WO2022075487A1 - Information processing method, program, information processing device - Google Patents

Information processing method, program, information processing device Download PDF

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Publication number
WO2022075487A1
WO2022075487A1 PCT/JP2021/040771 JP2021040771W WO2022075487A1 WO 2022075487 A1 WO2022075487 A1 WO 2022075487A1 JP 2021040771 W JP2021040771 W JP 2021040771W WO 2022075487 A1 WO2022075487 A1 WO 2022075487A1
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WIPO (PCT)
Prior art keywords
work
information
map data
information processing
vehicle
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PCT/JP2021/040771
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French (fr)
Japanese (ja)
Inventor
晋明 宮崎
広道 雨谷
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ダイナミックマップ基盤株式会社
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Application filed by ダイナミックマップ基盤株式会社 filed Critical ダイナミックマップ基盤株式会社
Priority to JP2022524916A priority Critical patent/JP7173508B2/en
Publication of WO2022075487A1 publication Critical patent/WO2022075487A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—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
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram

Definitions

  • the present invention relates to an information processing method, a program, and an information processing apparatus.
  • Patent Document 1 discloses a technique for discriminating an alarm condition from a positional relationship between an expected arrival point of a snowplow (blade) equipped on a snowplow and an accessible line in snow removal work on a road. ..
  • Patent Document 1 when the snowplow approaches an obstacle such as a manhole, an alarm can be given to the worker, but the worker is obstructed during snowfall or on a snow-covered road. It was difficult to confirm the position of a predetermined feature such as an object. In addition to snowplows, it has not been easy to confirm the positions of predetermined features and objects that affect work in work vehicles that work on the road.
  • the present invention provides an information processing method, a program, and an information processing apparatus capable of easily confirming the position of a predetermined feature that affects the work when working on various types of roads.
  • the purpose is.
  • the information processing method is an information processing method executed by an information processing apparatus including a processor, wherein the processor acquires map data, position information of a work vehicle, and the like. Extracting peripheral map data including the position coordinates of a predetermined feature related to the work of the work vehicle, which is peripheral map data in a predetermined area including the position information, from the map data, the peripheral to the work vehicle. Perform sending map data.
  • FIG. 1 is a diagram showing an example of a configuration of an information processing system 1 according to an embodiment of the present invention.
  • the information processing system 1 shown in FIG. 1 includes a vehicle 10 equipped with a high-precision locator, an information processing device 20, and a positioning satellite 30 used in a GNSS (Global Navigation Satellite System), which are via network N. It is possible to send and receive data to and from each other. Further, the number of vehicles 10 and information processing devices 20 may be one or more.
  • GNSS Global Navigation Satellite System
  • the work vehicle 10 is a vehicle that performs work related to the road (hereinafter, also simply referred to as "work"). Further, the work vehicle 10 is a vehicle equipped with a locator. For example, the work vehicle 10 receives a signal from the positioning satellite 30 of the GNSS using this locator and detects the position information of the own vehicle. Further, the work vehicle 10 may be, for example, a vehicle equipped with an automatic driving system and capable of automatic driving (autonomous driving). Further, the work vehicle 10 may be a vehicle specialized for each work such as a snowplow or a weeding vehicle.
  • the locator is a locator that can measure the position in lane units based on the signal from the satellite positioning system, and a known locator may be used. Further, for example, the locator can acquire the position information of the vehicle 10 in lane units by receiving the information from the quasi-zenith satellite and combining it with the three-dimensional map data described later. For example, by using a locator, the accuracy of the vehicle position can be improved to about 0.5 m or less.
  • the "position information" is information regarding the position of the work vehicle 10, and includes, for example, three-dimensional position information of latitude, longitude, and altitude, or two-dimensional position information of latitude and longitude.
  • the terminal device 15 is an information processing device mounted on the work vehicle 10.
  • the terminal device 15 may be built in the main body of the work vehicle 10 or may be externally attached.
  • the terminal device 15 may have a locator function, and may include, for example, a GNSS receiver, an inertial sensor such as a gyro sensor, and a storage device for storing map data. Further, this storage device may store, for example, work information or vehicle model information described later.
  • the terminal device 15 may be, for example, a car navigation device equipped with a car navigation system, or may be a general-purpose mobile terminal device such as a smartphone or a tablet terminal. Hereinafter, the terminal device 15 will be described as being included in the work vehicle 10.
  • the terminal device 15 displays the position of the work vehicle 10 and the position of a predetermined feature on the screen based on the map data including the surrounding map data. Further, the terminal device 15 may highlight the relationship between the position of the work vehicle 10 and the position of a predetermined feature on the screen, for example, based on the map data. This highlighting is, for example, the display color of the display of the position of the work vehicle 10 and the position of a predetermined feature, or the display of the virtual line (related line) connecting these positions, as compared with other displays. It means to change the line type, etc., and to display blinking.
  • the peripheral map data is data showing a map around the work vehicle 10, specifically, map data in a predetermined area including the position information of the work vehicle 10, and includes the position coordinates of a predetermined feature. It is map data.
  • the predetermined area may be, for example, an area within a radius of several tens of meters to several hundreds of meters with the position of the work vehicle 10 as the center.
  • the peripheral map data may be map data indicating the position of a predetermined feature located around the work vehicle 10, and the predetermined feature or the relationship between the predetermined feature and the work vehicle 10 is emphasized. It may be the map data that is displayed.
  • the predetermined feature is a feature related to the work of the work vehicle 10.
  • a predetermined feature is set for each work, for example, as shown in FIG. For example, if the work is "snow removal", "road surface obstacles” and “roadside objects” are set as predetermined features.
  • the positioning satellite 30 is a satellite that transmits a signal necessary for measuring position information.
  • the positioning satellite 30 is a satellite used for GNSS, and may include a satellite capable of transmitting a signal related to highly accurate position information (for example, a quasi-zenith satellite).
  • the information processing device 20 is, for example, a server, and acquires position information and the like of the work vehicle 10 acquired by the locator from the work vehicle 10. Further, the information processing apparatus 20 may specify the work of the work vehicle 10 or specify the work of the work vehicle 10 in order to support the work of the work vehicle 10 (hereinafter, also simply referred to as “work support”) by using the map data described below. Peripheral map data including the position coordinates of a predetermined feature is transmitted to the work vehicle 10.
  • the information processing device 20 may be composed of a plurality of information processing devices.
  • the map data used in this embodiment is, for example, high-precision three-dimensional map data used for automatic driving and the like.
  • this map data is map data called a dynamic map provided in real time to which more dynamic information such as information on surrounding vehicles and traffic information is added.
  • the map data used in this embodiment is classified into, for example, four layers.
  • FIG. 2 is a diagram showing an example of a hierarchical structure of map data according to an embodiment of the present invention.
  • the map data is classified into static information SI1, quasi-static information SI2, quasi-dynamic information MI1, and dynamic information MI2.
  • the static information SI1 is three-dimensional basic map data (three-dimensional map data), includes road surface information, lane information, three-dimensional structures, and the like, and is derived from three-dimensional position coordinates and linear vector data indicating features. It is composed.
  • the quasi-static information SI2, the quasi-dynamic information MI1 and the dynamic information MI2 are dynamic data that change from moment to moment, and are data superimposed on static information based on position information.
  • Quasi-static information SI2 includes traffic regulation information, road construction information, wide area weather information, etc.
  • the quasi-dynamic information MI1 includes accident information, traffic jam information, narrow area weather information, and the like.
  • the dynamic information MI2 includes ITS (Intelligent Transport System) information, and includes peripheral vehicles, pedestrians, signal information, and the like.
  • the HD map has a predetermined level of accuracy that can be managed on a lane-by-lane basis. For example, if the map information level used to show the accuracy of the position and height in a digitized map is used as the accuracy level, the HD map has a map information level of about 500 (equivalent scale 1/500) and It is a map having a more precise level than the map information level 500.
  • the HD map is generated based on, for example, point cloud data acquired by a laser scanner, for example, by performing three-dimensional measurement on the surrounding terrain while a measurement vehicle equipped with MMS (Mobile Mapping System) measurement is moving.
  • the HD map identifies traffic lights, road markings, road signs, lane markings, shoulder edges, roadside objects, road surface obstacles, underground buried objects, electric poles, etc. existing on the road and around the road as features from the point group data.
  • the feature data managed for each specified feature is included.
  • the feature data may include all information related to the feature, such as the feature ID, type, position, size, configuration, data generation (update) date and time, and the like.
  • the target feature when generating the feature data includes an existing real feature and a virtual feature such as a lane link generated from the existing feature.
  • the HD map is not limited to being generated based on the point cloud data obtained by MMS measurement, and may be generated by another method as long as it has the above-mentioned accuracy level.
  • the HD map may be generated based on a three-dimensional survey using an aerial laser or may be generated based on a high resolution image.
  • FIG. 3 is a diagram showing an example of the configuration of the information processing apparatus 20 according to the embodiment of the present invention.
  • the information processing device 20 is for interconnecting one or more processing units (CPU: Central Processing Unit) 210, one or more network communication interfaces 220, a storage device 230, a user interface 250, and their components. Includes one or more communication buses 270.
  • the user interface 250 is not always necessary.
  • the storage device 230 is, for example, a high-speed random access memory such as a DRAM, a SRAM, or another random access solid-state storage device. Further, the storage device 230 may be a non-volatile memory such as one or more magnetic disk storage devices, optical disk storage devices, flash memory devices, or other non-volatile solid-state storage devices. Further, the storage device 230 may be a non-temporary recording medium that can be read by a computer.
  • the storage device 230 stores programs, modules and data structures executed by the CPU 210, or a subset thereof.
  • the storage device 230 stores the data used by the information processing system 1.
  • the storage device 230 stores data related to the work of the work vehicle 10.
  • a dynamic map, an HD map, work information, vehicle type information, work feature information, and the like are stored in the storage device 230.
  • FIG. 4 is a diagram showing an example of a database according to an embodiment of the present invention.
  • the storage device 230 stores the dynamic map data as a high-precision map database.
  • the dynamic map data includes static information SI1, quasi-static information SI2, quasi-dynamic information MI1, and dynamic information MI2, and their respective information is associated with each other.
  • the static information SI1 included in the dynamic map data includes an HD map, and the HD map includes feature data.
  • This feature data is information that is basic when an application uses a dynamic map, and includes data related to features such as traffic lights, roadways, and lanes.
  • FIG. 5A is a diagram showing an example of vehicle type information according to an embodiment of the present invention.
  • the vehicle type information is information regarding the vehicle type of the work vehicle 10.
  • the vehicle type information is stored in the storage device 230, and is associated with a vehicle ID (for example, a vehicle number) for identifying the work vehicle 10, and the “vehicle type” of each work vehicle or the like. Is included.
  • FIG. 5B is a diagram showing an example of work information according to an embodiment of the present invention.
  • the work information is information about the work performed by the work vehicle 10.
  • the vehicle type information is stored in the storage device 230, and is associated with the vehicle ID for identifying the work vehicle 10, and indicates the name of the work performed by the work vehicle 10.
  • the "work date / time / work period" indicating the start date and time and the required period of the work, the "work place” where the work of the work vehicle 10 is performed, the "worker” indicating the person in charge of the work of the work vehicle 10, and the like are included.
  • the work place is indicated by an address, but it may be a position coordinate indicating an area of the work place.
  • FIG. 6 is a diagram showing an example of work feature information according to an embodiment of the present invention.
  • the work feature information is information about a predetermined feature.
  • the work feature information includes the "work name" of each work, the "vehicle type” of the work vehicle 10 used in each work, the "predetermined feature” indicating the feature related to each work, and the like. Is done.
  • the predetermined feature may include at least one of a road surface obstacle or a roadside object around the work vehicle 10.
  • the predetermined feature may further include the light of the airfield.
  • the predetermined feature may include at least one of a road surface obstacle or a roadside object around the work vehicle 10.
  • the predetermined feature may include an underground buried object around the work vehicle 10.
  • the position coordinates of the underground buried object necessary for the underground buried object investigation to the work vehicle 10 for conducting the underground buried object investigation.
  • the predetermined feature may include utility poles around the work vehicle 10.
  • the utility pole work is a work related to a utility pole, for example, confirmation of tilt of the utility pole. With this configuration, it is possible to provide the position coordinates of the utility pole required for the utility pole work to the work vehicle 10 that performs the utility pole work.
  • the predetermined feature may include a roadside feature.
  • a roadside object such as a curb necessary for the public-private boundary confirmation
  • the CPU 210 constitutes a travel management unit 212, a transmission / reception unit 213, an acquisition unit 214, an extraction unit 215, and a specific unit 216 by executing a program stored in the storage device 230.
  • the CPU 210 is configured to control the processing of each part described later and execute the processing related to the work support of the work vehicle 10.
  • the travel management unit 212 manages the travel of the work vehicle 10 using various data.
  • the travel management unit 212 manages, for example, the travel history of the work vehicle 10.
  • the transmission / reception unit 213 transmits / receives data to / from an external device via the network communication interface 220.
  • the transmission / reception unit 213 is configured as a reception unit that receives data, signals, etc. from the work vehicle 10 and each positioning satellite 30, and is also configured as a transmission unit that transmits data, signals, etc. to the work vehicle 10 and each positioning satellite 30. Will be done.
  • the transmission / reception unit 213 receives the position information acquired by the locator from the work vehicle 10. Further, the transmission / reception unit 213 transmits the peripheral map data extracted by the extraction unit 215, which will be described later, to the work vehicle 10.
  • Acquisition unit 214 acquires map data.
  • the acquisition unit 214 acquires an HD map having a map information level of 500 or higher from the storage device 230, for example.
  • the acquisition unit 214 is a work vehicle 10 output by a locator capable of measuring a highly accurate position, for example, a position in lane units (for example, a locator mounted on the work vehicle 10) based on a signal from a satellite positioning system. Get location information in order.
  • the acquisition unit 214 acquires the position information of the work vehicle 10 received by the transmission / reception unit 213 in order.
  • the acquisition unit 214 may directly acquire the position information of the work vehicle 10 via the network communication interface 220.
  • the acquisition unit 214 may acquire work information from, for example, the storage device 230 or the work vehicle 10.
  • the acquisition unit 214 may acquire vehicle type information from, for example, the storage device 230 or the work vehicle 10.
  • the acquisition unit 214 may acquire information on the license plate of the work vehicle 10 from the storage device 230 or the work vehicle 10.
  • the acquisition unit 214 may acquire work feature information from, for example, the storage device 230 or the work vehicle 10.
  • the extraction unit 215 extracts peripheral map data including the position coordinates of a predetermined feature from the map data.
  • the extraction unit 215 identifies a predetermined feature related to the work of the work vehicle 10 from, for example, the work information associated with the work name and the work feature information.
  • the extraction unit 215 extracts peripheral map data including the position coordinates of the specified predetermined feature.
  • the information processing apparatus 20 can extract peripheral map data including the position information of a predetermined feature related to the work and transmit it to the work vehicle 10. Therefore, the worker who drives the work vehicle 10 can grasp the relative positional relationship between the position of the work vehicle 10 and the position of a predetermined feature on the screen of the terminal device 15 or the like. Therefore, when working on various types of roads, the worker can easily confirm the position of a predetermined feature that affects the work. As a result, the worker can properly grasp the surrounding environment and smoothly carry out the work.
  • the extraction unit 215 may extract the surrounding map data from the map data without including the position coordinates of the features (predetermined features related only to other work) not related to the work of the work vehicle 10. For example, when the work of the work vehicle 10 is "electric pole work", the extraction unit 215 may extract the surrounding map data without including the position coordinates of the road surface obstacle which is a predetermined feature related to snow removal.
  • the position coordinates of the predetermined feature may include coordinates representing the shape of the predetermined feature included in the point cloud data of the map data such as an HD map.
  • the information processing apparatus 20 can provide the work vehicle 10 with coordinates representing the shape of a predetermined feature such as a manhole, for example, if the work is snow removal. Therefore, the snow removal worker of the work vehicle 10 can remove snow while paying attention to the predetermined feature after grasping the shape of the predetermined feature. Therefore, with the above configuration, the information processing apparatus 20 can support the work vehicle 10 that works on the road in more detail.
  • the specifying unit 216 specifies the work of the work vehicle 10 based on the work information. Further, as another example, the specifying unit 216 may specify the work of the work vehicle 10 based on the vehicle type information.
  • the specific unit 216 may specify the work of the work vehicle 10 based on the vehicle type information instead of the work information. For example, when the specific unit 216 cannot acquire vehicle type information in addition to the work information of the work vehicle 10 to be specified, the specific unit 216 determines the vehicle type of the work vehicle 10 from the information on the license plate of the work vehicle 10, and the work vehicle is based on this determination result. 10 tasks may be specified.
  • the information processing apparatus 20 can specify the work based on the work information and the vehicle type information even if the work of the work vehicle 10 is not specified in advance, and the position of the predetermined feature related to the specified work. Coordinates and the like can be provided to the work vehicle 10.
  • the specifying unit 216 may specify the working place of the work vehicle 10 based on the position information, for example. For example, when the position of the work vehicle 10 indicated by the position information is in a specific airfield, the identification unit 216 specifies the work place of the work vehicle 10 as the “airfield”.
  • FIG. 7 is a sequence diagram showing an example of the flow of processing related to the work support according to the embodiment of the present invention and the interaction between the work vehicle 10 and the device.
  • the main body of the work vehicle 10 and the terminal device 15 will be described separately.
  • the work on the target road is defined as "snow removal”, “underground buried object survey”, and “unspecified”, but the work supported by the present invention is defined as these. It is not limited to work.
  • step S10 the terminal device 15 mounted on the work vehicle 10 measures the position of the work vehicle 10 as the own vehicle position.
  • step S11 the terminal device 15 transmits the measured position information indicating the position of the work vehicle 10 to the information processing device 20.
  • step S12 the acquisition unit 214 of the information processing device 20 acquires the position information of the work vehicle 10 from the terminal device 15 of the work vehicle 10.
  • step S13 the acquisition unit 214 acquires map data from the storage device 230.
  • the acquisition unit 214 of the information processing device 20 can acquire the work information
  • the terminal device 15 and the information processing device 20 are in the upper area of the two areas separated by the dotted line of the composite fragment alt (Alternative) 1. Executes the processing of. Specifically, in step S14, the acquisition unit 214 acquires work information.
  • the identification unit 216 of the information processing apparatus 20 identifies the work of the work vehicle 10 based on the acquired work information.
  • the acquisition unit 214 of the information processing device 20 When the acquisition unit 214 of the information processing device 20 cannot acquire the work information, the terminal device 15 and the information processing device 20 execute the processing in the lower area of the two areas separated by the dotted line of the composite fragment alt1. do. Specifically, in step S16, the acquisition unit 214 acquires vehicle type information. In step S15, the identification unit 216 of the information processing apparatus 20 identifies the work of the work vehicle 10 based on the acquired vehicle type information.
  • the terminal device 15 and the information processing device 20 perform processing in the uppermost region of the three regions separated by the dotted line of the composite fragment alt2.
  • the extraction unit 215 of the information processing apparatus 20 extracts peripheral map data including at least one position coordinate of a road surface obstacle or a roadside object around the work vehicle 10 from the map data.
  • the transmission / reception unit 213 of the information processing device 20 transmits the extracted peripheral map data to the terminal device 15.
  • the terminal device 15 displays on the screen the position and shape of at least one of a road surface obstacle or a roadside object around the work vehicle 10 included in the transmitted peripheral map data.
  • the terminal device 15 and the information processing device 20 execute processing in the central area of the three areas separated by the dotted line of the composite fragment alt2. Specifically, in step 21, the extraction unit 215 of the information processing apparatus 20 extracts peripheral map data including the position coordinates of the underground buried objects around the work vehicle 10 from the map data. In step 22, the transmission / reception unit 213 of the information processing device 20 transmits the extracted peripheral map data to the terminal device 15. In step 23, the terminal device 15 displays on the screen the position and shape of the underground buried object around the work vehicle 10 included in the transmitted peripheral map data.
  • the terminal device 15 and the information processing device 20 execute the processing in the lowest area among the three areas separated by the dotted line of the composite fragment alt2.
  • the extraction unit 215 of the information processing apparatus 20 does not include the position coordinates of features such as underground buried objects and road surface obstacles around the work vehicle 10 from the map data, and the surrounding map data.
  • the transmission / reception unit 213 of the information processing device 20 transmits the extracted peripheral map data to the terminal device 15.
  • the terminal device 15 displays the transmitted peripheral map on the screen. At this time, the positions and shapes of features such as underground buried objects and road surface obstacles that were not included in the surrounding map data are not displayed.
  • the surrounding map data including the position information of the predetermined feature related to the work can be extracted and transmitted to the work vehicle 10. Therefore, the worker who drives the work vehicle 10 can use the terminal device 15.
  • the relative positional relationship between the position of the work vehicle 10 and the position of a predetermined feature can be grasped on the screen or the like. Therefore, when working on various types of roads, the worker can easily confirm the position of a predetermined feature that affects the work. Therefore, the worker can appropriately grasp the surrounding environment and can smoothly carry out the work.
  • the present invention is not limited to the above embodiment, and various modifications and changes can be made within the scope described in the claims.
  • a part of the processing may be transferred to another information processing apparatus, or a plurality of information processing apparatus may be integrated as appropriate.
  • the extraction unit 215 of the information processing apparatus 20 may extract peripheral map data including the position coordinates of a predetermined feature from the map data based on, for example, work information and meteorological information. good.
  • the weather information is information about the weather around the work vehicle 10.
  • the extraction unit 215 extracts peripheral map data including the position coordinates of a predetermined feature within a predetermined period (work period) based on the work date and time indicated by the work information, and on the other hand, outside the predetermined period, a predetermined period. Peripheral map data may be extracted without including the position coordinates of the feature of. By this processing, the position coordinates of a predetermined feature can be transmitted only for a period required for the work, so that the communication capacity and the processing load can be reduced.
  • the extraction unit 215 extracts peripheral map data including coordinates representing the shape of a predetermined feature.
  • the extraction unit 215 does not include the coordinates representing the shape of the predetermined feature, but only the position coordinates of the center position of the predetermined feature.
  • Peripheral map data including may be extracted.
  • the flying object includes, for example, an unmanned or manned flying object, a drone, and the like.
  • an information processing device 20 such as a server stores an HD map including feature data such as a lane, and the vehicle 10 transmits the position information of the own vehicle acquired by a GPS function or the like to the information processing device 20.
  • the position information acquired by the GPS function does not need to be as accurate as the position information of a highly accurate locator (for example, accuracy in lane units).
  • the information processing device 20 acquires peripheral map data of the position indicated by the position information from the HD map based on the position information acquired from the vehicle 10.
  • the information processing device 20 transmits an HD map including the acquired feature data to the vehicle 10.
  • the acquired HD map may be, for example, information within a predetermined kilometer radius centered on the position of the vehicle 10, and the predetermined kilometer may be selectable for each vehicle 10. As a result, the vehicle 10 does not need to store data having a large amount of data such as an HD map.
  • the information processing apparatus 20 may localize the position information acquired from the vehicle 10 using an HD map and calculate the position information with high accuracy.
  • the information processing apparatus 20 may transmit high-precision position information and / or a peripheral HD map based on the high-precision position information to the vehicle 10.
  • the information processing apparatus 20 may use a known technique other than the localization based on the HD map, for example, the position using the method of RTK (Real Time Kinematic).
  • the information may be highly accurate.
  • the vehicle 10 may transmit the current position information indicating the current position of the vehicle 10 and the destination position information indicating the destination to the information processing device 20.
  • the information processing apparatus 20 performs routing from the current position information to the target position information, and transmits the peripheral HD map along the routing of the current position information to the target position information and the routing information to the vehicle 10. May be good. This makes it possible for the vehicle 10 to acquire the minimum HD map required for routing.
  • the vehicle 10 may be a vehicle capable of autonomous traveling. In this case, the vehicle 10 can also automatically drive based on the routing information.
  • the information processing device 20 determines from the vehicle ID or the like that the vehicle 10 is an autonomous vehicle, the information processing device 20 includes information necessary for automatic driving (eg, feature data) in the HD map, and obtains the minimum necessary HD map. It may be transmitted to the vehicle 10. Further, the information processing device 20 may perform routing for automatic driving, such as giving priority to a road having a large vehicle width. As a result, the information processing device 20 can transmit an HD map and routing information suitable for the vehicle 10 capable of autonomous traveling. Further, the vehicle 10 may perform automatic driving control using an HD map acquired from the information processing apparatus 20 and highly accurate position information.
  • 1 Information processing system, 10 ... Vehicle, 20 ... Information processing device, 30 ... Positioning satellite, 101 ... High-precision locator, 102 ... Processor, 103 ... Various sensors, 104 ... Communication device, 210 ... CPU, 212 ... Travel management unit , 213 ... Transmission / reception unit, 214 ... Acquisition unit, 215 ... Extraction unit, 216 ... Specific unit, 230 ... Storage device, 250 ... User interface, 220 ... Network communication interface

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Abstract

This information processing method is executed by this information processing device which comprises a processor, wherein the processor executes: acquiring map data (S13); acquiring location information about a working vehicle (S12); extracting, from the map data, peripheral map data including location coordinates of a prescribed feature pertaining to work by the working vehicle, the peripheral map data including the location information in a prescribed area (S18, S21, S24); and transmitting the peripheral map data to the working vehicle (S19, S22, S25).

Description

情報処理方法、プログラム、及び情報処理装置Information processing methods, programs, and information processing equipment
　本発明は、情報処理方法、プログラム、及び情報処理装置に関する。 The present invention relates to an information processing method, a program, and an information processing apparatus.
　従来、道路で作業する作業車両の支援を行う技術がある。例えば、特許文献１には、道路の除雪作業において、除雪車に装備された排雪板（ブレード）の到達予想点と接近可能ラインとの位置関係から警報条件を判別する技術が開示されている。 Conventionally, there is a technology to support work vehicles working on the road. For example, Patent Document 1 discloses a technique for discriminating an alarm condition from a positional relationship between an expected arrival point of a snowplow (blade) equipped on a snowplow and an accessible line in snow removal work on a road. ..
特許３８５２７７９号公報Japanese Patent No. 3852779
　しかしながら、特許文献１に開示された技術では、除雪車がマンホールなどの障害物に近付くと、警報を作業者に報知することができるが、降雪中、又は積雪された道路において、作業者が障害物などの所定の地物の位置を確認することは困難であった。また、除雪車以外にも、道路で作業を行う作業車両において、作業に影響を与える所定の地物や対象物の位置を確認することは容易ではなかった。 However, according to the technique disclosed in Patent Document 1, when the snowplow approaches an obstacle such as a manhole, an alarm can be given to the worker, but the worker is obstructed during snowfall or on a snow-covered road. It was difficult to confirm the position of a predetermined feature such as an object. In addition to snowplows, it has not been easy to confirm the positions of predetermined features and objects that affect work in work vehicles that work on the road.
　そこで、本発明は、様々な種類がある道路での作業において、作業に影響を与える所定の地物の位置を容易に確認することが可能な情報処理方法、プログラム、及び情報処理装置を提供することを目的とする。 Therefore, the present invention provides an information processing method, a program, and an information processing apparatus capable of easily confirming the position of a predetermined feature that affects the work when working on various types of roads. The purpose is.
　本発明の一態様に係る情報処理方法は、プロセッサを含む情報処理装置が実行する情報処理方法であって、前記プロセッサが、地図データを取得すること、作業車両の位置情報を取得すること、前記地図データから、前記位置情報を含む所定領域内の周辺地図データであって、前記作業車両の作業に関する所定の地物の位置座標を含む周辺地図データを抽出すること、前記作業車両に、前記周辺地図データを送信すること、を実行する。 The information processing method according to one aspect of the present invention is an information processing method executed by an information processing apparatus including a processor, wherein the processor acquires map data, position information of a work vehicle, and the like. Extracting peripheral map data including the position coordinates of a predetermined feature related to the work of the work vehicle, which is peripheral map data in a predetermined area including the position information, from the map data, the peripheral to the work vehicle. Perform sending map data.
　本発明によれば、様々な種類がある道路での作業において、作業に影響を与える所定の地物の位置を容易に確認することができる。 According to the present invention, when working on various types of roads, it is possible to easily confirm the position of a predetermined feature that affects the work.
本発明の一実施形態に係る情報処理システムの構成の一例を示す図である。It is a figure which shows an example of the structure of the information processing system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る地図データの階層構造の一例を示す図である。It is a figure which shows an example of the hierarchical structure of the map data which concerns on one Embodiment of this invention. 本発明の一実施形態に係る情報処理装置の構成の一例を示す図である。It is a figure which shows an example of the structure of the information processing apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係るデータベースの一例を示す図である。It is a figure which shows an example of the database which concerns on one Embodiment of this invention. 本発明の一実施形態に係る車種情報及び作業情報の一例を示す図である。It is a figure which shows an example of the vehicle type information and work information which concerns on one Embodiment of this invention. 本発明の一実施形態に係る作業地物情報の一例を示す図である。It is a figure which shows an example of the work feature information which concerns on one Embodiment of this invention. 本発明の一実施形態に係る作業支援に関する処理の一例を示すシーケンス図である。It is a sequence diagram which shows an example of the process which concerns on the work support which concerns on one Embodiment of this invention.
　［実施形態］
　添付図面を参照して、本発明の好適な実施形態について説明する。なお、各図において、同一の符号を付したものは、同一又は同様の構成を有する。 [Embodiment]
Preferred embodiments of the present invention will be described with reference to the accompanying drawings. In each figure, those with the same reference numerals have the same or similar configurations.
　＜システムの概要＞
　図１は、本発明の一実施形態に係る情報処理システム１の構成の一例を示す図である。図１に示す情報処理システム１は、高精度ロケータを搭載する車両１０と、情報処理装置２０と、ＧＮＳＳ（Global Navigation Satellite System）において利用される測位衛星３０を含み、これらはネットワークＮを介して相互にデータの送受信をすることが可能である。また、車両１０や情報処理装置２０の数は１つ以上あってもよい。 <Overview of the system>
FIG. 1 is a diagram showing an example of a configuration of an information processing system 1 according to an embodiment of the present invention. The information processing system 1 shown in FIG. 1 includes a vehicle 10 equipped with a high-precision locator, an information processing device 20, and a positioning satellite 30 used in a GNSS (Global Navigation Satellite System), which are via network N. It is possible to send and receive data to and from each other. Further, the number of vehicles 10 and information processing devices 20 may be one or more.
　作業車両１０は、道路に関する作業（以下、単に「作業」ともいう）を行う車両である。また、作業車両１０は、ロケータを搭載する車両である。作業車両１０は、例えば、このロケータを用いてＧＮＳＳの測位衛星３０から信号を受信して自車両の位置情報を検出する。また、作業車両１０は、例えば、自動運転システムを搭載し、自動運転（自律走行）が可能な車両でもよい。また、作業車両１０は、除雪車や除草車等の各作業に特化した車両であってもよい。 The work vehicle 10 is a vehicle that performs work related to the road (hereinafter, also simply referred to as "work"). Further, the work vehicle 10 is a vehicle equipped with a locator. For example, the work vehicle 10 receives a signal from the positioning satellite 30 of the GNSS using this locator and detects the position information of the own vehicle. Further, the work vehicle 10 may be, for example, a vehicle equipped with an automatic driving system and capable of automatic driving (autonomous driving). Further, the work vehicle 10 may be a vehicle specialized for each work such as a snowplow or a weeding vehicle.
　ロケータは、衛星測位システムからの信号に基づきレーン単位での位置を測定可能なロケータであり、公知のロケータを使用すればよい。また、ロケータは、例えば、準天頂衛星からの情報を受信し、後述する３次元地図データと組み合わせることで、レーン単位での車両１０の位置情報を取得することが可能となる。例えば、ロケータを用いることで、車両位置の精度が約０．５ｍ以下に高められる。ここで「位置情報」とは、作業車両１０の位置に関する情報であり、例えば緯度、経度、高度の３次元位置情報、又は緯度、経度の２次元位置情報を含む。 The locator is a locator that can measure the position in lane units based on the signal from the satellite positioning system, and a known locator may be used. Further, for example, the locator can acquire the position information of the vehicle 10 in lane units by receiving the information from the quasi-zenith satellite and combining it with the three-dimensional map data described later. For example, by using a locator, the accuracy of the vehicle position can be improved to about 0.5 m or less. Here, the "position information" is information regarding the position of the work vehicle 10, and includes, for example, three-dimensional position information of latitude, longitude, and altitude, or two-dimensional position information of latitude and longitude.
　端末装置１５は、作業車両１０に搭載される情報処理装置である。端末装置１５は、作業車両１０の本体に内蔵されていても、外付けされていてもよい。端末装置１５は、ロケータの機能を備えてもよく、例えば、ＧＮＳＳ受信機と、ジャイロセンサ等の慣性センサと、地図データを格納する記憶装置と、を備えてもよい。また、この記憶装置は、例えば、後述の作業情報又は車種情報を格納してもよい。端末装置１５は、例えば、カーナビゲーションシステムを搭載したカーナビゲーション装置であってもよいし、スマートフォンのような汎用的な携帯端末装置やタブレット端末であってもよい。以降、端末装置１５は、作業車両１０に含まれるものとして説明する。 The terminal device 15 is an information processing device mounted on the work vehicle 10. The terminal device 15 may be built in the main body of the work vehicle 10 or may be externally attached. The terminal device 15 may have a locator function, and may include, for example, a GNSS receiver, an inertial sensor such as a gyro sensor, and a storage device for storing map data. Further, this storage device may store, for example, work information or vehicle model information described later. The terminal device 15 may be, for example, a car navigation device equipped with a car navigation system, or may be a general-purpose mobile terminal device such as a smartphone or a tablet terminal. Hereinafter, the terminal device 15 will be described as being included in the work vehicle 10.
　端末装置１５は、画面で、周辺地図データを含む地図データに基づき、作業車両１０の位置と、所定の地物の位置とを表示する。また、端末装置１５は、例えば、画面で、地図データに基づき、作業車両１０の位置と所定の地物の位置との関係を、強調表示してもよい。この強調表示とは、例えば、作業車両１０の位置及び所定の地物の位置それぞれの表示、又はこれらの位置を結ぶ仮想線（関連線）の表示について、他の表示と比較して、表示色や線種等の変更、点滅表示等を行うことをいう。 The terminal device 15 displays the position of the work vehicle 10 and the position of a predetermined feature on the screen based on the map data including the surrounding map data. Further, the terminal device 15 may highlight the relationship between the position of the work vehicle 10 and the position of a predetermined feature on the screen, for example, based on the map data. This highlighting is, for example, the display color of the display of the position of the work vehicle 10 and the position of a predetermined feature, or the display of the virtual line (related line) connecting these positions, as compared with other displays. It means to change the line type, etc., and to display blinking.
　周辺地図データとは、作業車両１０の周辺の地図を示すデータであり、具体的には、作業車両１０の位置情報を含む所定領域内の地図データであり、所定の地物の位置座標を含む地図データである。所定領域とは、例えば、作業車両１０の位置を中心として半径数十メートル～数百メートル内の領域であってもよい。また、周辺地図データは、作業車両１０の周辺に位置する所定の地物の位置を示す地図データでもよく、また、この所定の地物やこの所定の地物と作業車両１０との関係が強調されて表示される地図データでもよい。 The peripheral map data is data showing a map around the work vehicle 10, specifically, map data in a predetermined area including the position information of the work vehicle 10, and includes the position coordinates of a predetermined feature. It is map data. The predetermined area may be, for example, an area within a radius of several tens of meters to several hundreds of meters with the position of the work vehicle 10 as the center. Further, the peripheral map data may be map data indicating the position of a predetermined feature located around the work vehicle 10, and the predetermined feature or the relationship between the predetermined feature and the work vehicle 10 is emphasized. It may be the map data that is displayed.
　所定の地物とは、作業車両１０の作業に関する地物である。所定の地物は、例えば、図６に示すように、作業ごとに設定される。例えば、作業が「除雪」であれば、所定の地物は「路面障害物」および「路側物」が設定される。 The predetermined feature is a feature related to the work of the work vehicle 10. A predetermined feature is set for each work, for example, as shown in FIG. For example, if the work is "snow removal", "road surface obstacles" and "roadside objects" are set as predetermined features.
　測位衛星３０は、位置情報の計測に必要な信号を送信する衛星である。例えば、測位衛星３０は、ＧＮＳＳに用いられる衛星であり、高精度な位置情報に関する信号を送信可能な衛星（例えば準天頂衛星）を含んでもよい。 The positioning satellite 30 is a satellite that transmits a signal necessary for measuring position information. For example, the positioning satellite 30 is a satellite used for GNSS, and may include a satellite capable of transmitting a signal related to highly accurate position information (for example, a quasi-zenith satellite).
　情報処理装置２０は、例えばサーバであり、作業車両１０から、ロケータにより取得される作業車両１０の位置情報等を取得する。また、情報処理装置２０は、以下に説明する地図データを用いて、作業車両１０の作業を支援する（以下、単に「作業支援」ともいう）ために、作業車両１０の作業を特定したり、所定の地物の位置座標等を含む周辺地図データを作業車両１０に送信したりする。なお、情報処理装置２０は、複数の情報処理装置から構成されてもよい。 The information processing device 20 is, for example, a server, and acquires position information and the like of the work vehicle 10 acquired by the locator from the work vehicle 10. Further, the information processing apparatus 20 may specify the work of the work vehicle 10 or specify the work of the work vehicle 10 in order to support the work of the work vehicle 10 (hereinafter, also simply referred to as “work support”) by using the map data described below. Peripheral map data including the position coordinates of a predetermined feature is transmitted to the work vehicle 10. The information processing device 20 may be composed of a plurality of information processing devices.
　＜地図データの概要＞
　ここで、本実施形態で用いられる地図データの概要について説明する。本実施形態で用いる地図データは、例えば、自動運転等に用いられる高精度な３次元地図のデータである。具体例としては、この地図データは、周辺車両の情報や交通情報といった、より動的な情報が付加されたリアルタイムに提供されるダイナミックマップと呼ばれる地図のデータである。本実施形態で用いられる地図データは、例えば４つの階層に分類される。 <Overview of map data>
Here, an outline of the map data used in the present embodiment will be described. The map data used in this embodiment is, for example, high-precision three-dimensional map data used for automatic driving and the like. As a specific example, this map data is map data called a dynamic map provided in real time to which more dynamic information such as information on surrounding vehicles and traffic information is added. The map data used in this embodiment is classified into, for example, four layers.
　図２は、本発明の一実施形態に係る地図データの階層構造の一例を示す図である。図２に示す例では、地図データは、静的情報ＳＩ１、準静的情報ＳＩ２、準動的情報ＭＩ１、動的情報ＭＩ２に分類される。 FIG. 2 is a diagram showing an example of a hierarchical structure of map data according to an embodiment of the present invention. In the example shown in FIG. 2, the map data is classified into static information SI1, quasi-static information SI2, quasi-dynamic information MI1, and dynamic information MI2.
　静的情報ＳＩ１は、３次元の基盤的地図データ（３次元地図データ）であって、路面情報、車線情報、３次元構造物等を含み、地物を示す３次元位置座標や線形ベクトルデータから構成される。準静的情報ＳＩ２、準動的情報ＭＩ１及び動的情報ＭＩ２は、時々刻々と変化する動的データであって、位置情報を基に静的情報に重畳されるデータである。 The static information SI1 is three-dimensional basic map data (three-dimensional map data), includes road surface information, lane information, three-dimensional structures, and the like, and is derived from three-dimensional position coordinates and linear vector data indicating features. It is composed. The quasi-static information SI2, the quasi-dynamic information MI1 and the dynamic information MI2 are dynamic data that change from moment to moment, and are data superimposed on static information based on position information.
　準静的情報ＳＩ２は、交通規制情報、道路工事情報、広域気象情報等を含む。準動的情報ＭＩ１は、事故情報、渋滞情報、狭域気象情報等を含む。動的情報ＭＩ２は、ＩＴＳ（Intelligent Transport System）情報を含み、周辺車両、歩行者、信号情報等を含む。 Quasi-static information SI2 includes traffic regulation information, road construction information, wide area weather information, etc. The quasi-dynamic information MI1 includes accident information, traffic jam information, narrow area weather information, and the like. The dynamic information MI2 includes ITS (Intelligent Transport System) information, and includes peripheral vehicles, pedestrians, signal information, and the like.
　ダイナミックマップの実現には、静的情報ＳＩ１に対応する３次元地図データの中でも高精度な３次元地図データ（以下、「ＨＤ（High Definition）マップ」とも称する。）の構築が重要になる。ＨＤマップは、レーン単位で管理可能な所定の精度レベルを有する。例えば、精度レベルとして、デジタル化された地図でその位置や高さの精度を示すために用いられる地図情報レベルが用いられると、ＨＤマップは、地図情報レベル５００（相当縮尺１／５００）程度及び地図情報レベル５００より精緻なレベルを有するマップである。 In order to realize a dynamic map, it is important to construct highly accurate 3D map data (hereinafter, also referred to as "HD (High Definition) map") among the 3D map data corresponding to static information SI1. The HD map has a predetermined level of accuracy that can be managed on a lane-by-lane basis. For example, if the map information level used to show the accuracy of the position and height in a digitized map is used as the accuracy level, the HD map has a map information level of about 500 (equivalent scale 1/500) and It is a map having a more precise level than the map information level 500.
　ＨＤマップは、ＭＭＳ（Mobile Mapping System）計測を搭載する計測車両が移動しながら、周辺の地形について３次元計測を実行し、例えば、レーザスキャナによって取得された点群データに基づいて生成される。ＨＤマップは、当該点群データから、道路及び道路周辺に存在する信号機、道路標示、道路標識、区画線、路肩縁、路側物、路面障害物、地中埋設物、電柱等を地物として特定して、当該特定された地物毎に管理される地物データを含む。なお、地物データには、例えば、地物ＩＤ、種類、位置、大きさ、構成、データ生成（更新）日時等、当該地物に関するあらゆる情報が含まれても構わない。また、地物データを生成する際に対象となる地物は、実在する実在地物、及び実在地物から生成される車線リンク等の仮想地物が含まれる。 The HD map is generated based on, for example, point cloud data acquired by a laser scanner, for example, by performing three-dimensional measurement on the surrounding terrain while a measurement vehicle equipped with MMS (Mobile Mapping System) measurement is moving. The HD map identifies traffic lights, road markings, road signs, lane markings, shoulder edges, roadside objects, road surface obstacles, underground buried objects, electric poles, etc. existing on the road and around the road as features from the point group data. Then, the feature data managed for each specified feature is included. The feature data may include all information related to the feature, such as the feature ID, type, position, size, configuration, data generation (update) date and time, and the like. Further, the target feature when generating the feature data includes an existing real feature and a virtual feature such as a lane link generated from the existing feature.
　また、ＨＤマップは、ＭＭＳ計測による点群データに基づいて生成されることに限定されるものではなく、上述した精度レベルを有するのであれば、他の方法により生成されても構わない。例えば、ＨＤマップは、航空レーザを用いた３次元測量に基づいて生成されても構わないし、高解像度画像に基づいて生成されても構わない。 Further, the HD map is not limited to being generated based on the point cloud data obtained by MMS measurement, and may be generated by another method as long as it has the above-mentioned accuracy level. For example, the HD map may be generated based on a three-dimensional survey using an aerial laser or may be generated based on a high resolution image.
　以下、本実施形態に係る、情報処理装置２０等について説明する。 Hereinafter, the information processing apparatus 20 and the like according to the present embodiment will be described.
　＜情報処理装置の構成＞
　図３は、本発明の一実施形態に係る情報処理装置２０の構成の一例を示す図である。情報処理装置２０は、１つ又は複数の処理装置（ＣＰＵ：Central Processing Unit）２１０、１つ又は複数のネットワーク通信インタフェース２２０、記憶装置２３０、ユーザインタフェース２５０及びこれらの構成要素を相互接続するための１つ又は複数の通信バス２７０を含む。なお、ユーザインタフェース２５０は必ずしも必要ではない。 <Configuration of information processing device>
FIG. 3 is a diagram showing an example of the configuration of the information processing apparatus 20 according to the embodiment of the present invention. The information processing device 20 is for interconnecting one or more processing units (CPU: Central Processing Unit) 210, one or more network communication interfaces 220, a storage device 230, a user interface 250, and their components. Includes one or more communication buses 270. The user interface 250 is not always necessary.
　記憶装置２３０は、例えば、ＤＲＡＭ、ＳＲＡＭ、他のランダムアクセス固体記憶装置等の高速ランダムアクセスメモリである。また、記憶装置２３０は、１つ又は複数の磁気ディスク記憶装置、光ディスク記憶装置、フラッシュメモリデバイス、又は他の不揮発性固体記憶装置等の不揮発性メモリでもよい。また、記憶装置２３０は、コンピュータ読み取り可能な非一時的な記録媒体でもよい。 The storage device 230 is, for example, a high-speed random access memory such as a DRAM, a SRAM, or another random access solid-state storage device. Further, the storage device 230 may be a non-volatile memory such as one or more magnetic disk storage devices, optical disk storage devices, flash memory devices, or other non-volatile solid-state storage devices. Further, the storage device 230 may be a non-temporary recording medium that can be read by a computer.
　また、記憶装置２３０の他の例として、ＣＰＵ２１０から遠隔に設置される１つ又は複数の記憶装置でもよい。ある実施形態において、記憶装置２３０はＣＰＵ２１０により実行されるプログラム、モジュール及びデータ構造、又はそれらのサブセットを格納する。 Further, as another example of the storage device 230, one or a plurality of storage devices installed remotely from the CPU 210 may be used. In certain embodiments, the storage device 230 stores programs, modules and data structures executed by the CPU 210, or a subset thereof.
　記憶装置２３０は、情報処理システム１により用いられるデータを記憶する。例えば、記憶装置２３０は、作業車両１０の作業に関するデータを記憶する。具体例としては、ダイナミックマップ、ＨＤマップ、作業情報、車種情報、作業地物情報等が記憶装置２３０に記憶される。 The storage device 230 stores the data used by the information processing system 1. For example, the storage device 230 stores data related to the work of the work vehicle 10. As a specific example, a dynamic map, an HD map, work information, vehicle type information, work feature information, and the like are stored in the storage device 230.
　図４は、本発明の一実施形態に係るデータベースの一例を示す図である。図４に示す例では、記憶装置２３０はダイナミックマップデータを高精度地図データベースとして記憶する。上述したように、ダイナミックマップデータは、静的情報ＳＩ１と、準静的情報ＳＩ２と、準動的情報ＭＩ１と、動的情報ＭＩ２とを含み、それぞれの情報が関連付けられている。 FIG. 4 is a diagram showing an example of a database according to an embodiment of the present invention. In the example shown in FIG. 4, the storage device 230 stores the dynamic map data as a high-precision map database. As described above, the dynamic map data includes static information SI1, quasi-static information SI2, quasi-dynamic information MI1, and dynamic information MI2, and their respective information is associated with each other.
　ダイナミックマップデータに含まれる静的情報ＳＩ１は、ＨＤマップを含み、ＨＤマップは、地物データを含む。この地物データは、アプリケーションがダイナミックマップを利用する際に基本となる情報であり、信号機、車道、車線等の地物に関するデータを含む。 The static information SI1 included in the dynamic map data includes an HD map, and the HD map includes feature data. This feature data is information that is basic when an application uses a dynamic map, and includes data related to features such as traffic lights, roadways, and lanes.
　図５（ａ）は、本発明の一実施形態に係る車種情報の一例を示す図である。車種情報は、作業車両１０の車種に関する情報である。図５（ａ）に示す例では、車種情報は、記憶装置２３０に記憶され、作業車両１０を識別するための車両ＩＤ（例えば、車両番号等）に関連付けて、各作業車両の「車種」等が含まれる。 FIG. 5A is a diagram showing an example of vehicle type information according to an embodiment of the present invention. The vehicle type information is information regarding the vehicle type of the work vehicle 10. In the example shown in FIG. 5A, the vehicle type information is stored in the storage device 230, and is associated with a vehicle ID (for example, a vehicle number) for identifying the work vehicle 10, and the “vehicle type” of each work vehicle or the like. Is included.
　図５（ｂ）は、本発明の一実施形態に係る作業情報の一例を示す図である。作業情報は、作業車両１０が行う作業に関する情報である。図５（ｂ）に示す例では、車種情報は、記憶装置２３０に記憶され、作業車両１０を識別するための車両ＩＤに関連付けて、作業車両１０が行う作業の名前を示す「作業名」、作業の開始日時と所要期間を示す「作業日時・作業期間」、作業車両１０の作業が行われる「作業場所」、作業車両１０の作業の担当者を示す「作業者」等が含まれる。なお、本例では作業場所を住所で示しているが、作業場所のエリアを示す位置座標であってもよい。 FIG. 5B is a diagram showing an example of work information according to an embodiment of the present invention. The work information is information about the work performed by the work vehicle 10. In the example shown in FIG. 5B, the vehicle type information is stored in the storage device 230, and is associated with the vehicle ID for identifying the work vehicle 10, and indicates the name of the work performed by the work vehicle 10. The "work date / time / work period" indicating the start date and time and the required period of the work, the "work place" where the work of the work vehicle 10 is performed, the "worker" indicating the person in charge of the work of the work vehicle 10, and the like are included. In this example, the work place is indicated by an address, but it may be a position coordinate indicating an area of the work place.
　図６は、本発明の一実施形態に係る作業地物情報の一例を示す図である。作業地物情報は、所定の地物に関する情報である。図６に示す例では、作業地物情報は、各作業の「作業名」、各作業で用いられる作業車両１０の「車種」、各作業に関する地物を示す「所定の地物」等が含まれる。 FIG. 6 is a diagram showing an example of work feature information according to an embodiment of the present invention. The work feature information is information about a predetermined feature. In the example shown in FIG. 6, the work feature information includes the "work name" of each work, the "vehicle type" of the work vehicle 10 used in each work, the "predetermined feature" indicating the feature related to each work, and the like. Is done.
　例えば、作業が路面の雪又は氷の除去である場合、すなわち除雪の場合、所定の地物は、作業車両１０周辺の路面障害物又は路側物の少なくともいずれかを含んでもよい。 For example, when the work is the removal of snow or ice on the road surface, that is, when the work is snow removal, the predetermined feature may include at least one of a road surface obstacle or a roadside object around the work vehicle 10.
　上記構成により、除雪を行う作業車両１０に対して、除雪で必要なマンホール等の路面障害物や路肩縁等の路側物の位置座標を提供することができる。このため、除雪作業者は、降雪で視界が遮られる中でも、マンホールや路肩縁等の周辺環境を適切に把握することができる。 With the above configuration, it is possible to provide the position coordinates of road surface obstacles such as manholes and roadside objects such as road shoulder edges necessary for snow removal to the work vehicle 10 for removing snow. Therefore, the snow removal worker can appropriately grasp the surrounding environment such as a manhole and a road shoulder edge even when the view is obstructed by snowfall.
　例えば、作業場所が飛行場である場合、所定の地物は、さらに、飛行場の灯火を含んでもよい。この構成により、飛行場で除雪を行う作業車両１０に対して、飛行場の除雪で必要な灯火の位置座標を提供することができる。このため、飛行場で除雪する除雪作業者は、視界が遮られる中でも、灯火の位置を適切に把握することができる。 For example, when the work place is an airfield, the predetermined feature may further include the light of the airfield. With this configuration, it is possible to provide the position coordinates of the lights required for snow removal at the airfield to the work vehicle 10 for removing snow at the airfield. Therefore, a snow removal worker who removes snow at an airfield can properly grasp the position of the light even when the field of view is obstructed.
　例えば、作業が除草である場合、所定の地物は、作業車両１０周辺の路面障害物又は路側物の少なくともいずれかを含んでもよい。 For example, when the work is weeding, the predetermined feature may include at least one of a road surface obstacle or a roadside object around the work vehicle 10.
　上記構成により、除草を行う作業車両１０に対して、除草で必要なマンホール等の路面障害物や路肩縁等の路側物の位置座標を提供することができる。このため、除草作業者は、生い茂る草で路肩縁やマンホール等の確認が困難な中でも、マンホールや路肩縁等の周辺環境を適切に把握することができる。 With the above configuration, it is possible to provide the position coordinates of road surface obstacles such as manholes and roadside objects such as road shoulder edges necessary for weeding to the work vehicle 10 for weeding. Therefore, the weeding worker can appropriately grasp the surrounding environment such as the manhole and the road shoulder edge even though it is difficult to confirm the road shoulder edge and the manhole due to the overgrown grass.
　例えば、作業が地中埋設物調査である場合、所定の地物は、作業車両１０周辺の地中埋設物を含んでもよい。この構成により、地中埋設物調査を行う作業車両１０に対して、地中埋設物調査で必要な地中埋設物の位置座標を提供することができる。 For example, when the work is an underground buried object survey, the predetermined feature may include an underground buried object around the work vehicle 10. With this configuration, it is possible to provide the position coordinates of the underground buried object necessary for the underground buried object investigation to the work vehicle 10 for conducting the underground buried object investigation.
　例えば、作業が電柱作業である場合、所定の地物は、作業車両１０周辺の電柱を含んでもよい。電柱作業とは、電柱に関する作業であり、例えば電柱の傾倒確認等である。この構成により、電柱作業を行う作業車両１０に対して、電柱作業で必要な電柱の位置座標を提供することができる。 For example, when the work is utility pole work, the predetermined feature may include utility poles around the work vehicle 10. The utility pole work is a work related to a utility pole, for example, confirmation of tilt of the utility pole. With this configuration, it is possible to provide the position coordinates of the utility pole required for the utility pole work to the work vehicle 10 that performs the utility pole work.
　例えば、作業が官民境界確認である場合、所定の地物は、路側物を含んでもよい。この構成により、官民境界確認を行う作業車両１０に対して、官民境界確認で必要な縁石等の路側物の位置座標を提供することができる。 For example, when the work is a public-private boundary confirmation, the predetermined feature may include a roadside feature. With this configuration, it is possible to provide the position coordinates of a roadside object such as a curb necessary for the public-private boundary confirmation to the work vehicle 10 for confirming the public-private boundary.
　図３に戻り、本実施形態に係る作業車両１０の作業支援に関する処理を実行するＣＰＵ２１０について説明する。ＣＰＵ２１０は、記憶装置２３０に記憶されるプログラムを実行することで、走行管理部２１２、送受信部２１３、取得部２１４、抽出部２１５、特定部２１６を構成する。 Returning to FIG. 3, a CPU 210 that executes a process related to work support of the work vehicle 10 according to the present embodiment will be described. The CPU 210 constitutes a travel management unit 212, a transmission / reception unit 213, an acquisition unit 214, an extraction unit 215, and a specific unit 216 by executing a program stored in the storage device 230.
　ＣＰＵ２１０は、後述する各部の処理を制御し、作業車両１０の作業支援に関する処理を実行するように構成される。 The CPU 210 is configured to control the processing of each part described later and execute the processing related to the work support of the work vehicle 10.
　走行管理部２１２は、各種データを用いて、作業車両１０の走行を管理する。走行管理部２１２は、例えば、作業車両１０の走行履歴を管理する。 The travel management unit 212 manages the travel of the work vehicle 10 using various data. The travel management unit 212 manages, for example, the travel history of the work vehicle 10.
　送受信部２１３は、外部装置に対して、ネットワーク通信インタフェース２２０を介してデータの送受信を行う。例えば、送受信部２１３は、作業車両１０や各測位衛星３０からデータや信号等を受信する受信部として構成され、作業車両１０や各測位衛星３０にデータや信号等を送信する送信部としても構成される。具体例として、送受信部２１３は、作業車両１０から、ロケータにより取得される位置情報を受信する。また、送受信部２１３は、後述の抽出部２１５により抽出された周辺地図データを、作業車両１０に送信する。 The transmission / reception unit 213 transmits / receives data to / from an external device via the network communication interface 220. For example, the transmission / reception unit 213 is configured as a reception unit that receives data, signals, etc. from the work vehicle 10 and each positioning satellite 30, and is also configured as a transmission unit that transmits data, signals, etc. to the work vehicle 10 and each positioning satellite 30. Will be done. As a specific example, the transmission / reception unit 213 receives the position information acquired by the locator from the work vehicle 10. Further, the transmission / reception unit 213 transmits the peripheral map data extracted by the extraction unit 215, which will be described later, to the work vehicle 10.
　取得部２１４は、地図データを取得する。取得部２１４は、例えば、記憶装置２３０から、地図情報レベル５００又はそれ以上の精度を有するＨＤマップを取得する。 Acquisition unit 214 acquires map data. The acquisition unit 214 acquires an HD map having a map information level of 500 or higher from the storage device 230, for example.
　取得部２１４は、衛星測位システムからの信号に基づき、高精度な位置、例えばレーン単位での位置を測定可能なロケータ（例えば、作業車両１０に搭載されるロケータ）により出力される作業車両１０の位置情報を順に取得する。例えば、取得部２１４は、送受信部２１３により受信される作業車両１０の位置情報を順に取得する。取得部２１４は、ネットワーク通信インタフェース２２０を介して、作業車両１０の位置情報を直接取得してもよい。 The acquisition unit 214 is a work vehicle 10 output by a locator capable of measuring a highly accurate position, for example, a position in lane units (for example, a locator mounted on the work vehicle 10) based on a signal from a satellite positioning system. Get location information in order. For example, the acquisition unit 214 acquires the position information of the work vehicle 10 received by the transmission / reception unit 213 in order. The acquisition unit 214 may directly acquire the position information of the work vehicle 10 via the network communication interface 220.
　取得部２１４は、例えば、記憶装置２３０又は作業車両１０から、作業情報を取得してもよい。 The acquisition unit 214 may acquire work information from, for example, the storage device 230 or the work vehicle 10.
　取得部２１４は、例えば、記憶装置２３０又は作業車両１０から、車種情報を取得してもよい。取得部２１４は、記憶装置２３０又は作業車両１０から、作業車両１０のナンバープレートの情報を取得してもよい。 The acquisition unit 214 may acquire vehicle type information from, for example, the storage device 230 or the work vehicle 10. The acquisition unit 214 may acquire information on the license plate of the work vehicle 10 from the storage device 230 or the work vehicle 10.
　取得部２１４は、例えば、記憶装置２３０又は作業車両１０から、作業地物情報を取得してもよい。 The acquisition unit 214 may acquire work feature information from, for example, the storage device 230 or the work vehicle 10.
　抽出部２１５は、地図データから、所定の地物の位置座標を含む周辺地図データを抽出する。抽出部２１５は、例えば、作業名で関連付けた作業情報と作業地物情報とから、作業車両１０の作業に関する所定の地物を特定する。抽出部２１５は、特定した所定の地物の位置座標を含む周辺地図データを抽出する。 The extraction unit 215 extracts peripheral map data including the position coordinates of a predetermined feature from the map data. The extraction unit 215 identifies a predetermined feature related to the work of the work vehicle 10 from, for example, the work information associated with the work name and the work feature information. The extraction unit 215 extracts peripheral map data including the position coordinates of the specified predetermined feature.
　以上の処理により、情報処理装置２０は、作業に関する所定の地物の位置情報を含む周辺地図データを抽出して作業車両１０に送信することができる。このため、作業車両１０を運転する作業者は、端末装置１５の画面等で、作業車両１０の位置と、所定の地物の位置との相対的な位置関係を把握することができる。したがって、様々な種類がある道路での作業において、作業者は、作業に影響を与える所定の地物の位置を容易に確認することができる。ひいては、作業者は、周辺環境を適切に把握することができ、作業を円滑に実施することができる。 By the above processing, the information processing apparatus 20 can extract peripheral map data including the position information of a predetermined feature related to the work and transmit it to the work vehicle 10. Therefore, the worker who drives the work vehicle 10 can grasp the relative positional relationship between the position of the work vehicle 10 and the position of a predetermined feature on the screen of the terminal device 15 or the like. Therefore, when working on various types of roads, the worker can easily confirm the position of a predetermined feature that affects the work. As a result, the worker can properly grasp the surrounding environment and smoothly carry out the work.
　また、抽出部２１５は、地図データから、作業車両１０の作業に関係ない地物（他の作業のみに関する所定の地物）の位置座標を含めずに周辺地図データを抽出してもよい。抽出部２１５は、例えば、作業車両１０の作業が「電柱作業」の場合、除雪に関する所定の地物である路面障害物の位置座標は含めずに周辺地図データを抽出してもよい。 Further, the extraction unit 215 may extract the surrounding map data from the map data without including the position coordinates of the features (predetermined features related only to other work) not related to the work of the work vehicle 10. For example, when the work of the work vehicle 10 is "electric pole work", the extraction unit 215 may extract the surrounding map data without including the position coordinates of the road surface obstacle which is a predetermined feature related to snow removal.
　所定の地物の位置座標は、例えば、ＨＤマップ等の地図データの点群データに含まれる所定の地物の形状を表す座標を含んでもよい。 The position coordinates of the predetermined feature may include coordinates representing the shape of the predetermined feature included in the point cloud data of the map data such as an HD map.
　上記構成により、情報処理装置２０は、例えば、作業が除雪であれば、マンホール等の所定の地物の形状を表す座標を作業車両１０に提供することができる。このため、作業車両１０の除雪作業者は、所定の地物の形状を把握した上で所定の地物に留意して除雪をすることができる。したがって、上記構成により、情報処理装置２０は、道路での作業を行う作業車両１０をより詳細に支援することができる。 With the above configuration, the information processing apparatus 20 can provide the work vehicle 10 with coordinates representing the shape of a predetermined feature such as a manhole, for example, if the work is snow removal. Therefore, the snow removal worker of the work vehicle 10 can remove snow while paying attention to the predetermined feature after grasping the shape of the predetermined feature. Therefore, with the above configuration, the information processing apparatus 20 can support the work vehicle 10 that works on the road in more detail.
　特定部２１６は、作業情報に基づき作業車両１０の作業を特定する。また、特定部２１６は、他の例として、車種情報に基づき作業車両１０の作業を特定してもよい。 The specifying unit 216 specifies the work of the work vehicle 10 based on the work information. Further, as another example, the specifying unit 216 may specify the work of the work vehicle 10 based on the vehicle type information.
　特定部２１６は、例えば、特定対象の作業車両１０の作業情報を取得できない場合、作業情報の代わりに車種情報に基づき作業車両１０の作業を特定してもよい。特定部２１６は、例えば、特定対象の作業車両１０の作業情報に加え車種情報も取得できない場合、作業車両１０のナンバープレートの情報から作業車両１０の車種を判定し、この判定結果に基づき作業車両１０の作業を特定してもよい。 For example, when the specific unit 216 cannot acquire the work information of the work vehicle 10 to be specified, the specific unit 216 may specify the work of the work vehicle 10 based on the vehicle type information instead of the work information. For example, when the specific unit 216 cannot acquire vehicle type information in addition to the work information of the work vehicle 10 to be specified, the specific unit 216 determines the vehicle type of the work vehicle 10 from the information on the license plate of the work vehicle 10, and the work vehicle is based on this determination result. 10 tasks may be specified.
　上記の処理により、情報処理装置２０は、作業車両１０の作業が予め特定されていなくとも、作業情報や車種情報に基づき作業を特定することができ、特定された作業に関する所定の地物の位置座標等を作業車両１０に提供することができる。 By the above processing, the information processing apparatus 20 can specify the work based on the work information and the vehicle type information even if the work of the work vehicle 10 is not specified in advance, and the position of the predetermined feature related to the specified work. Coordinates and the like can be provided to the work vehicle 10.
　特定部２１６は、例えば、位置情報に基づき、作業車両１０の作業場所を特定してもよい。特定部２１６は、例えば、位置情報が示す作業車両１０の位置が特定の飛行場内である場合、作業車両１０の作業場所を「飛行場」と特定する。 The specifying unit 216 may specify the working place of the work vehicle 10 based on the position information, for example. For example, when the position of the work vehicle 10 indicated by the position information is in a specific airfield, the identification unit 216 specifies the work place of the work vehicle 10 as the “airfield”.
　＜動作処理＞
　次に、情報処理システム１の作業支援に関する各処理について説明する。図７は、本発明の一実施形態に係る作業支援に関する処理の流れと作業車両１０や装置間の相互作用の一例を示すシーケンス図である。本例では、作業車両１０の本体と端末装置１５とを分けて説明する。また、本例では、説明を容易にするため、対象とする道路での作業を「除雪」と「地中埋設物調査」と「特定不可」とするが、本発明が支援する作業をこれらの作業に限定する趣旨ではない。 <Operation processing>
Next, each process related to the work support of the information processing system 1 will be described. FIG. 7 is a sequence diagram showing an example of the flow of processing related to the work support according to the embodiment of the present invention and the interaction between the work vehicle 10 and the device. In this example, the main body of the work vehicle 10 and the terminal device 15 will be described separately. Further, in this example, in order to facilitate the explanation, the work on the target road is defined as "snow removal", "underground buried object survey", and "unspecified", but the work supported by the present invention is defined as these. It is not limited to work.
　ステップＳ１０において、作業車両１０に搭載された端末装置１５は、自車位置として、作業車両１０の位置を測定する。ステップＳ１１において、端末装置１５は、測定した作業車両１０の位置を示す位置情報を情報処理装置２０に送信する。 In step S10, the terminal device 15 mounted on the work vehicle 10 measures the position of the work vehicle 10 as the own vehicle position. In step S11, the terminal device 15 transmits the measured position information indicating the position of the work vehicle 10 to the information processing device 20.
　ステップＳ１２において、情報処理装置２０の取得部２１４は、作業車両１０の端末装置１５から、作業車両１０の位置情報を取得する。ステップＳ１３において、取得部２１４は、記憶装置２３０から地図データを取得する。 In step S12, the acquisition unit 214 of the information processing device 20 acquires the position information of the work vehicle 10 from the terminal device 15 of the work vehicle 10. In step S13, the acquisition unit 214 acquires map data from the storage device 230.
　端末装置１５と情報処理装置２０とは、情報処理装置２０の取得部２１４が作業情報を取得できる場合は、複合フラグメントａｌｔ（Alternative）１の点線で区切られた二つの領域のうち上の領域内の処理を実行する。具体的には、ステップＳ１４において、取得部２１４は、作業情報を取得する。ステップＳ１７において、情報処理装置２０の特定部２１６は、取得された作業情報に基づき作業車両１０の作業を特定する。 When the acquisition unit 214 of the information processing device 20 can acquire the work information, the terminal device 15 and the information processing device 20 are in the upper area of the two areas separated by the dotted line of the composite fragment alt (Alternative) 1. Executes the processing of. Specifically, in step S14, the acquisition unit 214 acquires work information. In step S17, the identification unit 216 of the information processing apparatus 20 identifies the work of the work vehicle 10 based on the acquired work information.
　端末装置１５と情報処理装置２０とは、情報処理装置２０の取得部２１４が作業情報を取得できない場合は、複合フラグメントａｌｔ１の点線で区切られた二つの領域のうち下の領域内の処理を実行する。具体的には、ステップＳ１６において、取得部２１４は、車種情報を取得する。ステップＳ１５において、情報処理装置２０の特定部２１６は、取得された車種情報に基づき作業車両１０の作業を特定する。 When the acquisition unit 214 of the information processing device 20 cannot acquire the work information, the terminal device 15 and the information processing device 20 execute the processing in the lower area of the two areas separated by the dotted line of the composite fragment alt1. do. Specifically, in step S16, the acquisition unit 214 acquires vehicle type information. In step S15, the identification unit 216 of the information processing apparatus 20 identifies the work of the work vehicle 10 based on the acquired vehicle type information.
　端末装置１５と情報処理装置２０とは、作業が除雪（路面の雪又は氷の除去）である場合、複合フラグメントａｌｔ２の点線で区切られた三つの領域のうち一番上の領域内の処理を実行する。具体的には、ステップ１８において、情報処理装置２０の抽出部２１５は、地図データから、作業車両１０周辺の路面障害物又は路側物の少なくともいずれかの位置座標を含む周辺地図データを抽出する。ステップ１９において、情報処理装置２０の送受信部２１３は、抽出された周辺地図データを端末装置１５に送信する。ステップ２０において、端末装置１５は、画面で、送信された周辺地図データに含まれる作業車両１０周辺の路面障害物又は路側物の少なくともいずれかの位置や形状を表示する。 When the work is snow removal (removal of snow or ice on the road surface), the terminal device 15 and the information processing device 20 perform processing in the uppermost region of the three regions separated by the dotted line of the composite fragment alt2. Run. Specifically, in step 18, the extraction unit 215 of the information processing apparatus 20 extracts peripheral map data including at least one position coordinate of a road surface obstacle or a roadside object around the work vehicle 10 from the map data. In step 19, the transmission / reception unit 213 of the information processing device 20 transmits the extracted peripheral map data to the terminal device 15. In step 20, the terminal device 15 displays on the screen the position and shape of at least one of a road surface obstacle or a roadside object around the work vehicle 10 included in the transmitted peripheral map data.
　端末装置１５と情報処理装置２０とは、作業が地中埋設物調査である場合、複合フラグメントａｌｔ２の点線で区切られた三つの領域のうち中央の領域内の処理を実行する。具体的には、ステップ２１において、情報処理装置２０の抽出部２１５は、地図データから、作業車両１０周辺の地中埋設物の位置座標を含む周辺地図データを抽出する。ステップ２２において、情報処理装置２０の送受信部２１３は、抽出された周辺地図データを端末装置１５に送信する。ステップ２３において、端末装置１５は、画面で、送信された周辺地図データに含まれる作業車両１０周辺の地中埋設物の位置や形状を表示する。 When the work is an underground buried object survey, the terminal device 15 and the information processing device 20 execute processing in the central area of the three areas separated by the dotted line of the composite fragment alt2. Specifically, in step 21, the extraction unit 215 of the information processing apparatus 20 extracts peripheral map data including the position coordinates of the underground buried objects around the work vehicle 10 from the map data. In step 22, the transmission / reception unit 213 of the information processing device 20 transmits the extracted peripheral map data to the terminal device 15. In step 23, the terminal device 15 displays on the screen the position and shape of the underground buried object around the work vehicle 10 included in the transmitted peripheral map data.
　端末装置１５と情報処理装置２０とは、作業が特定できない場合、複合フラグメントａｌｔ２の点線で区切られた三つの領域のうち一番下の領域内の処理を実行する。具体的には、ステップ２４において、情報処理装置２０の抽出部２１５は、地図データから、作業車両１０周辺の地中埋設物や路面障害物等の地物の位置座標を含めずに周辺地図データを抽出する。ステップ２５において、情報処理装置２０の送受信部２１３は、抽出された周辺地図データを端末装置１５に送信する。ステップ２６において、端末装置１５は、画面で、送信された周辺地図を表示する。この際、周辺地図データに含めなかった地中埋設物や路面障害物等の地物の位置や形状は表示されない。 When the work cannot be specified, the terminal device 15 and the information processing device 20 execute the processing in the lowest area among the three areas separated by the dotted line of the composite fragment alt2. Specifically, in step 24, the extraction unit 215 of the information processing apparatus 20 does not include the position coordinates of features such as underground buried objects and road surface obstacles around the work vehicle 10 from the map data, and the surrounding map data. To extract. In step 25, the transmission / reception unit 213 of the information processing device 20 transmits the extracted peripheral map data to the terminal device 15. In step 26, the terminal device 15 displays the transmitted peripheral map on the screen. At this time, the positions and shapes of features such as underground buried objects and road surface obstacles that were not included in the surrounding map data are not displayed.
　以上の処理によれば、作業に関する所定の地物の位置情報を含む周辺地図データを抽出して作業車両１０に送信することができるため、作業車両１０を運転する作業者は、端末装置１５の画面等で、作業車両１０の位置と、所定の地物の位置との相対的な位置関係を把握することができる。このため、様々な種類がある道路での作業において、作業者は、作業に影響を与える所定の地物の位置を容易に確認することができる。したがって、作業者は、周辺環境を適切に把握することができ、作業を円滑に実施することができる。 According to the above processing, the surrounding map data including the position information of the predetermined feature related to the work can be extracted and transmitted to the work vehicle 10. Therefore, the worker who drives the work vehicle 10 can use the terminal device 15. The relative positional relationship between the position of the work vehicle 10 and the position of a predetermined feature can be grasped on the screen or the like. Therefore, when working on various types of roads, the worker can easily confirm the position of a predetermined feature that affects the work. Therefore, the worker can appropriately grasp the surrounding environment and can smoothly carry out the work.
　以上、本発明の一実施形態について詳述したが、上記実施形態に限定されるものではなく、特許請求の範囲に記載された範囲内において、種々の変形及び変更が可能である。例えば、本発明は、情報処理装置２０が実行する処理について、一部の処理を、他の情報処理装置に移行したり、複数の情報処理装置を適宜統合したりしてもよい。 Although one embodiment of the present invention has been described in detail above, the present invention is not limited to the above embodiment, and various modifications and changes can be made within the scope described in the claims. For example, in the present invention, with respect to the processing executed by the information processing apparatus 20, a part of the processing may be transferred to another information processing apparatus, or a plurality of information processing apparatus may be integrated as appropriate.
　＜変形例＞
　なお、本発明を上記実施の形態に基づいて説明してきたが、以下のような場合も本発明に含まれる。 <Modification example>
Although the present invention has been described based on the above embodiment, the following cases are also included in the present invention.
　＜変形例１＞
　上記実施形態では示していないが、情報処理装置２０の抽出部２１５は、例えば、作業情報や気象情報に基づき、地図データから、所定の地物の位置座標を含む周辺地図データを抽出してもよい。気象情報とは、作業車両１０周辺の気象に関する情報である。 <Modification 1>
Although not shown in the above embodiment, the extraction unit 215 of the information processing apparatus 20 may extract peripheral map data including the position coordinates of a predetermined feature from the map data based on, for example, work information and meteorological information. good. The weather information is information about the weather around the work vehicle 10.
　抽出部２１５は、例えば、作業情報が示す作業日時を基準とした所定期間（作業期間）内では、所定の地物の位置座標を含む周辺地図データを抽出し、他方、所定期間外では、所定の地物の位置座標を含めずに周辺地図データを抽出してもよい。この処理により、作業に必要な期間に限定して所定の地物の位置座標を送信することができるため、通信容量や処理負荷を低減することができる。 For example, the extraction unit 215 extracts peripheral map data including the position coordinates of a predetermined feature within a predetermined period (work period) based on the work date and time indicated by the work information, and on the other hand, outside the predetermined period, a predetermined period. Peripheral map data may be extracted without including the position coordinates of the feature of. By this processing, the position coordinates of a predetermined feature can be transmitted only for a period required for the work, so that the communication capacity and the processing load can be reduced.
　抽出部２１５は、例えば、気象情報が示す作業当日の気象が悪天候（大雪等）の場合、所定の地物の形状を表す座標を含む周辺地図データを抽出する。他方、抽出部２１５は、例えば、気象情報が示す作業当日の気象が良好（晴れ等）の場合、所定の地物の形状を表す座標は含めずに所定の地物の中心位置の位置座標のみを含む周辺地図データを抽出してもよい。この処理により、視界が悪い気象に限定して所定の地物の形状を表す位置座標を送信することができるため、通信容量や処理負荷を低減することができる。 For example, when the weather on the work day indicated by the weather information is bad weather (heavy snow, etc.), the extraction unit 215 extracts peripheral map data including coordinates representing the shape of a predetermined feature. On the other hand, when the weather on the work day indicated by the weather information is good (sunny, etc.), the extraction unit 215 does not include the coordinates representing the shape of the predetermined feature, but only the position coordinates of the center position of the predetermined feature. Peripheral map data including may be extracted. By this processing, it is possible to transmit the position coordinates representing the shape of a predetermined feature only in the weather with poor visibility, so that the communication capacity and the processing load can be reduced.
　＜変形例２＞
　上述した実施形態や変形例では、作業車両１０について説明したが、道路で作業する飛行体の場合にも本開示の技術を適用することができる。飛行体は、例えば、無人又は有人の飛行体、ドローン等を含む。 <Modification 2>
Although the work vehicle 10 has been described in the above-described embodiment and modification, the technique of the present disclosure can be applied to an air vehicle working on a road. The flying object includes, for example, an unmanned or manned flying object, a drone, and the like.
　＜変形例３＞
　上述した実施形態や変形例では、作業車両１０について説明したが、一般的な車両にも適用することができる。例えば、サーバなどの情報処理装置２０が、車線などの地物データを含むＨＤマップを記憶し、車両１０がＧＰＳ機能などにより取得した自車の位置情報を情報処理装置２０に送信する。例えば、ＧＰＳ機能により取得される位置情報は、高精度なロケータ（例えばレーン単位の精度）の位置情報ほどの精度は必要ない。 <Modification 3>
Although the work vehicle 10 has been described in the above-described embodiment and modification, it can also be applied to a general vehicle. For example, an information processing device 20 such as a server stores an HD map including feature data such as a lane, and the vehicle 10 transmits the position information of the own vehicle acquired by a GPS function or the like to the information processing device 20. For example, the position information acquired by the GPS function does not need to be as accurate as the position information of a highly accurate locator (for example, accuracy in lane units).
　情報処理装置２０は、車両１０から取得した位置情報に基づいて、位置情報が示す位置の周辺地図データをＨＤマップから取得する。情報処理装置２０は、取得した地物データを含むＨＤマップを、車両１０に送信する。取得されるＨＤマップは、例えば、車両１０の位置を中心に半径所定キロメートル以内の情報とし、所定キロメートルは、車両１０ごとに選択可能にしてもよい。これにより、車両１０は、ＨＤマップなどのデータ量が大きいデータを記憶する必要がない。また、情報処理装置２０は、車両１０から取得した位置情報を、ＨＤマップを用いてローカライゼーションし、高精度な位置情報を算出してもよい。情報処理装置２０は、高精度な位置情報、及び／又は、高精度な位置情報に基づく周辺のＨＤマップを車両１０に送信してもよい。なお、ＧＰＳに基づく位置情報の高精度化について、情報処理装置２０は、ＨＤマップに基づくローカライゼーション以外にも、既知の技術を用いればよく、例えば、ＲＴＫ（Real Time Kinematic）の手法を用いて位置情報を高精度化してもよい。 The information processing device 20 acquires peripheral map data of the position indicated by the position information from the HD map based on the position information acquired from the vehicle 10. The information processing device 20 transmits an HD map including the acquired feature data to the vehicle 10. The acquired HD map may be, for example, information within a predetermined kilometer radius centered on the position of the vehicle 10, and the predetermined kilometer may be selectable for each vehicle 10. As a result, the vehicle 10 does not need to store data having a large amount of data such as an HD map. Further, the information processing apparatus 20 may localize the position information acquired from the vehicle 10 using an HD map and calculate the position information with high accuracy. The information processing apparatus 20 may transmit high-precision position information and / or a peripheral HD map based on the high-precision position information to the vehicle 10. Regarding the improvement of the accuracy of the position information based on GPS, the information processing apparatus 20 may use a known technique other than the localization based on the HD map, for example, the position using the method of RTK (Real Time Kinematic). The information may be highly accurate.
　また、車両１０は、車両１０の現在位置を示す現在位置情報と、目的地を示す目的地位置情報とを情報処理装置２０に送信してもよい。この場合、情報処理装置２０は、現在位置情報から目的位置情報までのルーティングを行い、現在位置情報から目的位置情報のルーティングに沿った周辺のＨＤマップと、ルーティング情報とを車両１０に送信してもよい。これにより、ルーティングに必要最低限なＨＤマップを車両１０は取得することが可能になる。 Further, the vehicle 10 may transmit the current position information indicating the current position of the vehicle 10 and the destination position information indicating the destination to the information processing device 20. In this case, the information processing apparatus 20 performs routing from the current position information to the target position information, and transmits the peripheral HD map along the routing of the current position information to the target position information and the routing information to the vehicle 10. May be good. This makes it possible for the vehicle 10 to acquire the minimum HD map required for routing.
　また、車両１０は、自律走行可能な車両でもよい。この場合、車両１０は、ルーティング情報に基づいて自動運転を行うことも可能である。情報処理装置２０は、車両１０が自律走行車であることを車両ＩＤ等から判別すると、自動運転に必要な情報（例、地物データ）をＨＤマップに含めて、必要最低限のＨＤマップを車両１０に送信してもよい。また、情報処理装置２０は、車幅が大きい道路を優先するなどの自動運転用のルーティングを行ってもよい。これにより、情報処理装置２０は、自律走行可能な車両１０に適したＨＤマップやルーティング情報を送信することができる。また、車両１０は、情報処理装置２０から取得したＨＤマップや高精度な位置情報を用いて自動運転制御を行ってもよい。 Further, the vehicle 10 may be a vehicle capable of autonomous traveling. In this case, the vehicle 10 can also automatically drive based on the routing information. When the information processing device 20 determines from the vehicle ID or the like that the vehicle 10 is an autonomous vehicle, the information processing device 20 includes information necessary for automatic driving (eg, feature data) in the HD map, and obtains the minimum necessary HD map. It may be transmitted to the vehicle 10. Further, the information processing device 20 may perform routing for automatic driving, such as giving priority to a road having a large vehicle width. As a result, the information processing device 20 can transmit an HD map and routing information suitable for the vehicle 10 capable of autonomous traveling. Further, the vehicle 10 may perform automatic driving control using an HD map acquired from the information processing apparatus 20 and highly accurate position information.
１…情報処理システム、１０…車両、２０…情報処理装置、３０…測位衛星、１０１…高精度ロケータ、１０２…プロセッサ、１０３…各種センサ、１０４…通信装置、２１０…ＣＰＵ、２１２…走行管理部、２１３…送受信部、２１４…取得部、２１５…抽出部、２１６…特定部、２３０…記憶装置、２５０…ユーザインタフェース、２２０…ネットワーク通信インタフェース 1 ... Information processing system, 10 ... Vehicle, 20 ... Information processing device, 30 ... Positioning satellite, 101 ... High-precision locator, 102 ... Processor, 103 ... Various sensors, 104 ... Communication device, 210 ... CPU, 212 ... Travel management unit , 213 ... Transmission / reception unit, 214 ... Acquisition unit, 215 ... Extraction unit, 216 ... Specific unit, 230 ... Storage device, 250 ... User interface, 220 ... Network communication interface

Claims (12)

  1. 　プロセッサを含む情報処理装置が実行する情報処理方法であって、
    　前記プロセッサが、
    　地図データを取得すること、
    　作業車両の位置情報を取得すること、
    　前記地図データから、前記位置情報を含む所定領域内の周辺地図データであって、前記作業車両の作業に関する所定の地物の位置座標を含む周辺地図データを抽出すること、
    　前記作業車両に、前記周辺地図データを送信すること、を実行する情報処理方法。     An information processing method executed by an information processing device including a processor.
    The processor
    To get map data,
    Acquiring the location information of the work vehicle,
    Extracting peripheral map data including the position coordinates of a predetermined feature related to the work of the work vehicle, which is peripheral map data in a predetermined area including the position information, from the map data.
    An information processing method for transmitting the peripheral map data to the work vehicle.
  2. 　前記プロセッサは、
    　前記作業車両が行う作業に関する作業情報を取得すること、
    　前記作業情報に基づき前記作業車両の前記作業を特定すること、をさらに実行する、請求項１に記載の情報処理方法。     The processor
    Acquiring work information about the work performed by the work vehicle,
    The information processing method according to claim 1, further performing the identification of the work of the work vehicle based on the work information.
  3. 　前記プロセッサが、
    　前記作業車両の車種に関する車種情報を取得すること、
    　前記車種情報に基づき前記作業車両の前記作業を特定すること、をさらに実行する、請求項１に記載の情報処理方法。     The processor
    Acquiring vehicle type information regarding the vehicle type of the work vehicle,
    The information processing method according to claim 1, further performing the identification of the work of the work vehicle based on the vehicle type information.
  4. 　前記地図データは、計測車両により計測された点群データに基づいて生成され、
    　前記所定の地物の位置座標は、前記点群データに含まれる前記所定の地物の形状を表す座標を含む、請求項１から３のいずれか一項に記載の情報処理方法。     The map data is generated based on the point cloud data measured by the measuring vehicle.
    The information processing method according to any one of claims 1 to 3, wherein the position coordinates of the predetermined feature include coordinates representing the shape of the predetermined feature included in the point cloud data.
  5. 　前記作業が路面の雪又は氷の除去である場合、前記所定の地物は、前記作業車両周辺の路面障害物又は路側物の少なくともいずれかを含む、請求項１から４のいずれか一項に記載の情報処理方法。 According to any one of claims 1 to 4, when the work is the removal of snow or ice on the road surface, the predetermined feature includes at least one of a road surface obstacle or a roadside object around the work vehicle. The information processing method described.
  6. 　前記位置情報に基づき、前記作業車両の作業場所を特定すること、を含み、
    　前記作業場所が飛行場である場合、前記所定の地物は、さらに、前記飛行場の灯火を含む、請求項５に記載の情報処理方法。     Including specifying the work place of the work vehicle based on the position information.
    The information processing method according to claim 5, wherein when the work place is an airfield, the predetermined feature further includes a light of the airfield.
  7. 　前記作業が除草である場合、前記所定の地物は、前記作業車両周辺の路面障害物又は路側物の少なくともいずれかを含む、請求項１から４のいずれか一項に記載の情報処理方法。 The information processing method according to any one of claims 1 to 4, wherein when the work is weeding, the predetermined feature includes at least one of a road surface obstacle or a roadside object around the work vehicle.
  8. 　前記作業が地中埋設物調査である場合、前記所定の地物は、前記作業車両周辺の地中埋設物を含む、請求項１から４のいずれか一項に記載の情報処理方法。 The information processing method according to any one of claims 1 to 4, wherein when the work is an underground buried object survey, the predetermined feature includes an underground buried object around the work vehicle.
  9. 　前記作業が電柱作業である場合、前記所定の地物は、前記作業車両周辺の電柱を含む、請求項１から４のいずれか一項に記載の情報処理方法。 The information processing method according to any one of claims 1 to 4, wherein when the work is a utility pole work, the predetermined feature includes a utility pole around the work vehicle.
  10. 　前記作業が官民境界確認である場合、前記所定の地物は、路側物を含む、請求項１から４のいずれか一項に記載の情報処理方法。 The information processing method according to any one of claims 1 to 4, wherein the predetermined feature includes a roadside object when the work is a public-private boundary confirmation.
  11. 　プロセッサを含む情報処理装置に実行させるプログラムであって、
    　前記プロセッサに、
    　地図データを取得すること、
    　作業車両の位置情報を取得すること、
    　前記地図データから、前記位置情報を含む所定領域内の周辺地図データであって、前記作業車両の作業に関する所定の地物の位置座標を含む周辺地図データを抽出すること、
    　前記作業車両に、前記周辺地図データを送信すること、を実行させるプログラム。     A program that is executed by an information processing device including a processor.
    To the processor
    To get map data,
    Acquiring the location information of the work vehicle,
    Extracting peripheral map data including the position coordinates of a predetermined feature related to the work of the work vehicle, which is peripheral map data in a predetermined area including the position information, from the map data.
    A program for causing the work vehicle to transmit the peripheral map data.
  12. 　プロセッサを含む情報処理装置であって、
    　前記プロセッサが、
    　地図データを取得すること、
    　作業車両の位置情報を取得すること、
    　前記地図データから、前記位置情報を含む所定領域内の周辺地図データであって、前記作業車両の作業に関する所定の地物の位置座標を含む周辺地図データを抽出すること、
    　前記作業車両に、前記周辺地図データを送信すること、を実行する情報処理装置。     An information processing device that includes a processor
    The processor
    To get map data,
    Acquiring the location information of the work vehicle,
    Extracting peripheral map data including the position coordinates of a predetermined feature related to the work of the work vehicle, which is peripheral map data in a predetermined area including the position information, from the map data.
    An information processing device that transmits the peripheral map data to the work vehicle.
PCT/JP2021/040771 2020-10-05 2021-11-05 Information processing method, program, information processing device WO2022075487A1 (en)

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