WO2022097545A1 - Procédé de fonctionnement pour dispositif embarqué, procédé de fonctionnement pour système d'aide à la conduite, dispositif embarqué, système d'aide à la conduite, et programme informatique - Google Patents

Procédé de fonctionnement pour dispositif embarqué, procédé de fonctionnement pour système d'aide à la conduite, dispositif embarqué, système d'aide à la conduite, et programme informatique Download PDF

Info

Publication number
WO2022097545A1
WO2022097545A1 PCT/JP2021/039627 JP2021039627W WO2022097545A1 WO 2022097545 A1 WO2022097545 A1 WO 2022097545A1 JP 2021039627 W JP2021039627 W JP 2021039627W WO 2022097545 A1 WO2022097545 A1 WO 2022097545A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
traveling
transmission mode
area
driving support
Prior art date
Application number
PCT/JP2021/039627
Other languages
English (en)
Japanese (ja)
Inventor
明紘 小川
Original Assignee
住友電気工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 住友電気工業株式会社 filed Critical 住友電気工業株式会社
Publication of WO2022097545A1 publication Critical patent/WO2022097545A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—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
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
    • G08G1/13—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station the indicator being in the form of a map
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

Definitions

  • This disclosure relates to an in-vehicle device operating method, a driving support system operating method, an in-vehicle device, a driving support system, and a computer program.
  • This application claims priority based on Japanese Application No. 2020-184131 filed on November 04, 2020, and incorporates all the contents described in the Japanese application.
  • moving object When operating a vehicle, it is necessary to pay sufficient attention not only to the movement of the own vehicle but also to the movement of other vehicles. Particular attention should be paid when there are pedestrians in addition to the vehicle.
  • moving object a moving object
  • digital road map data prepared in advance in a virtual space.
  • a technique to create a target map For detection of position, speed, and attributes, a large number of sensors such as LiDAR (Light Detection And Ringing) (hereinafter referred to as "lidar”), cameras, millimeter-wave radar, etc. provided on the roadside device or vehicle provided on the roadside. Is used.
  • LiDAR Light Detection And Ringing
  • the edge server collects sensor data, which is the output of a large number of sensors, from roadside devices and vehicles existing in the area under the jurisdiction of the edge server (hereinafter referred to as the jurisdiction area).
  • the jurisdiction area the area under the jurisdiction of the edge server.
  • communication with the edge server must be done wirelessly.
  • the moving speed of the moving object is high, an accurate dynamic map cannot be created if the time required for communication between the moving object and the edge server becomes long.
  • a vehicle called a probe vehicle is equipped with a sensor and communicates with an edge server called a probe collection center using a mobile phone system.
  • the area managed by the probe collection center is called the probe information collection target area, and the data transmitted by the probe vehicle to the probe collection center is called probe information.
  • the probe information means the same as the sensor data in this specification.
  • the probe collection center determines the conditions for collecting probe data based on at least one of the communication status information and the road traffic information in the probe information collection target area, and collects the probe information from the probe vehicle.
  • the probe collection center creates a dynamic map based on the probe information collected in this way and distributes it to vehicles existing in the probe information collection target area. Each vehicle uses this dynamic map to perform processing to support driving by the driver.
  • the operation method of the in-vehicle device is based on a step of creating a planned travel route of a vehicle, a step of acquiring a dynamic map from another device, and a dynamic map and a planned travel route.
  • the operation method of the driving support system includes a step in which the driving support server receives sensor data from a vehicle and a roadside device in the area under the jurisdiction of the driving support server, and a driving support server.
  • the step of the vehicle acquiring the dynamic map from the driving support server, and the step of the vehicle dividing the area including the planned travel route into a plurality of travel areas based on the dynamic map and the planned travel route.
  • One of the plurality of transmission modes is assigned to each of the plurality of traveling regions, and the vehicle assigns the sensor data collected from the sensor mounted on the vehicle to the traveling region in each of the plurality of traveling regions. Includes a step to send to the driving support server according to.
  • the in-vehicle device includes a planned travel route creation unit that creates a planned travel route of the vehicle, a dynamic map acquisition unit that acquires a dynamic map from another device, a dynamic map, and travel. Based on the planned route, the region including the planned travel route is divided into a plurality of travel areas, and each of the plurality of travel areas is assigned one of a plurality of transmission modes, and further, a plurality of transmission modes are assigned to each of the plurality of travel areas.
  • Each of the travel areas includes a transmitter that transmits sensor data collected from sensors mounted on the vehicle to other devices according to a transmission mode assigned to the travel area.
  • the driving assistance system is a dynamic map including the position, speed and attributes of moving objects in the jurisdiction based on sensor data received from at least one of the vehicle and the roadside device in the jurisdiction.
  • the driving support server that generates and maintains the data
  • the planned driving route creation unit that creates the planned travel route of the vehicle
  • the dynamic map acquisition unit that acquires the dynamic map from the driving support server
  • the dynamic map and the planned travel route is a driving support system including an in-vehicle device including a traveling area division portion that divides an area including a planned traveling route into a plurality of traveling areas, and one of a plurality of transmission modes is assigned to each of the plurality of traveling areas.
  • the in-vehicle device includes a transmission unit that transmits sensor data collected from sensors mounted on the vehicle to a driving support server according to a transmission mode assigned to the traveling area in each of the plurality of traveling areas.
  • the computer program according to the fifth aspect of this disclosure is based on a step of creating a planned travel route of a vehicle on a computer, a step of acquiring a dynamic map from another device, and a dynamic map and a planned travel route.
  • the step of dividing the area including the planned travel route into a plurality of travel areas is executed, one of the plurality of transmission modes is assigned to each of the plurality of travel areas, and the computer is further assigned to each of the plurality of travel areas.
  • the step of transmitting the sensor data collected from the sensor mounted on the vehicle to another device according to the transmission mode assigned to the traveling area is executed.
  • FIG. 1 is a diagram schematically showing a state of communication between a vehicle and an edge server in the embodiment of this disclosure.
  • FIG. 2 is a diagram schematically showing the configuration of a vehicle and the relationship between the vehicle and a node (cooperative node) that cooperates with the vehicle according to the embodiment of the disclosure.
  • FIG. 3 is a diagram showing a schematic configuration of an in-vehicle device according to the embodiment of this disclosure.
  • FIG. 4 is a hardware block diagram showing a configuration of an in-vehicle device.
  • FIG. 5 is a table showing the communication requirement table used in the embodiment of this disclosure.
  • FIG. 6 is a schematic diagram showing an example of the relationship between the dynamic map and the transmission mode in the embodiment of this disclosure.
  • FIG. 1 is a diagram schematically showing a state of communication between a vehicle and an edge server in the embodiment of this disclosure.
  • FIG. 2 is a diagram schematically showing the configuration of a vehicle and the relationship between the vehicle and a node (cooperative node
  • FIG. 7 is a flowchart showing a control structure of a program for realizing a process of updating a planned travel route in an in-vehicle device.
  • FIG. 8 is a flowchart showing a control structure of a program for realizing a process of updating a dynamic map in an in-vehicle device.
  • FIG. 9 is a flowchart showing a control structure of a program for realizing a process of changing a transmission mode used for communication with an edge server in an in-vehicle device.
  • FIG. 10 is a flowchart showing a control structure of a program for realizing a process of updating both a dynamic map and a communication quality map used by an in-vehicle device in the second embodiment of the disclosure.
  • FIG. 11 is a flowchart showing a control structure of a program for realizing a process of changing a transmission mode used by an in-vehicle device for communication with an edge server in the second embodiment of the disclosure.
  • a dynamic map can be constructed and maintained by a communication system as disclosed in Patent Document 1.
  • a communication system as disclosed in Patent Document 1.
  • a vehicle equipped with such a communication terminal can notify the driver of the road condition when necessary.
  • the driver can perform appropriate driving based on dynamic information and caution information.
  • the 5G system as the mobile phone system, it can be expected that the probe collection center will notify the driver of each vehicle of necessary information in a timely manner.
  • the above-mentioned conventional techniques still have problems to be solved.
  • One of them is to increase the capacity of sensor data.
  • the resolution of cameras is much higher than before, and the number of cameras installed in vehicles is increasing.
  • the number of vehicles equipped with such sensors will increase. Therefore, even if the communication capacity is increased by the 5G system, the amount of transmission data will increase more than that, and there is a possibility that the creation of a dynamic map by a driving support server such as an edge server will be hindered.
  • a driving support server such as an edge server
  • the purpose of this disclosure is to provide an in-vehicle device operating method, a driving support system operating method, an in-vehicle device, a driving support system, and a computer program that can maintain the quality of the dynamic map created in real time. be.
  • the operation method of the in-vehicle device includes a step of creating a planned travel route of a vehicle, a step of acquiring a dynamic map from another device, a dynamic map, and a planned travel route. Including a step of dividing an area including a planned travel route into a plurality of travel areas based on the above, one of a plurality of transmission modes is assigned to each of the plurality of travel areas, and further, in each of the plurality of travel areas. , The step of transmitting the sensor data collected from the sensor mounted on the vehicle to another device according to the transmission mode assigned to the traveling area.
  • the area including the planned travel route is divided into a plurality of travel areas.
  • a transmission mode is assigned to each travel area based on the planned travel route and the dynamic map.
  • Sensor data can be transmitted for each travel area using a transmission mode suitable for that travel area.
  • Sensor data necessary for maintaining a dynamic map can be transmitted using a transmission mode suitable for data transmission from each traveling area according to road traffic conditions. As a result, the quality of the dynamic map created in real time can be maintained according to the traffic conditions.
  • the operation method of the in-vehicle device further includes a step of setting a handover area including a boundary between a preceding first traveling area and a succeeding second traveling area in a plurality of traveling areas partitioned in the partitioning step. It may be included, the first travel area is assigned a first transmission mode, the second travel area is assigned a second transmission mode, and within the first travel area, according to the first transmission mode. In parallel with transmitting the sensor data to the other device, it may include a step of performing preparations for transmitting the sensor data to the other device according to the second transmission mode.
  • the handover area including the boundary between the adjacent first and second traveling areas.
  • the sensor data is transmitted to another device according to the first transmission mode.
  • preparations for transmitting sensor data to other devices are performed according to the second transmission mode.
  • the transmission of the sensor data can be started according to the second transmission mode. Communication can be smoothly switched according to changes in the traveling area without wasting the time required for switching the transmission mode.
  • the step to be executed may include a step of establishing a connection with another device according to the communication requirement specified by the second transmission mode in response to the vehicle entering the handover area.
  • a connection with another device is established according to the communication requirements specified by the second transmission mode.
  • the sensor data transmission can be started using the connection, and the communication can be smoothly switched according to the change in the traveling area.
  • the step to be executed is a step of terminating the communication according to the first transmission mode in response to the vehicle entering the second traveling area, and the vehicle entering the second traveling area. In response to that, it may include a step of initiating transmission of the sensor data to another device according to the second transmission mode.
  • the communication according to the first transmission mode is terminated, and the communication according to the second transmission mode is terminated. Is started.
  • the transmission mode can be smoothly switched and the sensor data can be continuously transmitted to other devices without wasting the time required for changing the transmission mode.
  • the operation method of the in-vehicle device may further include a step of periodically updating the planned travel route.
  • this in-vehicle device can transmit sensor data to other devices according to the transmission mode assigned to each traveling area according to the progress of the vehicle.
  • the operation method of the in-vehicle device may further include a step of periodically receiving a dynamic map from another device.
  • the in-vehicle device can keep the dynamic map up-to-date at all times.
  • the in-vehicle device can update the delimitation of the travel area and the transmission mode of each travel area based on the latest dynamic map.
  • the in-vehicle device can transmit the sensor data to other devices according to the transmission mode assigned to each travel area according to the change of the surrounding traffic conditions including the planned travel route.
  • the operation method of the in-vehicle device further includes a step of acquiring a communication quality map from another device, and the communication quality map shows the communication quality in each of a plurality of sections existing on the dynamic map.
  • Multiple division steps are divided into a plurality of travel areas including an area including a planned travel route based on a dynamic map and a planned travel route, and a plurality of steps based on a dynamic map, a communication quality map, and a planned travel route.
  • the communication quality at the current position of the in-vehicle device, and the transmission mode tentatively determined in the tentatively determining step may include a step of determining a possible transmission mode.
  • the transmission mode is tentatively determined for each of the multiple traveling areas. Based on both the tentatively determined transmission mode and the communication quality at the current position of the vehicle-mounted device, the transmission mode that can be used in each of the traveling regions is determined. The transmission mode in each of the traveling areas is determined based on the actual communication quality. Therefore, it is possible to effectively transmit data by using the transmission mode that is likely to be available in each traveling area. Furthermore, the transmission mode can be switched smoothly.
  • the operation method of the driving support system is a step in which the driving support server receives sensor data from at least one of a vehicle and a roadside device existing in the jurisdiction of the driving support server. And the step that the driving support server generates and maintains a dynamic map including the position, speed and attributes of the moving object in the area based on the sensor data received in the received step, and the vehicle is running the vehicle.
  • One of the plurality of transmission modes is assigned to each of the plurality of traveling areas including the step for partitioning, and the vehicle collects sensor data collected from the sensor mounted on the vehicle in each of the plurality of traveling areas. It includes a step of transmitting to the operation support server according to the transmission mode assigned to the area.
  • the in-vehicle device Based on the planned travel route generated by the in-vehicle device and the dynamic map generated by the driving support server, the in-vehicle device divides the area including the planned travel route into a plurality of travel areas. A transmission mode is assigned to each travel area based on the planned travel route and the dynamic map.
  • the in-vehicle device can transmit sensor data for each traveling area according to a transmission mode suitable for the traveling area.
  • the in-vehicle device can transmit the sensor data necessary for the driving support server to maintain the dynamic map to the driving support server according to the transmission mode suitable for data transmission from each area according to the road traffic condition.
  • the driving support server can maintain the quality of the dynamic map created in real time according to the traffic conditions.
  • the in-vehicle device includes a planned travel route creation unit that creates a planned travel route of the vehicle, a dynamic map acquisition unit that acquires a dynamic map from another device, and a dynamic unit. Based on the map and the planned travel route, the region including the planned travel route is divided into a plurality of travel areas, and each of the plurality of travel areas is assigned one of a plurality of transmission modes. , Each of the plurality of travel areas includes a transmitter that transmits sensor data collected from sensors mounted on the vehicle to other devices according to a transmission mode assigned to the travel area.
  • the travel area division section divides the area including the planned travel route into a plurality of travel areas based on the planned travel route and the dynamic map.
  • a transmission mode is assigned to each travel area based on the planned travel route and the dynamic map.
  • the transmission unit can transmit sensor data for each travel area according to a transmission mode suitable for the travel region.
  • the in-vehicle device can transmit the sensor data necessary for maintaining the dynamic map according to the road traffic condition according to the transmission mode suitable for data transmission from each area.
  • the driving support system is based on the sensor data received from at least one of the vehicle and the roadside device in the jurisdiction, and the position, speed and attribute of the moving body existing in the jurisdiction.
  • a driving support server that generates and maintains a dynamic map including
  • a driving system including an in-vehicle device including a traveling area section that divides an area including a planned traveling route into a plurality of traveling areas based on the planned traveling route, and a plurality of transmissions to each of the plurality of traveling areas.
  • One of the modes is assigned, and the in-vehicle device further transmits the sensor data collected from the sensors mounted on the vehicle to the driving support server according to the transmission mode assigned to the driving area in each of the plurality of driving areas. including.
  • the driving support server generates a dynamic map based on the sensor data received from at least one of the vehicle and the roadside device in the jurisdiction.
  • the planned travel route creation unit of the in-vehicle device generates the planned travel route. Based on this dynamic map and the planned travel route, the travel area division portion of the in-vehicle device divides the region including the planned travel route into a plurality of travel regions.
  • a transmission mode is assigned to each travel area based on the planned travel route and the dynamic map.
  • the transmission unit of the in-vehicle device can transmit the sensor data to the driving support server according to the transmission mode suitable for the traveling area for each traveling area.
  • the in-vehicle device can transmit the sensor data necessary for the driving support server to maintain the dynamic map to the driving support server according to the transmission mode suitable for data transmission from each area according to the road traffic condition.
  • the driving support server can maintain the quality of the dynamic map created in real time according to the traffic conditions.
  • the computer program according to the fifth aspect of this disclosure includes a step of creating a planned travel route of a vehicle on a computer, a step of acquiring a dynamic map from another device, a dynamic map, and a planned travel route. Based on the above, a step of dividing an area including a planned travel route into a plurality of travel areas is executed, one of a plurality of transmission modes is assigned to each of the plurality of travel areas, and a computer is further subjected to a plurality of travels. In each of the regions, a step of transmitting sensor data collected from a sensor mounted on the vehicle to another device according to a transmission mode assigned to the traveling region is executed.
  • the computer divides the area including the planned travel route into a plurality of travel areas based on the planned travel route and the dynamic map.
  • the computer assigns a transmission mode to each travel area based on the planned travel route and the dynamic map.
  • the computer can transmit the sensor data for each traveling area according to the transmission mode suitable for the traveling area.
  • the computer can transmit the sensor data required to maintain the dynamic map to other devices that maintain the dynamic map according to a transmission mode suitable for data transmission from each travel area.
  • other devices can maintain the quality of dynamic maps created in real time, depending on traffic conditions.
  • an in-vehicle device operating method a driving support system operating method, an in-vehicle device, a driving support system, and an in-vehicle device that can maintain the quality of a dynamic map created in real time according to traffic conditions.
  • FIG. 1 shows a conceptual diagram regarding switching of a transmission mode from a vehicle to an edge server in the driving support system according to this disclosure.
  • the edge server is called an operation support server.
  • the driving support system 50 includes a vehicle 62 and a driving support server 60.
  • the vehicle 62 is within the jurisdiction of the driving support server 60. Therefore, if the vehicle 62 transmits the sensor data, the transmission destination is the driving support server 60.
  • the driving support server 60 receives sensor data from at least one of the vehicles 62 and 90 in the area under the jurisdiction of the safe driving support server 60, the roadside device 92, and the like, and based on the received sensor data, the driving support server 60 is in the jurisdiction area. It has a function to generate and maintain a dynamic map based on the position, speed and attributes of the vehicle and road map data, and a function to distribute this dynamic map to each vehicle.
  • the vehicle 62 when the vehicle 62 enters the jurisdiction area of the driving support server 60, the vehicle 62 transmits information regarding the position, vehicle type, etc. of the vehicle 62 to the driving support server 60 to the driving support server 60. In response to this, the driving support server 60 transmits the dynamic map 70 maintained by the driving support server 60 to the vehicle 62.
  • information for assisting the driver in driving such as the dynamic map 70
  • the driving support information can be used not only for driving by the driver but also for controlling the vehicle by the automatic driving device.
  • the driving support information may include information that cannot be obtained from a sensor provided in the vehicle, such as signal schedule information regarding a signal lighting cycle, so-called road information regarding an accident occurrence point, a traffic jam section, a construction section, and the like.
  • the vehicle 62 that has received this dynamic map analyzes the dynamic map and divides the area along the planned travel route including the planned travel route of the vehicle 62 into a plurality of travel regions adjacent to each other.
  • a driving support system 50 data transmissions having various requirements are mixed and change according to traffic conditions.
  • the driving support server 60 can generate a dynamic map with high accuracy by effectively using the communication capacity according to the traffic conditions on the planned travel route. For that purpose, it is necessary to properly use real-time transmission that requires immediacy, non-real-time transmission that requires reliability, and the like. However, the permissible delay in the sensor data and the value of the data also change depending on the traffic conditions. Therefore, it is necessary to consider these in communication as well.
  • the vehicle 62 further uses a transmission mode for transmitting sensor data to the driving support server 60 according to the dynamic map and the state of the traveling area for each of the traveling areas. Is determined.
  • the vehicle 62 also creates a communication requirement table that defines the communication requirements for each transmission mode used. The detailed configuration of the communication requirement table for each transmission mode will be described later with reference to FIG.
  • the communication requirement table for each transmission mode classifies the allowable delay and the transmission protocol when the sensor data is transmitted from each traveling area to the server.
  • the vehicle 62 analyzes the dynamic map and determines within what delay the sensor data obtained from each travel area needs to be sent, and what transmission protocol is required for that purpose, for each transmission mode. Create a communication requirements table.
  • the vehicle 62 is in the traveling area 64. Further, it is assumed that in the traveling area 64, it is known that the driving support server 60 collects sufficient data without transmitting the sensor data to the driving support server 60. Alternatively, it is assumed that it is not necessary to transmit the sensor data to the driving support server 60. In such a case, the vehicle 62 does not transmit the sensor data to the driving support server 60.
  • the driving support server 60 needs to detect the details of the moving object existing in the traveling area 66. Therefore, the vehicle 62 needs to transmit the sensor data 72 in a detailed form and in real time to the driving support server 60.
  • the sensor is a camera, it is desirable to transmit a moving image which is sensor data.
  • the vehicle is moving at a certain speed. Therefore, it is necessary to shorten the allowable delay required to create a dynamic map.
  • the permissible delay should be, for example, several hundred milliseconds.
  • UDP User Datagram Protocol
  • UDP User Datagram Protocol
  • the vehicle 62 moves to a traveling area 68 where the traffic volume is not as heavy as that at an intersection, but it is necessary to call attention to the driver. For example, this is the case where the vehicle 62 moves to the traveling area 6 including the accident site or the like. In this case, it is not necessary for the vehicle 62 to transmit a large amount of data such as a moving image to the driving support server 60 in real time. Therefore, a delay of several seconds is acceptable. However, in order for the driving support server 60 to create an accurate dynamic map, it is desirable to transmit detailed sensor data 74 in the vicinity of the vehicle 62 to the driving support server 60. This transmission does not have to be done in real time.
  • the vehicle 62 adopts TCP (Transmission Control Protocol) as a transmission protocol, and transmits the sensor data 74 to the driving support server 60 according to TCP.
  • TCP Transmission Control Protocol
  • UDP Transmission Control Protocol
  • TCP is one of the major Internet protocols.
  • TCP unlike UDP, guarantees the order, reliability and integrity of data packets. Therefore, TCP is suitable for transmitting an image such as that in the traveling region 68 in a non-real time and with high reliability.
  • FIG. 2 shows a vehicle 62 equipped with the in-vehicle device 210 according to this embodiment and a cooperative node that communicates with the vehicle 62.
  • the cooperative node is a communication node that cooperates with the in-vehicle device 210 to provide driving support to the driver of the vehicle 62 by performing bidirectional communication with the vehicle 62.
  • the cooperative node includes the above-mentioned operation support server 60.
  • an in-vehicle device of another vehicle 90, a roadside device 92 provided on the roadside, or the like may serve as a cooperative node.
  • the in-vehicle device 210 can transmit information about the intersection from the other vehicle 90 or the roadside device 92 to the vehicle 62, for example, at an intersection with poor visibility. As a result, the vehicle 62 can provide driving support using such information.
  • the vehicle 62 is equipped with a sensor including a millimeter wave radar 200, a color camera 202, and a rider 204. All of these sensors are connected to the vehicle-mounted device 210, and the data detected by each sensor is transmitted to the vehicle-mounted device 210.
  • the amount of data transmitted to the in-vehicle device 210 is not so large.
  • the color camera 202 if the image is in color and the resolution is high, the amount of data transmitted to the in-vehicle device 210 becomes very large. Therefore, how to efficiently transmit the data from the color camera 202 to the driving support server 60 becomes an issue.
  • the driving support server 60 includes a sensor group 230 connected to the vehicle-mounted device 210 and various ECUs (Electronic Control Units) 236 in addition to the vehicle-mounted device 210.
  • the various ECUs 236 are the automatic driving ECU 234 for controlling the vehicle by using the output of the sensor group 230 for automatic driving, and the automatic driving ECU 234 or the driver in addition to the automatic driving ECU 234. Under control, it includes another ECU 232 for controlling the operation of each part of the vehicle.
  • the sensor group 230 includes the millimeter wave radar 200, the color camera 202 and the rider 204 shown in FIG.
  • the sensor group 230 further estimates the position of the vehicle 62 by dead reckoning in case the position cannot be estimated by the GPS (Global Positioning System) sensor (not shown) for confirming the position of the vehicle 62 and the GPS sensor. Also includes gyro sensors, acceleration sensors, vehicle speed sensors, wheel speed sensors, and the like. Note that FIG. 2 shows only one millimeter-wave radar 200, one color camera 202, and one rider 204. However, the vehicle 62 may include a plurality of any of these. For example, any of these may be provided in front of and behind the vehicle, and may be further provided in front, back, left and right.
  • GPS Global Positioning System
  • the in-vehicle device 210 is for coordinating the inside and outside of the vehicle.
  • the in-vehicle device 210 includes an in-vehicle gateway 238 and an out-of-vehicle communication device 240 that is connected to the in-vehicle gateway 238 and for wirelessly bidirectional communication with a communication device of another cooperative node.
  • the in-vehicle device 210 in this embodiment includes an in-vehicle gateway 238 and an out-of-vehicle communication device 240 as components. However, these components may be an integrated device.
  • the in-vehicle device 210 may be realized as a semiconductor integrated circuit such as an ASIC (Application Specific Integrated Circuit), a system LSI (Large-Scale Integration: large-scale integrated circuit), or a device in which a plurality of semiconductor integrated circuits are mounted on a substrate. ..
  • the vehicle-mounted gateway 238 is substantially a processor including a computer 500.
  • the computer 500 includes a CPU (Central Processing Unit) 520 and a bus 522 that is a transmission path for data and instructions between the CPU 520 and each part in the computer 500.
  • the computer 500 further includes a ROM (Read-Only Memory) 524, a RAM (Random Access Memory) 526, and a non-volatile auxiliary storage device 528 consisting of a hard disk, SSD (Solid State Drive), or the like, all of which are connected to the bus 522.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • non-volatile auxiliary storage device 528 consisting of a hard disk, SSD (Solid State Drive), or the like, all of which are connected to the bus 522.
  • the computer 500 further includes a wireless communication unit 530 that provides a bidirectional wireless communication function with the outside in cooperation with the external communication device 240, an input / output I / F (Interface) 532 connected to the bus 522, and a user.
  • a voice processing I / F 540 for providing voice interaction and a USB (Universal Serial Bus) memory 512 are removable, and a USB memory port 534 that enables communication between the USB memory 512 and other parts in the computer 500. including.
  • the in-vehicle gateway 238 further includes a touch panel 502 connected to the bus 522 and a monitor 504 such as a liquid crystal display including a display control device.
  • the above-mentioned various ECUs 236 and sensor group 230 are connected to the input / output I / F 532.
  • a speaker and a microphone 510 are connected to the voice processing I / F 540.
  • the ROM 524 stores a boot program of the computer 500 and the like.
  • the RAM 526 is used as a work area for storing various variables during processing by the CPU 520.
  • FIG. 5 shows an example of the communication requirement table 550.
  • the transmission mode includes a no transmission mode, a probe information transmission mode, a sensor data non-real-time transmission mode, and a sensor data real-time transmission mode. 0, 1, 2, and 3 are assigned to these as transmission mode numbers, respectively, and processing is performed using these transmission mode numbers inside the machine.
  • the allowable delay in the transmission mode and the transmission protocol used in the transmission of the sensor data from the vehicle 62 to the driving support server 60 in the transmission mode are specified for each transmission mode.
  • the transmission mode used is not limited to four types, and may be three or less or five or more.
  • the no transmission mode is a transmission mode adopted when the data collected by the operation support server 60 is already sufficient or in an area where data collection by the operation support server 60 is unnecessary. In this mode, the vehicle-mounted device 210 does not transmit sensor data. Therefore, neither the allowable delay nor the protocol used is specified in this mode.
  • the probe information transmission mode is a transmission mode adopted in an area where the driving support server 60 needs to collect traffic but does not need to detect dynamic objects. Traffic collection needs to be done in real time. Therefore, the allowable delay in this transmission mode is several hundred milliseconds, and UDP is specified as the transmission protocol.
  • the non-real-time transmission mode of the sensor data is a transmission mode adopted in the area where the driving support server 60 needs to detect only a stationary dynamic object. For example, at an accident site, it is necessary to know the condition of the accident vehicle in detail for driving support. But you don't necessarily need the image in real time. Therefore, the allowable delay in this transmission mode is about several seconds, and TCP is adopted as the transmission protocol.
  • the real-time transmission mode of sensor data is adopted in an area where detailed detection of various objects including moving moving objects needs to be performed by the driving support server 60. Such areas are, for example, intersections. Therefore, in such a region, the in-vehicle device 210 also needs to transmit sensor data in real time. Therefore, the allowable delay in this transmission mode is several hundred milliseconds, and UDP is adopted as the transmission protocol.
  • the vehicle 62 analyzes the dynamic map received from the driving support server 60, and divides the area along the planned travel route into several traveling areas. The vehicle 62 further determines the transmission mode in each travel area and creates the communication requirement table 550 described above. Then, the vehicle 62 assigns one of the above-mentioned transmission modes to each traveling area. Therefore, when moving between traveling areas where the transmission modes are different, it is necessary to change the transmission mode in the vehicle 62.
  • the vehicle-mounted device 210 manages the delay time for each data stream.
  • the delay time exceeds the allowable delay of the transmission mode specified by the communication requirement table for each transmission mode, the in-vehicle device 210 interrupts data transmission and retransmission.
  • the vehicle 62 creates the communication requirement table 550.
  • the driving support server 60 may analyze the entire dynamic map of the jurisdiction area, divide the dynamic map into several traveling areas, and then create the communication requirement table 550. In this case, the driving support server 60 may transmit the communication requirement table 550 to the vehicle 62. Further, a dedicated device different from the vehicle 62 and the driving support server 60 may create a communication requirement table 550 and transmit it to the driving support server 60 and each vehicle.
  • FIG. 6 shows a dynamic map 570 after being divided into traveling areas by a vehicle 62 and assigned a transmission mode.
  • the planned travel route 614 of the vehicle 62 is divided into seven travel regions 610, 602, 604, 606, and 608.
  • the area adjacent to the planned travel route 614 is also divided into the travel areas 610 and 612.
  • the traveling area 602 is an area including an intersection between the road 580 and the road 582.
  • the traveling area 606 is an area including an intersection between the road 580 and the road 584.
  • the vehicle 62 exists in the traveling area 610 and is traveling toward the traveling area 602.
  • the traveling area 602 and the traveling area 606 are around the intersection.
  • 1 or 3 is adopted as the transmission mode.
  • the transmission mode is set to 1 when it is necessary to collect the traffic volume, and the transmission mode is set to 3 when it is necessary to transmit detailed sensor data to the driving support server 60.
  • the allowable delay and the transmission protocol are the same, but the data to be transmitted to the operation support server 60 is different.
  • the traveling area 604 is an area in which a vehicle that has been stopped for a certain period of time exists in this example. For example, there may be an accident vehicle or a vehicle parked on the street. In these areas, the transmission mode is set to 1 or 2. That is, the transmission mode is set to 1 when it is necessary to collect the traffic volume, and the transmission mode is set to 2 when it is necessary to transmit detailed sensor data to the driving support server 60.
  • the transmission mode is set to 1 for these areas.
  • the cycle of transmitting the sensor data to the driving support server 60 is fixed in the traveling areas 602, 604, and 606.
  • this disclosure is not limited to such embodiments.
  • the sensor data transmission cycle to the driving support server 60 that is, the sensor data collection cycle may be shortened.
  • the vehicle 62 considers the data value of the data to be transmitted to the driving support server 60 based on the dynamic map, and preferentially transmits the high-value data. As a result, it becomes possible to create a highly accurate dynamic map on the driving support server 60 while avoiding pressure on the communication capacity.
  • Step 650 to create a planned travel route for at least a predetermined time or a predetermined distance of the vehicle 62 (for example, the planned travel route 614 in FIG. 6), and update the planned travel route after the planned travel route is created in step 650.
  • step 652 determines whether or not the cycle has expired, branches control to step 650 when it has expired, and repeats the determination until it expires when it has not expired.
  • the configuration of the program in which the vehicle 62 receives the dynamic map from another device that creates the dynamic map, such as the driving support server 60 is as follows.
  • the dynamic map is received and stored from the driving support server 60 in step 680, and after the dynamic map is received in step 680, the dynamic map update cycle has expired. It includes a step 682 of determining whether or not, and when it has expired, the control is moved to step 680, and when it has not expired, the above determination is repeated until it expires.
  • the vehicle-mounted device 210 constantly updates the dynamic map of a wider area including the position of the vehicle 62 and the traveling area where the vehicle 62 exists at a constant cycle. The vehicle-mounted device 210 further determines the traveling area and its transmission mode according to the latest information. Even if the vehicle 62 moves from the jurisdiction area of the driving support server 60 having the vehicle 62 to the jurisdiction area of another driving support server across the boundary, only the address of the communication destination changes, which is shown in FIGS. 7 and 8. The process does not change.
  • the following precautions are required when communicating with the driving support server 60 using different transmission protocols across the boundaries of the traveling area. That is, the transmission protocol used by the vehicle-mounted device 210 in the preceding first traveling region is different from the transmission protocol used by the vehicle-mounted device 210 in the succeeding second traveling region. In this case, it is necessary to establish a connection with the driving support server 60 using a new transmission protocol in order to prepare for data transmission in the subsequent second traveling region. If an attempt is made to establish a connection with the driving support server 60 after the traveling area is switched, the time for that is wasted.
  • the vehicle 62 detects the boundary of the traveling area from the dynamic map, and sets a handover section including the boundary before and after the boundary.
  • the handover section is a section for seamlessly switching the transmission protocol between the traveling regions.
  • the vehicle 62 makes a connection with the driving support server 60 in the first traveling area preceding the boundary included in the handover section, that is, the connection according to the transmission protocol in the current traveling area of the vehicle 62. Maintain between.
  • the vehicle 62 establishes a connection with the driving support server 60 according to the transmission protocol in the new second traveling area following the boundary.
  • the vehicle 62 After the vehicle 62 has crossed the boundaries of the travel area, it terminates data transmission according to the transmission protocol in the previous first travel area. Then, the vehicle 62 starts transmitting the sensor data to the driving support server 60 through the connection according to the transmission protocol in the new second traveling area.
  • the vehicle 62 smoothly switches the transmission protocol from the first transmission protocol to the second transmission protocol when crossing the boundary between two traveling regions having different transmission protocols, and continuously transmits sensor data. Can be executed.
  • FIG. 9 shows the control structure of the program for that purpose.
  • this program includes an area including a road to be a travel route and its vicinity, which is routed on the planned travel route based on a dynamic map and a planned travel route after the vehicle 62 starts traveling.
  • step 700 which divides the And include.
  • the transmission mode assigned to each traveling area is one of a plurality of predetermined transmission modes.
  • step 701 step 702 to confirm the area in which the vehicle 62 is currently traveling (current position of the vehicle 62), and, following step 702, in the handover section and step 702 identified in step 701.
  • step 704 of comparing with the confirmed current position of the vehicle 62, determining whether or not the vehicle 62 has entered the handover section, and branching the control flow according to the determination. If the determination in step 704 is negative, control returns to step 702. If the determination in step 704 is affirmative, the vehicle 62 has entered the first traveling area.
  • Step 706 of establishing a satisfying connection with the driving support server 60 (or a driving support server having the next driving area as the jurisdiction area) and the traveling area (second traveling area) of the new transmission mode (target transmission mode). ) Includes step 708 of determining whether or not the vehicle 62 has entered and branching the control flow according to the determination. Specifically, in this step, it is determined whether or not the boundary between the first traveling region and the second traveling region has been passed. If the determination in step 708 is negative, control returns to step 708. That is, step 708 waits until the vehicle 62 enters the new traveling area (second traveling area), and when the vehicle 62 enters the new traveling area, the control exits this step 708.
  • step 708 The program further follows step 708, following steps 709 and 709, where the vehicle 62 stops transmitting data according to the transmission mode assigned to the previous travel area (first travel area), followed by the vehicle 62.
  • step 710 which initiates data transmission with the driving support server 60 according to the transmission mode assigned to the new travel area (second transmission area) and returns control to step 700. That is, the data transmission with the driving support server 60 according to the first transmission mode assigned to the first traveling area is maintained until the vehicle 62 enters the next second traveling area.
  • connection between the vehicle 62 and the driving support server 60 is established according to the transmission mode assigned to the second traveling area.
  • the data transmission according to the first transmission mode is stopped immediately as the vehicle 62 enters the second traveling region, and the data transmission according to the transmission mode in the second traveling region is started.
  • the above-mentioned driving support server 60 and vehicle 62 operate as follows.
  • the CPU 520 shown in FIG. 4 creates a planned travel route in step 650.
  • the driver of the vehicle 62 inputs the destination to the in-vehicle device 210 using the touch panel 502, the monitor 504, the speaker, and the microphone 510 shown in FIG.
  • the CPU 520 creates a planned travel route from the current position to a predetermined time or a predetermined distance in step 650.
  • the CPU 520 determines in step 652 whether or not the update cycle of the planned travel route has been reached, and waits until the update cycle is reached.
  • the planned travel route of the vehicle 62 is sequentially updated according to the travel position of the vehicle or with the passage of time.
  • the vehicle 62 acquires a dynamic map from the driving support server 60 in step 680. More specifically, in step 680, the vehicle 62 transmits vehicle information regarding the position, speed, vehicle type, etc. of the vehicle 62 to the driving support server 60. The driving support server 60 stores this vehicle information. The driving support server 60 further transmits a dynamic map maintained by the driving support server 60 to the vehicle 62 (dynamic map 70 in FIG. 1).
  • This process is repeatedly executed in the vehicle 62 every time a predetermined update cycle comes.
  • the dynamic map held by the vehicle 62 is updated to the latest one every time the update cycle comes.
  • the planned travel route shown in FIG. 7 is created based on the dynamic map acquired by the process shown in FIG. Therefore, the in-vehicle device 210 appropriately changes the planned travel route according to a predetermined algorithm according to the traffic conditions that can be determined from the dynamic map.
  • the sensor data transmission process is performed as follows.
  • the CPU 520 refers to the latest dynamic map acquired by the process of FIG. 8 in step 700, and divides the planned travel route into a plurality of travel regions.
  • the CPU 520 specifies a transmission mode and a handover section for each traveling area.
  • the CPU 520 confirms the traveling area (current position of the vehicle 62) in which the vehicle 62 is currently traveling based on the output of the GPS sensor or the like in step 702.
  • step 702 the CPU 520 compares the handover section specified in step 700 with the current position of the vehicle 62 confirmed in step 702 in step 704, and determines whether or not the vehicle 62 has entered the handover section. judge. If this determination is negative, control returns to step 702. Therefore, the transmission of the sensor data from the vehicle 62 to the driving support server 60 is not started until the vehicle 62 enters the handover section.
  • the CPU 520 sets the communication requirement according to the transmission mode assigned to the next traveling area (second traveling area) to be entered in step 706.
  • a satisfied connection is established with the driving support server 60 (or a driving support server having a second traveling area as a jurisdiction area).
  • the CPU 520 waits until the vehicle 62 enters the traveling region (second traveling region) of the new transmission mode (target transmission mode) in step 708.
  • the CPU 520 stops data transmission according to the first transmission mode assigned to the first travel area.
  • the CPU 520 starts data transmission according to the transmission mode (second transmission mode) assigned to the second traveling area with the operation support server 60, and returns control to step 700.
  • the vehicle 62 transmits data to the driving support server 60 according to the first transmission mode assigned to the first traveling area.
  • the vehicle 62 stops the data transmission according to the first transmission mode and starts the data transmission to the driving support server 60 according to the second transmission mode. ..
  • the sensor data collected from the sensors mounted on the vehicle 62 is transmitted from the vehicle 62 to the driving support server 60 according to the transmission mode assigned to each traveling area.
  • Data transmission from the vehicle 62 to the driving support server 60 is started in step 710 until the determination in the next step 708 becomes affirmative, that is, while the vehicle 62 is in the second traveling area. Maintained in transmission mode. When the vehicle 62 moves into the new travel area next to the second travel area, the data transmission according to the transmission mode of the second travel area is stopped.
  • the sensor data or the like is transmitted from the vehicle 62 to the driving support server 60 according to the transmission mode of the new traveling area.
  • the handover section is entered before the traveling area enters the new traveling area, a connection satisfying the communication requirements according to the transmission mode assigned to the new traveling area at that time is connected to the driving support server 60.
  • the data transmission according to the transmission mode of the previous travel area is stopped, and the sensor data and the like are transmitted to the driving support server 60 according to the transmission mode assigned to the new travel area. Is started.
  • each vehicle for example, the vehicle 62
  • the vehicle 62 is selected for each travel area based on the planned travel route of the vehicle 62 and the dynamic map, considering the value of the sensor data or the like to be transmitted to the driving support server 60.
  • High-value data is transmitted according to the transmission mode.
  • Dynamic maps are also updated regularly to keep them up to date. Therefore, the vehicle 62 and the driving support server 60 enable the driving support server 60 to create a highly reliable dynamic map while preventing communication congestion.
  • step 700 the control is returned to step 700 after step 710 in FIG.
  • the process of step 700 may be performed only when there is a major change in the planned travel route or the dynamic map.
  • the control may be returned to step 702 after step 710 in FIG.
  • the sensor data and the like are not transmitted from the vehicle 62 to the driving support server 60 until the vehicle 62 starts traveling and enters the first traveling area.
  • the sensor data may be transmitted before the vehicle 62 starts traveling, for example, when the vehicle-mounted device 210 is activated. In this case, the vehicle-mounted device 210 may first set some default transmission mode to transmit data.
  • ⁇ Second embodiment> communication quality is not considered.
  • this disclosure is not limited to such embodiments.
  • a communication quality map showing the communication quality in each traveling area may be maintained in the driving support server 60, and the communication quality map may be transmitted to the vehicle 62 together with the dynamic map.
  • the communication quality map divides the map into, for example, rectangular sections, measures the delay time, throughput, etc. of the data transmitted from each section to the operation support server 60 over the latest certain time, and measures the representative value (representative value). It can be created by calculating the average value, moving average value, maximum value, minimum value, median value, etc.).
  • the size of the section it is desirable, but not limited to, the size of the section to be smaller than the size of the traveling area described above.
  • FIG. 10 is a flowchart showing a control structure of a program for realizing a process of updating both a dynamic map and a communication quality map used by an in-vehicle device in the second embodiment of the disclosure.
  • this program obtains and stores the dynamic map and the communication quality map from the driving support server 60 after the start of traveling, and after receiving the dynamic map and the communication quality map in step 730.
  • FIG. 11 is a flowchart showing a control structure of a program for realizing a process of changing a transmission mode used by an in-vehicle device in communication with an edge server in the second embodiment.
  • the edge server in this embodiment means a server that creates a dynamic map and a communication quality map and distributes them to each vehicle, roadside device, and the like for driving support.
  • this program refers to the planned travel route and the dynamic map after the vehicle starts traveling, and divides the planned travel route and the surrounding area into a plurality of travel areas, and step 750.
  • the transmission mode in each travel area is tentatively determined, the handover section is specified in step 751, and the transmission tentatively determined in step 751 for each travel area in the planned travel route. Includes step 752, which finally determines the transmission mode based on the mode and the communication quality map.
  • the vehicle checks the communication quality in each traveling area along the planned traveling route of the vehicle based on the communication quality map. Based on the quality of the vehicle, the vehicle predicts the fluctuation of the communication quality during running, and tentatively determines the transmission mode according to the prediction for each running area. At this time, only the communication quality in the communication area to which the communication device mounted on the vehicle can be connected is considered. For example, in the case of a vehicle in which the wireless communication device supports only up to 4G, only communication in 4G is considered even in an area where communication in 5G is possible. In making this prediction, for example, the one having the highest communication quality in the traveling area may be adopted, or the one having the average communication quality in the traveling area may be used. Alternatively, the fluctuation of the communication quality in the traveling area may be predicted based on the fluctuation tendency of the communication quality in each section of the past communication quality calculation, and the transmission mode may be tentatively determined based on the highest communication quality among them. ..
  • Step 754 includes a step 770 of calculating the probability that data can be transmitted to the driving support server 60 according to the transmission mode tentatively determined for the traveling area in step 750 for each traveling area in the planned traveling route.
  • step 770 the probability that communication is possible even when the communication quality fluctuates is calculated based on the communication quality at the current position of the vehicle. Further, step 754 determines whether or not the probability calculated in step 770 is higher than a predetermined threshold value, and branches the control flow according to the determination result, and when the determination in step 772 is negative, Step 774 that lowers the transmission mode by one step and returns the control to step 770, and step 776 that determines the transmission mode at that time as the final transmission mode and ends the process of step 754 when the determination in step 772 is affirmative. And include.
  • step 754 starting from the tentatively determined transmission mode, a transmission mode having an actual transmission capacity as large as possible and having a high possibility of being available is selected. At this time, the communication partner may be notified of the change in the transmission mode from this vehicle. When the transmission capacity that can be transmitted is small, when the communication partner receives the notification, the communication partner may collect data from another vehicle instead of from this vehicle.
  • This program further comprises step 752 followed by steps 702 to 710 similar to those shown in FIG. In this second embodiment, after step 710, control returns to step 750.
  • the dynamic map and the communication quality map are updated by executing the program of FIG.
  • the CPU 520 divides the planned travel route and the surrounding region into a plurality of travel regions using a dynamic map.
  • the CPU 520 tentatively determines the transmission mode for each traveling area using the dynamic map and the communication quality map.
  • the CPU 520 further determines a transmission mode that is likely to be actually available and has a large transmission capacity by the process of step 752. Therefore, there is an effect that the data transmission from the vehicle to the driving support server is efficiently performed within the allowable delay based on the actual communication quality.
  • the vehicle determines the data transmission mode.
  • a plurality of vehicles may start transmitting the same type of data to the driving support server 60 according to the same transmission mode.
  • the driving support server 60 may stop the transmission of data from some vehicles, judging from the position of the vehicle.
  • the planned travel route of the vehicle is divided into a plurality of travel areas.
  • the transmission protocol and allowable delay for transmitting sensor data from the vehicle to the driving support server are determined from the dynamic map and the planned travel route.
  • a handover area is provided at the boundary between the traveling area and the traveling area, and even if there is a vehicle in the preceding traveling area, if the vehicle enters the handover area, the connection according to the transmission protocol of the following traveling area is the driving support server. Established with. As soon as the vehicle enters the following travel area, the transmission of sensor data can be started according to the new transmission protocol.
  • the value of the transmitted data is determined based on the dynamic map, and the sensor data can be transmitted to the driving support server within the optimum transmission protocol and allowable delay determined based on this determination result. Therefore, the driving support server can create a highly reliable dynamic map without squeezing the communication capacity. By using the communication quality map in addition to the dynamic map, highly efficient communication according to the actual communication quality becomes possible.
  • Driving support system 60 Driving support server 62 Vehicle 64, 66, 68, 600, 602, 604, 606, 608, 610, 612 Driving area 70, 570 Dynamic map 72, 74 Sensor data 90 Other vehicle 92 Roadside device 200 mm Wave radar 202 Color camera 204 Rider 210 In-vehicle device 230 Sensor group 232 Other ECU 234 Automatic operation ECU 236 Various ECUs 238 In-vehicle gateway 240 External communication device 500 Computer 502 Touch panel 504 Monitor 510 Speaker and microphone 512 USB memory 520 CPU 522 Bus 524 ROM 526 RAM 528 Auxiliary storage device 530 Wireless communication unit 532 Input / output I / F 534 USB memory port 540 voice processing I / F 550 communication requirements table 580, 582, 584 Road 614 Scheduled route 650, 652, 680, 682, 700, 702, 704, 706, 708, 709, 710, 730, 732, 750, 751, 752, 754, 770, 772, 774, 776 steps

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de fonctionnement pour un dispositif embarqué, comprenant : une étape consistant à créer un itinéraire de déplacement planifié pour un véhicule ; une étape consistant à acquérir d'un autre dispositif une carte dynamique ; une étape consistant à diviser, en fonction de la carte dynamique et de l'itinéraire de déplacement programmé, une zone comprenant l'itinéraire de déplacement programmé en une pluralité de zones de déplacement, chacune comprenant un mode de transmission attribué parmi une pluralité de modes de transmission ; et une étape consistant à transmettre à l'autre dispositif, par rapport à chacune des zones de déplacement de la pluralité, des données de capteur collectées à partir d'un capteur monté dans le véhicule, selon le mode de transmission attribué à la zone de déplacement donnée.
PCT/JP2021/039627 2020-11-04 2021-10-27 Procédé de fonctionnement pour dispositif embarqué, procédé de fonctionnement pour système d'aide à la conduite, dispositif embarqué, système d'aide à la conduite, et programme informatique WO2022097545A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020184131 2020-11-04
JP2020-184131 2020-11-04

Publications (1)

Publication Number Publication Date
WO2022097545A1 true WO2022097545A1 (fr) 2022-05-12

Family

ID=81457811

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2021/039627 WO2022097545A1 (fr) 2020-11-04 2021-10-27 Procédé de fonctionnement pour dispositif embarqué, procédé de fonctionnement pour système d'aide à la conduite, dispositif embarqué, système d'aide à la conduite, et programme informatique

Country Status (1)

Country Link
WO (1) WO2022097545A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024057760A1 (fr) * 2022-09-14 2024-03-21 住友電気工業株式会社 Système d'aide à la conduite, dispositif embarqué, serveur d'aide à la conduite, procédé d'aide à la conduite et programme informatique

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1040491A (ja) * 1996-07-26 1998-02-13 Matsushita Electric Ind Co Ltd 移動体検出装置及びシステム
JP2008077143A (ja) * 2006-09-19 2008-04-03 Kddi Corp プローブ情報収集装置、プローブ情報送信装置およびプローブ情報収集方法
WO2017045139A1 (fr) * 2015-09-15 2017-03-23 Huawei Technologies Co., Ltd. Appareil et procédé de transmission de messages de communication
EP3322204A1 (fr) * 2016-11-11 2018-05-16 Bayerische Motoren Werke Aktiengesellschaft Système d'assistance au conducteur et procédé
WO2020111133A1 (fr) * 2018-11-29 2020-06-04 住友電気工業株式会社 Système d'aide à la circulation, serveur et procédé, dispositif embarqué et son procédé de fonctionnement, programme informatique, support d'enregistrement, ordinateur et circuit intégré à semi-conducteurs
JP2020095504A (ja) * 2018-12-13 2020-06-18 住友電気工業株式会社 情報収集装置、情報収集システム、情報収集方法及びコンピュータプログラム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1040491A (ja) * 1996-07-26 1998-02-13 Matsushita Electric Ind Co Ltd 移動体検出装置及びシステム
JP2008077143A (ja) * 2006-09-19 2008-04-03 Kddi Corp プローブ情報収集装置、プローブ情報送信装置およびプローブ情報収集方法
WO2017045139A1 (fr) * 2015-09-15 2017-03-23 Huawei Technologies Co., Ltd. Appareil et procédé de transmission de messages de communication
EP3322204A1 (fr) * 2016-11-11 2018-05-16 Bayerische Motoren Werke Aktiengesellschaft Système d'assistance au conducteur et procédé
WO2020111133A1 (fr) * 2018-11-29 2020-06-04 住友電気工業株式会社 Système d'aide à la circulation, serveur et procédé, dispositif embarqué et son procédé de fonctionnement, programme informatique, support d'enregistrement, ordinateur et circuit intégré à semi-conducteurs
JP2020095504A (ja) * 2018-12-13 2020-06-18 住友電気工業株式会社 情報収集装置、情報収集システム、情報収集方法及びコンピュータプログラム

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024057760A1 (fr) * 2022-09-14 2024-03-21 住友電気工業株式会社 Système d'aide à la conduite, dispositif embarqué, serveur d'aide à la conduite, procédé d'aide à la conduite et programme informatique

Similar Documents

Publication Publication Date Title
EP3528078B1 (fr) Commande de système de peloton de véhicules pour intersections
US20200286386A1 (en) Vehicle Merging Method and Apparatus
US20170154531A1 (en) Drive support apparatus
US20190283751A1 (en) Vehicle control device, vehicle control method, and storage medium
JP7250825B2 (ja) 車両の走行制御方法及び走行制御装置
JP6841263B2 (ja) 走行計画生成装置、走行計画生成方法、及び制御プログラム
US11895566B2 (en) Methods of operating a wireless data bus in vehicle platoons
US10746558B2 (en) Method and system for routing based on a predicted connectivity quality
US20190180615A1 (en) System and method for reducing delays in road traffic
US20220262248A1 (en) Vehicle navigation method and terminal
CN112088117A (zh) 用于运行机动车以改善机动车的评估单元的工作条件的方法、用于执行这种方法的控制系统和带有这种控制系统的机动车
WO2022097545A1 (fr) Procédé de fonctionnement pour dispositif embarqué, procédé de fonctionnement pour système d'aide à la conduite, dispositif embarqué, système d'aide à la conduite, et programme informatique
CN116588080A (zh) 一种停车场内巡航方法及系统
JP7382782B2 (ja) 物体認識方法及び物体認識システム
CN111989728B (zh) 驾驶辅助装置
WO2022145379A1 (fr) Système de commande de déplacement de véhicule, dispositif de serveur utilisé par celui-ci, et véhicule
WO2021166425A1 (fr) Système d'aide au déplacement, procédé d'aide au déplacement, et programme d'aide au déplacement
JP2018188020A (ja) 自動運転支援装置、及び自動運転支援方法
JP2022134536A (ja) 車両制御装置、車両制御方法およびプログラム
JP2021160708A (ja) 提示制御装置、提示制御プログラム、自動走行制御システムおよび自動走行制御プログラム
JP2022142050A (ja) 車両制御装置、車両制御方法、およびプログラム
WO2022259862A1 (fr) Dispositif embarqué, dispositif de commande, système, procédé de commande de dispositif embarqué, et programme informatique
CN113911139B (zh) 车辆控制方法、装置和电子设备
JP2020046726A (ja) 通信装置
WO2023238796A1 (fr) Dispositif embarqué, système embarqué, ordinateur serveur, procédé de détermination d'itinéraire recommandé et programme informatique

Legal Events

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

Ref document number: 21889098

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21889098

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP