance of the automatic driving can be improved. For example, by improving the performance of autonomous driving, it is possible to expand the travelable area of the autonomous driving vehicle.
  • FIG. 8 is a block showing an example of an autonomous driving vehicle (specifically, an information processing device 200a mounted on the autonomous driving vehicle), a remote automatic driving server 100a, and a remote processing management server 30 according to a modified example of the second embodiment. It is a figure.
  • the second embodiment of the second embodiment is that the information processing device 200a further includes a remote processing requesting unit 210, and includes a sensing data acquisition unit 201a and a sensing data transmission unit 202a instead of the sensing data acquisition unit 201 and the sensing data transmission unit 202. It is different from the information processing device 200. Since the other points are the same as those in the information processing apparatus 200, the description thereof will be omitted.
  • the remote processing request unit 210 is realized by a processor or the like that executes a program stored in the memory in the same manner as other components.
  • the remote processing request unit 210 outputs a request for execution of the second preprocessing to the remote automatic operation server 100a via the remote processing management server 30. Since the remote processing management server 30 has basically the same functions as those in the modified example of the first embodiment, the description thereof will be omitted.
  • the remote processing requesting unit 210 is based on at least one of the resources of the autonomous vehicle, the moving state of the autonomous vehicle, the external environment of the autonomous vehicle, the time, and the response time to the inquiry to the remote autonomous driving server 100a.
  • the request may be output to the remote automatic operation server 100a.
  • the external environment of the autonomous driving vehicle is impaired. Environments where objects are close to each other, environments where there are many or moving objects, environments where self-driving cars are located in places with heavy traffic (for example, intersections), environments where the surrounding brightness is dark, weather If is a rainy or cloudy environment, the time is night time, the response time to the request is short, etc., the request is output.
  • the moving state of the autonomous driving vehicle is, for example, a state where the vehicle speed is slow, a state where the acceleration is small, or a state where the steering angle is small
  • the external environment of the autonomous driving vehicle is changed.
  • the request is not output when the environment is present, the time is daytime, or the response time to the request is long.
  • the second preprocessing is executed depending on the resources of the self-driving car, the moving state of the self-driving car, the external environment of the self-driving car, the time or the response time to the request.
  • the second pre-processing is executed and the third processing result is used to use the self-driving car.
  • the self-driving car can prevent the request from being output.
  • the second preprocessing may be executed to improve the performance of the automatic operation.
  • the self-driving car can output a request when the situation is such that the performance of the self-driving car can be improved.
  • the remote processing request unit 210 instructs the sensing data acquisition unit 201a to acquire the sensing data, and transmits the sensing data to the sensing data transmission unit 202a to the remote automatic operation server 100a selected by the remote processing management unit 31. Instruct.
  • the sensing data acquisition unit 201a acquires the sensing data by the sensor provided in the autonomous driving vehicle in response to the instruction from the remote processing request unit 210.
  • Other points regarding the sensing data acquisition unit 201a are the same as those of the sensing data acquisition unit 201, and thus the description thereof will be omitted.
  • the sensing data transmission unit 202a transmits the sensing data acquired by the sensing data acquisition unit 201a to the selected remote automatic operation server 100a. Other points regarding the sensing data transmission unit 202a are the same as those of the sensing data transmission unit 202, and thus the description thereof will be omitted.
  • the remote automatic operation server 100a further includes a request acquisition unit 104 and a second preprocessing execution determination unit 105, and replaces the sensing data acquisition unit 101 and the pseudo automatic operation system 102 with the sensing data acquisition unit 101a and the pseudo automatic operation system 102a. It is different from the remote automatic operation server 100 in the second embodiment in that it is provided. Since the other points are the same as those in the remote automatic operation server 100, the description thereof will be omitted.
  • the request acquisition unit 104 and the second preprocessing execution determination unit 105 are realized by a processor or the like that executes a program stored in the memory in the same manner as other components.
  • the request acquisition unit 104 is basically the same as the request acquisition unit 16 in the modified example of the first embodiment, the description thereof will be omitted.
  • the second pre-processing execution determination unit 105 is basically the same as the second pre-processing execution determination unit 17 in the modified example of the first embodiment, the description thereof will be omitted.
  • the sensing data acquisition unit 101a acquires the sensing data when it is determined that the second preprocessing is to be executed when the request is received from the autonomous driving vehicle. Other points regarding the sensing data acquisition unit 101a are the same as those of the sensing data acquisition unit 101, and thus the description thereof will be omitted.
  • the pseudo-autonomous driving system 102a executes the second pre-processing based on the sensing data acquired by the sensing data acquisition unit 101a when it is determined to execute the second pre-processing when requested by the autonomous driving vehicle. And the second processing result is acquired.
  • Other points regarding the pseudo-automatic operation system 102a are the same as those of the pseudo-automatic operation system 102, and thus the description thereof will be omitted.
  • step S51 is added instead of step S41.
  • Other points that is, steps S42 to S50 are the same as those shown in FIG. 7, and thus the description thereof will be omitted.
  • the autonomous vehicle outputs a request for execution of the second preprocessing to the remote autonomous driving server 100a (step S51). For example, after outputting the request, the autonomous driving vehicle receives a notification from the remote processing management server 30 indicating to which remote automatic driving server 100a the sensing data should be output as a server capable of executing the second preprocessing. Then, as a response to the request, the second processing result is acquired in step S45. If the self-driving car does not respond to the request after outputting the request, it may determine that the communication connection with the remote processing management server 30 or the like is not established and restrict the running of the self-driving car. good.
  • the request for execution of the second preprocessing may include information that specifies a specific process of the second preprocessing. This is because, depending on the moving state of the autonomous vehicle, the external environment, etc., it may be sufficient to determine the difference only for a specific process (for example, obstacle detection process only, driving determination process only, etc.).
  • the autonomous driving vehicle can specify, for example, a specific processing desired by the autonomous driving vehicle from the second preprocessing, and cause the remote automatic driving server 100a to selectively execute the specific processing.
  • the autonomous driving vehicle acquires the second processing result, which is the result obtained by executing the specific processing in steps S45 and S46, and determines the difference only in the specific processing.
  • the self-driving car proceeds to step S46 even when the second processing result is acquired after a lapse of a predetermined time or more from the output of the sensing data or the output of the request (that is, even if No in step S45).
  • the difference between the processing result of a part of the first processing result and the processing result corresponding to the part of the processing result of the second processing result may be determined.
  • the processing result of the part is a part that is not easily affected by the delay.
  • the part of the processing result is the result of the peripheral recognition processing, and the result of the peripheral recognition processing is not easily affected by the delay.
  • the result of the self-position estimation process is easily affected by the delay, it is not necessary to execute the difference determination for the process result.
  • the self-driving car may change the processing result of the part of the first processing result to the third processing result according to the determined difference.
  • the second processing result is acquired after a predetermined time or more has elapsed from the output of the sensing data or the output of the request, there is a possibility that a communication delay with the remote automatic operation server 100a has occurred.
  • the autonomous vehicle specifically, information processing
  • the processing load of the device 200a can be reduced.
  • the execution of the second preprocessing on the remote automatic driving server may be started by outputting the request from the automatic driving vehicle.
  • the second pre-processing can be executed at the timing when the autonomous driving vehicle requests the execution of the advanced second pre-processing.
  • the change instruction or change control of the preprocessing result and the traveling restriction instruction or the traveling restriction are applied to the ODD (Operating Design Domain) according to the delay and the difference. Therefore, it may be done.
  • the ODD is set with, for example, a time zone, a region, a running state (speed, acceleration, steering angle, etc.), and an environment (weather, illuminance, etc.) as elements.
  • FIG. 10 is a flowchart showing an example of an information processing method according to a modification common to each embodiment. The description of the processing substantially the same as that of each of the above embodiments will be omitted.
  • the server determines whether or not the delay correction processing is possible (step S60). Specifically, if there is a communication delay between the server and the autonomous vehicle, or if there is a processing delay as described above, can the server correct (suppress, reduce) the time lag in the processing result due to the delay? Judge whether or not. For example, it is determined whether or not the delay amount is equal to or less than the threshold value.
  • step S61 the server executes the correction process (step S61). Specifically, when the delay amount is equal to or less than the threshold value, the server executes the correction process for the second preprocessing result.
  • step S60 If there is no delay in the second pre-processing (No in step S60), or after executing the correction processing, the processing proceeds to steps S15 and S16.
  • the server determines whether or not the first ODD is satisfied (step S62).
  • the first ODD is an ODD set for automatic driving in an autonomous driving vehicle.
  • the speed is 20 km / h or less and the weather is sunny except for the intersection.
  • the server does not output the change instruction (step S18).
  • the traveling control process in the automatic driving is performed using the result of the first preprocessing executed in the autonomous driving vehicle.
  • the server determines whether or not the second ODD is satisfied (step S63).
  • the second ODD is an ODD different from the first ODD set for automatic driving in the autonomous driving vehicle.
  • the speed is 15 km / h or less, and the weather is sunny or rainy.
  • the second ODD is at least partially relaxed as compared to the first ODD.
  • communication is used, so that the item affected by the delay in the second ODD is the same as the first ODD or more severe than the first ODD.
  • step S17 the server outputs a change instruction (step S17).
  • the travel control process in the automatic operation is performed using the result of the second preprocess executed on the server or the corrected result of the first preprocess.
  • step S64 determines whether or not the second ODD is satisfied. This process is substantially the same as the process in step S63.
  • the server does not output the change instruction (step S18).
  • the reason for using the second ODD when the above difference does not satisfy the predetermined condition is that the difference between the preprocessing result in the server and the preprocessing result in the autonomous driving vehicle does not satisfy the predetermined condition. This is because of the fact. In other words, the result of preprocessing in the autonomous vehicle can be treated in the same way as the result of preprocessing in the server.
  • the server If the first ODD is not satisfied (No in step S62) or the second ODD is not satisfied (No in step S63 or S64), the server outputs a travel restriction instruction (step S14).
  • FIG. 10 shows an example in which the server determines whether or not the delay correction processing is possible, and determines the preprocessing result change instruction and the travel restriction instruction according to the ODD according to the delay and the difference.
  • the autonomous driving vehicle may determine whether or not the correction processing for the delay is possible, and execute the change control of the preprocessing result and the traveling restriction according to the ODD according to the delay and the difference.
  • the change instruction or change control of the preprocessing result may be performed depending on whether or not there is a communication failure related to the second preprocessing.
  • the communication failure is a communication data loss.
  • change instruction or change control of the preprocessing result may be performed depending on whether or not the packet loss rate is equal to or higher than the threshold value.
  • the communication failure may include the above-mentioned communication delay.
  • a change instruction or change control of the preprocessing result may be performed depending on whether or not the correction processing for the communication failure is possible. Specifically, change instruction or change control of the preprocessing result is performed depending on whether or not the data lost due to the communication data loss can be complemented. For example, change instruction or change control of the preprocessing result is performed according to the ratio at which the lost packet can be complemented.
  • the present disclosure can be realized as a program for causing a processor to execute a step included in an information processing method. Further, the present disclosure can be realized as a non-temporary computer-readable recording medium such as a CD-ROM on which the program is recorded.
  • each step is executed by executing the program using hardware resources such as a computer CPU, memory, and input / output circuit. .. That is, each step is executed when the CPU acquires data from the memory or the input / output circuit or the like and performs an operation, or outputs the calculation result to the memory or the input / output circuit or the like.
  • hardware resources such as a computer CPU, memory, and input / output circuit. .. That is, each step is executed when the CPU acquires data from the memory or the input / output circuit or the like and performs an operation, or outputs the calculation result to the memory or the input / output circuit or the like.
  • each component included in the information processing system and the information processing device is composed of dedicated hardware or is realized by executing a software program suitable for each component. good.
  • Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.
  • LSI is an integrated circuit. These may be individually integrated into one chip, or may be integrated into one chip so as to include a part or all of them. Further, the integrated circuit is not limited to the LSI, and may be realized by a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure the connection and settings of the circuit cells inside the LSI may be used.
  • FPGA Field Programmable Gate Array
  • This disclosure can be applied to a remote control system for autonomous vehicles.

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