WO2022102202A1 - Remote monitoring system, program for remote monitoring, remote monitoring method, in-vehicle device, and data processing server - Google Patents

Remote monitoring system, program for remote monitoring, remote monitoring method, in-vehicle device, and data processing server Download PDF

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Publication number
WO2022102202A1
WO2022102202A1 PCT/JP2021/031090 JP2021031090W WO2022102202A1 WO 2022102202 A1 WO2022102202 A1 WO 2022102202A1 JP 2021031090 W JP2021031090 W JP 2021031090W WO 2022102202 A1 WO2022102202 A1 WO 2022102202A1
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data
data processing
processing server
test vehicle
remote monitoring
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PCT/JP2021/031090
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French (fr)
Japanese (ja)
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寛 川添
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株式会社堀場製作所
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • 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
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y10/00—Economic sectors
    • G16Y10/40—Transportation

Definitions

  • the present invention relates to a remote monitoring system for remotely monitoring a test vehicle having an advanced driver assistance system or an automated driving system, a remote monitoring method, vehicle-side equipment used in the remote monitoring system, and data used in the remote monitoring system. It is about the processing server.
  • ADAS advanced driver assistance systems
  • AD automated driving systems
  • the present invention has been made to solve the above-mentioned problems, and it is intended to enable the data of the test vehicle to be transmitted to the data processing server in real time and to reduce the man-hours for developing the test vehicle or its parts. This is the main issue.
  • the remote monitoring system is a remote monitoring system for monitoring a test vehicle having an advanced driving support system or an automatic driving system at a remote operation center, and is a data process for exchanging data with the operation center.
  • a server, a plurality of external sensors attached to the test vehicle separately from the vehicle sensor of the test vehicle, and a data processing device mounted on the test vehicle and exchanging data with the data processing server are provided.
  • the data processing device receives data requests from the data acquisition unit and the data processing server that acquire data when traveling on the road from the plurality of external sensors and the test vehicle, and a data extraction range based on the data requests. Is provided, and a data extraction unit for extracting a part of the data and a data transmission unit for transmitting the data extracted by the data extraction unit to the data processing server are provided.
  • a part of the data of a plurality of external sensors and the test vehicle is extracted based on the data request from the data processing server, and the extracted data is transmitted to the data processing server. It is possible to reduce the amount of data to be processed and send the data to the data processing server in real time. Since the data can be transmitted to the data processing server in real time in this way, it is possible to remotely grasp and analyze the status of the test vehicle without having an engineer on board the test vehicle, and it is possible to reduce the development man-hours.
  • the data processing server includes a data request receiving unit that receives a data request input from an operator and a data request transmitting unit that transmits the data request received by the data request receiving unit to the data processing device.
  • a data request receiving unit that receives a data request input from an operator
  • a data request transmitting unit that transmits the data request received by the data request receiving unit to the data processing device.
  • the traveling position, traveling time, traveling condition, test vehicle data, retrofitted external sensor data, and the like of the vehicle can be considered.
  • the operation center can remotely set the data desired by the operator.
  • the remote monitoring system of the present invention in order to reduce the burden on the operator on the operation center side by automatically determining the occurrence of an abnormality such as a false detection or non-detection of a vehicle sensor or a malfunction or malfunction of the system, the above-mentioned
  • the external sensor data acquired from a plurality of external sensors is compared with the vehicle sensor data acquired from the vehicle sensor, and a data mismatch occurs based on the difference between the external sensor data and the vehicle sensor data. It is desirable to further provide a data judgment unit for determining whether or not.
  • the data transmission unit is described by the data determination unit. If there is a data mismatch, it is desirable to send an alert signal to that effect to the data processing server.
  • the data extraction unit extracts the data in which the inconsistency has occurred when the data inconsistency has occurred in the data determination unit.
  • the remote monitoring system of the present invention in order to be able to analyze the data when the test vehicle behaves in a predetermined manner, the external sensor data acquired from the plurality of external sensors or the data acquired from the vehicle sensor is obtained. It is desirable to further include a behavior detection unit that detects a predetermined behavior of the test vehicle by comparing the vehicle sensor data with a predetermined threshold value.
  • the data transmission unit In order to notify the operator on the operation center side in real time that the test vehicle has performed a predetermined behavior, the data transmission unit detects that the behavior detection unit detects the predetermined behavior. It is desirable to send the signal to the data processing server.
  • the data extraction unit may use the data extraction unit when the behavior detection unit detects the predetermined behavior. It is desirable to extract the data in which the behavior is detected.
  • the data extraction unit compresses the data capacity of the extracted data or data at a sampling frequency lower than the sampling frequency of the vehicle sensor or the external sensor. Is desirable to send.
  • the remote monitoring program is a program used for a remote monitoring system for monitoring a test vehicle having an advanced driving support system or an automatic driving system at a remote operation center
  • the remote monitoring system is ,
  • a data processing server that exchanges data with the operation center, a plurality of external sensors that are retrofitted to the test vehicle separately from the vehicle sensor of the test vehicle, and the data processing server and data mounted on the test vehicle.
  • the program includes a data processing device for exchanging data from the plurality of external sensors and the test vehicle, a data acquisition unit that acquires data during road driving, and a data request received from the data processing server.
  • the remote monitoring method is a remote monitoring method for monitoring a test vehicle having an advanced driving support system or an automatic driving system at a remote operation center, and is data for exchanging data with the operation center.
  • a processing server a plurality of external sensors attached to the test vehicle separately from the vehicle sensor of the test vehicle, and a data processing device mounted on the test vehicle to exchange data with the data processing server.
  • the data during road driving is acquired from the plurality of external sensors and the test vehicle, the data extraction range is set based on the data request received from the data processing server, and a part of the data is extracted. It is characterized by including a data transmission unit that transmits the extracted data to the data processing server.
  • the vehicle-side device is a vehicle-side device used in a remote monitoring system for monitoring a test vehicle having an advanced driving support system or an automatic driving system at a remote operation center via a data processing server.
  • a plurality of external sensors attached to the test vehicle and a data processing device mounted on the test vehicle and exchanging data with the data processing server are provided.
  • the data processing device sets a data extraction range based on a data acquisition unit that acquires data when traveling on the road from the plurality of external sensors and the test vehicle, and a data request received from the data processing server, and sets the data. It is characterized by including a data extraction unit for extracting a part of the data and a data transmission unit for transmitting the data extracted by the data extraction unit to the data processing server.
  • the data processing server constitutes the remote monitoring system together with the vehicle-side device, and has a data request receiving unit that receives a data request input from an operation center and a data request receiving unit. It is characterized by including a data request transmission unit that transmits the data request received by the unit to the data processing device.
  • the data of the test vehicle can be transmitted to the data processing server in real time, and the engineer can remotely analyze the data in real time without riding in the test vehicle. It is possible to reduce the number of man-hours.
  • FIG. 1 It is a schematic diagram which shows the structure of the remote monitoring system which concerns on this embodiment. It is a figure which shows the functional structure of the data processing apparatus of the same embodiment. It is a figure which shows the modification of the functional structure of the data processing apparatus of the same embodiment. It is a figure which shows the functional structure of the data processing apparatus which concerns on a modification embodiment. It is a figure which shows the functional structure of the data processing apparatus which concerns on a modification embodiment. It is a figure which shows an example of a predetermined behavior.
  • the remote monitoring system 100 of the present embodiment remotely mounts a test vehicle V having an advanced driver-assistance system (ADAS) or an automatic driving system (AD) via a remote data center DS. It is monitored in real time by the operation center OS.
  • the remote monitoring system 100 is used, for example, to collect and analyze data from a plurality of test vehicles V traveling on roads (field tests) around the world in real time.
  • the remote monitoring system 100 exchanges data with an operation center OS monitored by an operator, a data center DS that exchanges data with the operation center OS, and a data center DS. It is equipped with a vehicle-side device VE.
  • the operation center OS has a computer 5 operated by an operator.
  • the operator can monitor the data from the data center DS via the computer 5.
  • the computer 5 of the operation center OS can exchange data with the data center DS or the vehicle-side device VE via the communication line INT.
  • the operation center OS and the data center DS may be physically separated from each other or may be located at the same location. Further, there may be a plurality of data center DSs or operation center OSs. Further, a plurality of operation center OSs or computers 5 may be connected to one data center DS.
  • the data center DS has a data processing server 2.
  • the data processing server 2 is a server having a CPU, a storage, an input processing unit, a GUI (graphical user interface), and the like, and is a data request receiving unit 21 and a data request transmitting unit 22 based on a request from the operation center OS. It exerts its function as such.
  • the vehicle-side device VE has a plurality of external sensors 3 that are retrofitted to the test vehicle V separately from the vehicle sensor V1 of the test vehicle V, a data processing server 2 of the data center DS mounted on the test vehicle V, and a communication line INT. It is provided with a data processing device 4 for exchanging data via the data processing device 4.
  • the data request receiving unit 21 receives a data request input by the operator using an input device (computer of the operation center OS).
  • the data to be requested is specified in real time, and the traveling position (for example, traveling area, traveling altitude, etc.) of the vehicle and the traveling time (for example, morning, afternoon, 0:00:00) are specified. ⁇ OO: 00, etc.), driving conditions (for example, speed range such as OO km / h or more, presence / absence of people or obstacles, presence / absence of white lines, presence / absence of sudden braking), etc. can be considered.
  • the data request receiving unit 21 also accepts the designation of the test vehicle V that requests the data.
  • the data request transmitting unit 22 transmits the data request received by the data request receiving unit 21 to the data processing device 4 mounted on the designated test vehicle V.
  • the plurality of external sensors 3 attached to each test vehicle V may be of the same type as the vehicle sensor V1 built in the test vehicle V, or may be different.
  • the external sensor 3 of the present embodiment includes an inertial measurement unit (IMU) that detects three-dimensional angular velocity and acceleration, a GNSS (Global Navigation Satellite System), and an imaging camera that captures the inside or outside of a test vehicle. It is a lidar (LiDAR) that detects obstacles around the test vehicle.
  • IMU inertial measurement unit
  • GNSS Global Navigation Satellite System
  • LiDAR lidar
  • both a wide-angle camera (a camera having a wide-angle lens) and / or a narrow-angle camera (a camera having a narrow-angle lens) can be used.
  • the external sensor 3 a millimeter-wave radar, a far-infrared camera, an ultrasonic sonar, or the like may be used.
  • the external sensor 3 can be used to detect an abnormality such as a malfunction or non-operation of the vehicle sensor V1 built in the test vehicle V, and the external sensor 3 and the vehicle sensor V1 are the same type of sensor. In this case, it is desirable to use an external sensor 3 having a higher accuracy than the vehicle sensor V1.
  • the data processing device 4 mounted on each test vehicle V is a computer having a CPU, a memory, an input / output interface, an AD converter, a communication device, and the like, and is as shown in FIG. 2 based on a program stored in the memory. In addition, it exerts functions as a data acquisition unit 41, a data request reception unit 42, a data extraction unit 43, a data transmission unit 44, and the like.
  • the data acquisition unit 41 acquires data when traveling on the road in real time from a plurality of external sensors 3 and the test vehicle V.
  • the data acquisition unit 41 acquires data from the vehicle sensor V1 mounted on the test vehicle V via an in-vehicle network such as a CAN (Controller Area Network) mounted on the test vehicle V.
  • various data acquired by the data acquisition unit 41 are stored in the data storage unit 45.
  • the data request receiving unit 42 receives the data request transmitted from the data request transmitting unit 22 of the data processing server 2. Then, the data request receiving unit 42 sends the received data request to the data extraction unit 43. In the stage before receiving the data request, the data processing device 4 transmits at least one of the vehicle speed or the position data as the minimum data to the data center DS in real time, and the operation center OS uses the minimum. Data can be monitored in real time.
  • the data extraction unit 43 sets the data extraction range based on the data request received by the data request reception unit 42, and extracts a part of the data in real time. Then, the data extraction unit 43 sends the extracted data to the data transmission unit 44.
  • the data extraction unit 43 compresses the data capacity of the data to be extracted, or processes (reduces sampling) the data at a sampling frequency smaller than the sampling frequency of the vehicle sensor V1 or the external sensor 3. As a result, the amount of data transmitted from the data processing device 4 to the data processing server 2 of the data center DS is reduced.
  • the data extraction unit 43 may have a function of extracting only a predetermined data range in addition to setting a data range based on the data request received by the data request receiving unit 42. At this time, the predetermined data range may be compressed or reduced in sampling. In addition to extracting the set data range, the data extraction unit 43 has a function of compressing or reducing the sampling without extracting the data of the external sensor 3 and the vehicle sensor V1 based on the data range. May be.
  • the data transmission unit 44 transmits the data extracted by the data extraction unit 43 to the management server 2 of the data center DS in real time. As shown in FIG. 1, the data transmitted from the data transmission unit 44 is received by the data reception unit 23 of the data processing server 2 and displayed on a display device (not shown) of the data processing server 2. Further, the data received by the data receiving unit 23 of the data processing server 2 is stored in the data storage unit 24 of the data processing server 2.
  • Data extraction and data transmission in the data processing device 4 are performed in real time while the test vehicle V is running, and the operator of the operation center OS is running the data transmitted in real time in the test vehicle V. Can be monitored or analyzed during the process.
  • the remote monitoring system 100 of the present embodiment has a configuration in which data is transmitted in real time from a running test vehicle, and even when a running test is not performed such as when the test vehicle is stopped, the operator can use the remote monitoring system 100.
  • Data may be extracted and transmitted to the data processing server 2 of the data center DS in response to the request of.
  • the full-size data of various sensors stored in the data storage unit 45 of the data processing device 4 is transferred to the data processing server 2 of the data center DS by wireless communication such as WiFi or wired communication such as LAN. It can also be configured for transmission.
  • a part of the data of the plurality of external sensors 3 and the test vehicle V is extracted based on the data request from the data processing server 2 of the data center DS, and the extracted data is used as data. Since the data is transmitted to the processing server 2, the amount of data to be transmitted can be suppressed, and the data can be transmitted to the data processing server 2 in real time. Further, since the data can be transmitted to the data processing server 2 in real time, it is not necessary for the engineer to ride on the test vehicle V, and the development man-hours can be reduced.
  • the data processing device 4 may further include a data determination unit 46.
  • the data determination unit 46 compares the external sensor data acquired from the plurality of external sensors 3 with the vehicle sensor data acquired from the vehicle sensor V1, and based on the difference between the external sensor data and the vehicle sensor data. , It is to judge whether there is a data mismatch.
  • the data transmission unit 44 may be configured to transmit an alert signal indicating that a data mismatch has occurred by the data determination unit 46 to the data processing server 2 of the data center DS. ..
  • the data determination unit 46 can determine the data mismatch between the vehicle sensor V1 of the same type and the external sensor 3 (for example, LiDARs), or the different vehicle sensor V1 and the external sensor 3 (for example, an in-vehicle camera and LiDAR). ) And the data mismatch can also be determined.
  • the data extraction unit 43 may be configured to extract abnormal data (various data before and after the time of the mismatch) in which the mismatch has occurred when the data mismatch has occurred by the data determination unit 46. ..
  • the above alert signal can be used to respond to and transmit a data request from an operator who has recognized an abnormality in the vehicle sensor V1 without delay.
  • the data transmission unit 44 may automatically transmit the data to the data processing server 2 without a data request from the operator.
  • the data processing device 4 may further include a behavior detection unit 47.
  • the behavior detection unit 47 compares the external sensor data acquired from the plurality of external sensors 3 or the vehicle sensor data acquired from the vehicle sensor V1 with a predetermined threshold value, and detects a predetermined behavior of the test vehicle V. It is a thing.
  • the data transmission unit 44 may be configured to transmit a behavior detection signal indicating that a predetermined behavior is detected by the behavior detection unit 47 to the data processing server 2 of the data center. ..
  • a behavior detection signal indicating that a predetermined behavior is detected by the behavior detection unit 47 to the data processing server 2 of the data center.
  • the behavior detection signal By transmitting the behavior detection signal to the data processing server 2 of the data center in this way, the operator can recognize the predetermined behavior of the test vehicle V in real time.
  • An example of the predetermined behavior is as shown in FIG. 6, and an unexpected predetermined behavior is set for each of the assumed movements.
  • an unexpected predetermined behavior can be detected by a combination of data of one or a plurality of sensors 3 and V1.
  • the behavior detection unit 47 detects speed flicker as an unexpected behavior if the test vehicle V is traveling at a constant speed and the vehicle speed varies.
  • the data extraction unit 43 may be configured to extract behavior data (various data before and after including the detection time point) in which the behavior is detected when the behavior detection unit 47 detects a predetermined behavior. good.
  • behavior data variable data before and after including the detection time point
  • the above-mentioned behavior detection signal can be transmitted in response to a data request from an operator who has recognized a predetermined behavior of the test vehicle V without delay. Further, the data can be automatically transmitted to the data processing server 2 by the data transmission unit 44 without a data request from the operator.
  • the data processing server 2 of the data center DS may be configured so that the driver can request the operation mode to be reproduced.
  • the operation mode request is input from the operator to the data processing server 2 of the data center DS. Then, this operation mode request is transmitted to the data processing device 4.
  • the operation mode request transmitted to the data processing device 4 is displayed, for example, on a display visible to the driver.
  • the data processing server 2 of the data center DS analyzes the data stored or stored in the data storage unit 45 using artificial intelligence, for example, image data, and labels, tags, etc. good.
  • the data of the test vehicle can be transmitted to the data processing server in real time, and the engineer can remotely analyze the data in real time without riding in the test vehicle, thus reducing the development man-hours. Will be possible.

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Abstract

The present invention relates to a remote monitoring system capable of reducing development manhours and transmitting data of a test vehicle in real time to a data processing server, the remote monitoring system being for monitoring a test vehicle V having an advanced driver-assistance system or an autonomous driving system from a remote operation center OS. The remote monitoring system includes: a data processing server that exchanges data with the operation center OS; a plurality of exterior sensors retrofitted to the test vehicle V apart from a vehicle sensor V1 of the test vehicle V; and a data processing device installed in the test vehicle V to exchange data with the data processing server, the data processing device including a data acquisition unit that acquires data during road travelling from the plurality of exterior sensors and the test vehicle V, a data extraction unit that sets a data extraction range on the basis of a data request received from the data processing server and extracts a part of the data, and a data transmission unit that transmits the data extracted by the data extraction unit to the data processing server.

Description

遠隔モニタリングシステム、遠隔モニタリング用プログラム、遠隔モニタリング方法、車両側機器、及び、データ処理サーバRemote monitoring system, remote monitoring program, remote monitoring method, vehicle-side equipment, and data processing server
　本発明は、先進運転支援システム又は自動運転システムを有する試験車両を遠隔でモニタリングするための遠隔モニタリングシステム、遠隔モニタリング方法、遠隔モニタリングシステムに用いられる車両側機器、及び、遠隔モニタリングシステムに用いられるデータ処理サーバに関するものである。 The present invention relates to a remote monitoring system for remotely monitoring a test vehicle having an advanced driver assistance system or an automated driving system, a remote monitoring method, vehicle-side equipment used in the remote monitoring system, and data used in the remote monitoring system. It is about the processing server.
　近年、先進運転支援システム（ＡＤＡＳ）又は自動運転システム（ＡＤ）へのニーズが高まっており、各種自動車に適用が拡大されつつある。 In recent years, there has been an increasing need for advanced driver assistance systems (ADAS) or automated driving systems (AD), and their application is expanding to various automobiles.
　このＡＤＡＳ又はＡＤを有する車両の開発には、様々な条件における路上での走行状態を評価するために、膨大な距離の路上走行試験が必要になる。この路上走行試験では、試験車両の搭載したデータロガーを用いて各種データを収集し分析している。また、路上走行中において試験車両の課題（例えばセンサ等の誤作動や不作動等の異常）を抽出するために、ドライバだけでなく車両開発者などのエンジニアが同乗している。 In the development of this ADAS or a vehicle having AD, a road running test of a huge distance is required in order to evaluate the running condition on the road under various conditions. In this road driving test, various data are collected and analyzed using a data logger mounted on the test vehicle. In addition, not only the driver but also an engineer such as a vehicle developer is on board in order to extract problems of the test vehicle (for example, an abnormality such as a malfunction or non-operation of a sensor or the like) while traveling on the road.
　しかしながら、車載のデータロガーに収集された各種データをオフラインで分析しており、リアルタイムに各種データを分析することができなかった。また、路上走行試験は長期にわたるため、エンジニアを同乗させると開発工数が掛かってしまうという問題があった。 However, various data collected by the in-vehicle data logger were analyzed offline, and various data could not be analyzed in real time. In addition, since the road driving test takes a long time, there is a problem that it takes a lot of development man-hours to carry an engineer on board.
特開２００７－２０００３３号公報Japanese Unexamined Patent Publication No. 2007-200033
　そこで本発明は、上述した問題を解決すべくなされたものであり、試験車両のデータをリアルタイムでデータ処理サーバに送信できるようにするとともに、試験車両又はその部品の開発工数を削減することをその主たる課題とするものである。 Therefore, the present invention has been made to solve the above-mentioned problems, and it is intended to enable the data of the test vehicle to be transmitted to the data processing server in real time and to reduce the man-hours for developing the test vehicle or its parts. This is the main issue.
　すなわち本発明に係る遠隔モニタリングシステムは、先進運転支援システム又は自動運転システムを有する試験車両を遠隔のオペレーションセンタでモニタリングするための遠隔モニタリングシステムであって、前記オペレーションセンタとデータのやり取りを行うデータ処理サーバと、前記試験車両の車両センサとは別に前記試験車両に後付けされる複数の外部センサと、前記試験車両に搭載されて前記データ処理サーバとデータのやり取りを行うデータ処理機器とを備え、前記データ処理機器は、前記複数の外部センサ及び前記試験車両から、路上走行時のデータを取得するデータ取得部と、前記データ処理サーバからのデータ要求を受け付けて、当該データ要求に基づいてデータ抽出範囲を設定し、前記データの一部を抽出するデータ抽出部と、前記データ抽出部により抽出されたデータを前記データ処理サーバに送信するデータ送信部とを備えることを特徴とする。 That is, the remote monitoring system according to the present invention is a remote monitoring system for monitoring a test vehicle having an advanced driving support system or an automatic driving system at a remote operation center, and is a data process for exchanging data with the operation center. A server, a plurality of external sensors attached to the test vehicle separately from the vehicle sensor of the test vehicle, and a data processing device mounted on the test vehicle and exchanging data with the data processing server are provided. The data processing device receives data requests from the data acquisition unit and the data processing server that acquire data when traveling on the road from the plurality of external sensors and the test vehicle, and a data extraction range based on the data requests. Is provided, and a data extraction unit for extracting a part of the data and a data transmission unit for transmitting the data extracted by the data extraction unit to the data processing server are provided.
　このような遠隔モニタリングシステムであれば、データ処理サーバからのデータ要求に基づいて、複数の外部センサ及び試験車両のデータの一部を抽出し、抽出したデータをデータ処理サーバに送信するので、送信するデータの容量を抑えることができ、リアルタイムでデータ処理サーバにデータを送信することができる。このようにリアルタイムでデータ処理サーバにデータを送信することができるので、試験車両にエンジニアが同乗せずとも遠隔で試験車両の状況把握及び分析が可能となり、開発工数を削減することもできる。 In such a remote monitoring system, a part of the data of a plurality of external sensors and the test vehicle is extracted based on the data request from the data processing server, and the extracted data is transmitted to the data processing server. It is possible to reduce the amount of data to be processed and send the data to the data processing server in real time. Since the data can be transmitted to the data processing server in real time in this way, it is possible to remotely grasp and analyze the status of the test vehicle without having an engineer on board the test vehicle, and it is possible to reduce the development man-hours.
　前記データ処理サーバは、オペレータから入力されたデータ要求を受け付けるデータ要求受付部と、前記データ要求受付部が受け付けたデータ要求を前記データ処理機器に送信するデータ要求送信部とを備えることが望ましい。ここで、データ要求の種別としては、車両の走行位置、走行時間、走行条件、及び試験車両データ、後付けの外部センサデータ等が考えられる。このような構成であれば、オペレーションセンタ側でオペレータが欲しいデータを遠隔で設定することができる。 It is desirable that the data processing server includes a data request receiving unit that receives a data request input from an operator and a data request transmitting unit that transmits the data request received by the data request receiving unit to the data processing device. Here, as the type of data request, the traveling position, traveling time, traveling condition, test vehicle data, retrofitted external sensor data, and the like of the vehicle can be considered. With such a configuration, the operation center can remotely set the data desired by the operator.
　本発明の遠隔モニタリングシステムにおいて、車両センサの誤検知、不検知もしくはシステムの誤動作又は不動作等の異常の発生を自動的に判断してオペレーションセンタ側のオペレータの負担を軽減するためには、前記複数の外部センサから取得された外部センサデータと、前記車両センサから取得された車両センサデータとを比較して、前記外部センサデータ及び前記車両センサデータの差に基づいて、データの不一致が生じているかを判断するデータ判断部をさらに備えることが望ましい。 In the remote monitoring system of the present invention, in order to reduce the burden on the operator on the operation center side by automatically determining the occurrence of an abnormality such as a false detection or non-detection of a vehicle sensor or a malfunction or malfunction of the system, the above-mentioned The external sensor data acquired from a plurality of external sensors is compared with the vehicle sensor data acquired from the vehicle sensor, and a data mismatch occurs based on the difference between the external sensor data and the vehicle sensor data. It is desirable to further provide a data judgment unit for determining whether or not.
　オペレーションセンタ側のオペレータにリアルタイムに、車両センサの誤検知、不検知もしくはシステムの誤動作又は不動作等の異常が発生したことを報知するためには、前記データ送信部は、前記データ判断部により前記データの不一致が生じている場合に、そのことを示すアラート信号を前記データ処理サーバに送信することが望ましい。 In order to notify the operator on the operation center side in real time that an abnormality such as a false detection or non-detection of the vehicle sensor or a malfunction or malfunction of the system has occurred, the data transmission unit is described by the data determination unit. If there is a data mismatch, it is desirable to send an alert signal to that effect to the data processing server.
　車両センサの誤検知、不検知もしくはシステムの誤動作又は不動作等の異常が発生した場合には、その異常を分析する必要がある。このためには、前記データ抽出部は、前記データ判断部によりデータの不一致が生じている場合に、その不一致が生じたデータを抽出するものであることが望ましい。 If an abnormality such as false detection or non-detection of the vehicle sensor or malfunction or malfunction of the system occurs, it is necessary to analyze the abnormality. For this purpose, it is desirable that the data extraction unit extracts the data in which the inconsistency has occurred when the data inconsistency has occurred in the data determination unit.
　さらに本発明の遠隔モニタリングシステムにおいて、試験車両が所定の挙動をした場合のデータを分析できるようにするためには、前記複数の外部センサから取得された外部センサデータ又は前記車両センサから取得された車両センサデータと所定の閾値とを比較して、前記試験車両の所定の挙動を検出する挙動検出部をさらに備えることが望ましい。 Further, in the remote monitoring system of the present invention, in order to be able to analyze the data when the test vehicle behaves in a predetermined manner, the external sensor data acquired from the plurality of external sensors or the data acquired from the vehicle sensor is obtained. It is desirable to further include a behavior detection unit that detects a predetermined behavior of the test vehicle by comparing the vehicle sensor data with a predetermined threshold value.
　オペレーションセンタ側のオペレータにリアルタイムに試験車両が所定の挙動をしたことを報知するためには、前記データ送信部は、前記挙動検出部により所定の挙動が検出された場合に、そのことを示す検出信号を前記データ処理サーバに送信することが望ましい。 In order to notify the operator on the operation center side in real time that the test vehicle has performed a predetermined behavior, the data transmission unit detects that the behavior detection unit detects the predetermined behavior. It is desirable to send the signal to the data processing server.
　試験車両が所定の挙動をした場合には、その所定の挙動をした場合のデータを分析するためには、前記データ抽出部は、前記挙動検出部により所定の挙動が検出された場合に、その挙動が検出されたデータを抽出するものであることが望ましい。 When the test vehicle behaves in a predetermined manner, in order to analyze the data in the case of the predetermined behavior, the data extraction unit may use the data extraction unit when the behavior detection unit detects the predetermined behavior. It is desirable to extract the data in which the behavior is detected.
　セルラーネットワークなどの無線通信において遅延なくデータ送信するためには、データ抽出部は、抽出したデータのデータ容量を圧縮する、或いは、前記車両センサ又は前記外部センサのサンプリング周波数よりも小さいサンプリング周波数でデータを送信することが望ましい。 In order to transmit data without delay in wireless communication such as a cellular network, the data extraction unit compresses the data capacity of the extracted data or data at a sampling frequency lower than the sampling frequency of the vehicle sensor or the external sensor. Is desirable to send.
　また、本発明に係る遠隔モニタリング用プログラムは、先進運転支援システム又は自動運転システムを有する試験車両を遠隔のオペレーションセンタでモニタリングするための遠隔モニタリングシステムに用いられるプログラムであって、前記遠隔モニタリングシステムは、前記オペレーションセンタとデータのやり取りを行うデータ処理サーバと、前記試験車両の車両センサとは別に前記試験車両に後付けされる複数の外部センサと、前記試験車両に搭載されて前記データ処理サーバとデータのやり取りを行うデータ処理機器とを備えており、前記プログラムは、前記複数の外部センサ及び前記試験車両から、路上走行時のデータを取得するデータ取得部と、前記データ処理サーバから受け付けたデータ要求に基づいてデータ抽出範囲を設定し、前記データの一部を抽出するデータ抽出部と、前記データ抽出部により抽出されたデータを前記データ処理サーバに送信するデータ送信部と、としての機能を前記データ処理機器に発揮させることを特徴とする。 Further, the remote monitoring program according to the present invention is a program used for a remote monitoring system for monitoring a test vehicle having an advanced driving support system or an automatic driving system at a remote operation center, and the remote monitoring system is , A data processing server that exchanges data with the operation center, a plurality of external sensors that are retrofitted to the test vehicle separately from the vehicle sensor of the test vehicle, and the data processing server and data mounted on the test vehicle. The program includes a data processing device for exchanging data from the plurality of external sensors and the test vehicle, a data acquisition unit that acquires data during road driving, and a data request received from the data processing server. The function as a data extraction unit that sets a data extraction range based on the above and extracts a part of the data, and a data transmission unit that transmits the data extracted by the data extraction unit to the data processing server. It is characterized by being used in data processing equipment.
　さらに、本発明に係る遠隔モニタリング方法は、先進運転支援システム又は自動運転システムを有する試験車両を遠隔のオペレーションセンタでモニタリングするための遠隔モニタリング方法であって、前記オペレーションセンタとデータのやり取りを行うデータ処理サーバと、前記試験車両の車両センサとは別に前記試験車両に後付けされる複数の外部センサと、前記試験車両に搭載されて前記データ処理サーバとデータのやり取りを行うデータ処理機器とを用いるものであり、前記複数の外部センサ及び前記試験車両から、路上走行時のデータを取得し、前記データ処理サーバから受け付けたデータ要求に基づいてデータ抽出範囲を設定して前記データの一部を抽出し、抽出されたデータを前記データ処理サーバに送信するデータ送信部とを備えることを特徴とする。 Further, the remote monitoring method according to the present invention is a remote monitoring method for monitoring a test vehicle having an advanced driving support system or an automatic driving system at a remote operation center, and is data for exchanging data with the operation center. A processing server, a plurality of external sensors attached to the test vehicle separately from the vehicle sensor of the test vehicle, and a data processing device mounted on the test vehicle to exchange data with the data processing server. The data during road driving is acquired from the plurality of external sensors and the test vehicle, the data extraction range is set based on the data request received from the data processing server, and a part of the data is extracted. It is characterized by including a data transmission unit that transmits the extracted data to the data processing server.
　その上、本発明に係る車両側機器は、先進運転支援システム又は自動運転システムを有する試験車両をデータ処理サーバを介して遠隔のオペレーションセンタでモニタリングするための遠隔モニタリングシステムに用いられる車両側機器であって、前記試験車両の車両センサとは別に前記試験車両に後付けされる複数の外部センサと、前記試験車両に搭載されて前記データ処理サーバとデータのやり取りを行うデータ処理機器とを備え、前記データ処理機器は、前記複数の外部センサ及び前記試験車両から、路上走行時のデータを取得するデータ取得部と、前記データ処理サーバから受け付けたデータ要求に基づいてデータ抽出範囲を設定し、前記データの一部を抽出するデータ抽出部と、前記データ抽出部により抽出されたデータを前記データ処理サーバに送信するデータ送信部とを備えることを特徴とする。 Moreover, the vehicle-side device according to the present invention is a vehicle-side device used in a remote monitoring system for monitoring a test vehicle having an advanced driving support system or an automatic driving system at a remote operation center via a data processing server. In addition to the vehicle sensor of the test vehicle, a plurality of external sensors attached to the test vehicle and a data processing device mounted on the test vehicle and exchanging data with the data processing server are provided. The data processing device sets a data extraction range based on a data acquisition unit that acquires data when traveling on the road from the plurality of external sensors and the test vehicle, and a data request received from the data processing server, and sets the data. It is characterized by including a data extraction unit for extracting a part of the data and a data transmission unit for transmitting the data extracted by the data extraction unit to the data processing server.
　加えて、本発明に係るデータ処理サーバは、上記の車両側機器とともに前記遠隔モニタリングシステムを構成するものであって、オペレーションセンタから入力されるデータ要求を受け付けるデータ要求受付部と、前記データ要求受付部が受け付けたデータ要求を前記データ処理機器に送信するデータ要求送信部とを備えることを特徴とする。 In addition, the data processing server according to the present invention constitutes the remote monitoring system together with the vehicle-side device, and has a data request receiving unit that receives a data request input from an operation center and a data request receiving unit. It is characterized by including a data request transmission unit that transmits the data request received by the unit to the data processing device.
　このように構成した本発明によれば、リアルタイムでデータ処理サーバに試験車両のデータを送信できるようになり、エンジニアが試験車両に同乗することなくリアルタイムに遠隔でデータ解析することができるため、開発工数を削減することが可能になる。 According to the present invention configured in this way, the data of the test vehicle can be transmitted to the data processing server in real time, and the engineer can remotely analyze the data in real time without riding in the test vehicle. It is possible to reduce the number of man-hours.
本実施形態に係る遠隔モニタリングシステムの構成を示す模式図である。It is a schematic diagram which shows the structure of the remote monitoring system which concerns on this embodiment. 同実施形態のデータ処理機器の機能構成を示す図である。It is a figure which shows the functional structure of the data processing apparatus of the same embodiment. 同実施形態のデータ処理機器の機能構成の変形例を示す図である。It is a figure which shows the modification of the functional structure of the data processing apparatus of the same embodiment. 変形実施形態に係るデータ処理機器の機能構成を示す図である。It is a figure which shows the functional structure of the data processing apparatus which concerns on a modification embodiment. 変形実施形態に係るデータ処理機器の機能構成を示す図である。It is a figure which shows the functional structure of the data processing apparatus which concerns on a modification embodiment. 所定の挙動の一例を示す図である。It is a figure which shows an example of a predetermined behavior.
１００・・・遠隔モニタリングシステム
Ｖ　　・・・試験車両
Ｖ１　・・・車両センサ
ＤＳ　・・・データセンタ
ＯＳ　・・・オペレーションセンタ
２　　・・・データ処理サーバ
２１　・・・データ要求受付部
２２　・・・データ要求送信部
３　　・・・外部センサ
４　　・・・データ処理機器
４１　・・・データ取得部
４２　・・・データ要求受信部
４３　・・・データ抽出部
４４　・・・データ送信部
４６　・・・データ判断部
４７　・・・挙動検出部 100 ・ ・ ・ Remote monitoring system V ・ ・ ・ Test vehicle V1 ・ ・ ・ Vehicle sensor DS ・ ・ ・ Data center OS ・ ・ ・ Operation center 2 ・ ・ ・ Data processing server 21 ・ ・ ・ Data request reception unit 22 ・ ・ ・Data request transmission unit 3 ・ ・ ・ External sensor 4 ・ ・ ・ Data processing device 41 ・ ・ ・ Data acquisition unit 42 ・ ・ ・ Data request reception unit 43 ・ ・ ・ Data extraction unit 44 ・ ・ ・ Data transmission unit 46 ・ ・ ・Data judgment unit 47 ・ ・ ・ Behavior detection unit
　以下、本発明に係る試験車両の遠隔モニタリングシステムの一実施形態について、図面を参照して説明する。 Hereinafter, an embodiment of the remote monitoring system for the test vehicle according to the present invention will be described with reference to the drawings.
＜装置構成＞
　本実施形態の遠隔モニタリングシステム１００は、先進運転支援システム（ＡＤＡＳ；Advanced Driver-Assistance Systems）又は自動運転システム（ＡＤ；Autonomous Driving）を有する試験車両Ｖを遠隔のデータセンタＤＳを介して、遠隔のオペレーションセンタＯＳでリアルタイムにモニタリングするものである。ここで、遠隔モニタリングシステム１００は、例えば世界各地の路上を走行（フィールドテスト）している複数の試験車両Ｖからのデータをリアルタイムで収集して解析するために用いられる。 <Device configuration>
The remote monitoring system 100 of the present embodiment remotely mounts a test vehicle V having an advanced driver-assistance system (ADAS) or an automatic driving system (AD) via a remote data center DS. It is monitored in real time by the operation center OS. Here, the remote monitoring system 100 is used, for example, to collect and analyze data from a plurality of test vehicles V traveling on roads (field tests) around the world in real time.
　具体的に遠隔モニタリングシステム１００は、図１に示すように、オペレータがモニタリングするオペレーションセンタＯＳと、当該オペレーションセンタＯＳとデータのやり取りを行うデータセンタＤＳと、当該データセンタＤＳとデータのやり取りを行う車両側機器ＶＥとを備えている。 Specifically, as shown in FIG. 1, the remote monitoring system 100 exchanges data with an operation center OS monitored by an operator, a data center DS that exchanges data with the operation center OS, and a data center DS. It is equipped with a vehicle-side device VE.
　オペレーションセンタＯＳは、オペレータが操作するコンピュータ５を有している。オペレータは、当該コンピュータ５を介してデータセンタＤＳからのデータをモニタリングすることができる。なお、オペレーションセンタＯＳのコンピュータ５は、通信回線ＩＮＴを介してデータセンタＤＳ又は車両側機器ＶＥとの間でデータのやり取りを行うことができる。なお、オペレーションセンタＯＳとデータセンタＤＳとは、物理的に離れた場所にあってもよいし、同一の場所にあってもよい。また、データセンタＤＳ又はオペレーションセンタＯＳは複数あってもよい。また、１つのデータセンタＤＳに対して、オペレーションセンタＯＳ又はコンピュータ５が複数接続されもよい。 The operation center OS has a computer 5 operated by an operator. The operator can monitor the data from the data center DS via the computer 5. The computer 5 of the operation center OS can exchange data with the data center DS or the vehicle-side device VE via the communication line INT. The operation center OS and the data center DS may be physically separated from each other or may be located at the same location. Further, there may be a plurality of data center DSs or operation center OSs. Further, a plurality of operation center OSs or computers 5 may be connected to one data center DS.
　データセンタＤＳは、データ処理サーバ２を有している。このデータ処理サーバ２は、ＣＰＵ、ストレージ、入力処理部、ＧＵＩ（グラフィカル・ユーザ・インターフェース）などを有するサーバであり、オペレーションセンタＯＳに要求に基づいて、データ要求受付部２１及びデータ要求送信部２２などとしての機能を発揮する。 The data center DS has a data processing server 2. The data processing server 2 is a server having a CPU, a storage, an input processing unit, a GUI (graphical user interface), and the like, and is a data request receiving unit 21 and a data request transmitting unit 22 based on a request from the operation center OS. It exerts its function as such.
　車両側機器ＶＥは、試験車両Ｖの車両センサＶ１とは別に試験車両Ｖに後付けされる複数の外部センサ３と、試験車両Ｖに搭載されてデータセンタＤＳのデータ処理サーバ２と通信回線ＩＮＴを介してデータのやり取りを行うデータ処理機器４を備えている。 The vehicle-side device VE has a plurality of external sensors 3 that are retrofitted to the test vehicle V separately from the vehicle sensor V1 of the test vehicle V, a data processing server 2 of the data center DS mounted on the test vehicle V, and a communication line INT. It is provided with a data processing device 4 for exchanging data via the data processing device 4.
　データ要求受付部２１は、オペレータが入力装置（オペレーションセンタＯＳのコンピュータ）を用いて入力したデータ要求を受け付けるものである。ここで、データ要求の種別としては、リアルタイムで要求するデータを特定するものであり、車両の走行位置（例えば走行地域、走行標高など）、走行時間（例えば午前、午後、〇〇時〇〇分～〇〇時〇〇分など）、走行条件（例えば、時速〇〇ｋｍ／ｈ以上等の速度範囲、人や障害物の有無、白線の有無、急ブレーキの有無）等が考えられる。なお、データ要求受付部２１は、データを要求する試験車両Ｖの指定も受け付ける。 The data request receiving unit 21 receives a data request input by the operator using an input device (computer of the operation center OS). Here, as the type of data request, the data to be requested is specified in real time, and the traveling position (for example, traveling area, traveling altitude, etc.) of the vehicle and the traveling time (for example, morning, afternoon, 0:00:00) are specified. ~ OO: 00, etc.), driving conditions (for example, speed range such as OO km / h or more, presence / absence of people or obstacles, presence / absence of white lines, presence / absence of sudden braking), etc. can be considered. The data request receiving unit 21 also accepts the designation of the test vehicle V that requests the data.
　データ要求送信部２２は、データ要求受付部２１が受け付けたデータ要求を、指定された試験車両Ｖに搭載されたデータ処理機器４に送信するものである。 The data request transmitting unit 22 transmits the data request received by the data request receiving unit 21 to the data processing device 4 mounted on the designated test vehicle V.
　各試験車両Ｖに後付される複数の外部センサ３は、試験車両Ｖに内蔵された車両センサＶ１と同種のものであっても良いし、異なるものであっても良い。本実施形態の外部センサ３は、３次元の角速度と加速度を検出する慣性計測装置（ＩＭＵ）、ＧＮＳＳ（Global Navigation Satellite System／全球測位衛星システム）、試験車両の内部又は外部を撮像する撮像カメラ、試験車両の周辺の障害物などを検出するライダー（ＬｉＤＡＲ）である。ここで、慣性計測装置の検出信号に基づいて、速度ハンチング、直線走行時の左右ふらつき、カーブ走行時の左右ふらつき、加減速安定性、加速度、減速度、横加速度などを検出することができる。また、試験車両Ｖの外部を撮像する撮像カメラとしては、広角カメラ（広角レンズを有するカメラ）及び／又は狭角カメラ（狭角レンズを有するカメラ）の両方を用いることができる。その他、外部センサ３として、ミリ波レーダー、遠赤外線カメラ又は超音波ソナー等を用いても良い。 The plurality of external sensors 3 attached to each test vehicle V may be of the same type as the vehicle sensor V1 built in the test vehicle V, or may be different. The external sensor 3 of the present embodiment includes an inertial measurement unit (IMU) that detects three-dimensional angular velocity and acceleration, a GNSS (Global Navigation Satellite System), and an imaging camera that captures the inside or outside of a test vehicle. It is a lidar (LiDAR) that detects obstacles around the test vehicle. Here, based on the detection signal of the inertial measurement unit, it is possible to detect speed hunting, left / right wobbling during straight line running, left / right wobbling during curve running, acceleration / deceleration stability, acceleration, deceleration, lateral acceleration, and the like. Further, as an image pickup camera that captures the outside of the test vehicle V, both a wide-angle camera (a camera having a wide-angle lens) and / or a narrow-angle camera (a camera having a narrow-angle lens) can be used. In addition, as the external sensor 3, a millimeter-wave radar, a far-infrared camera, an ultrasonic sonar, or the like may be used.
　ここで、外部センサ３は、試験車両Ｖに内蔵された車両センサＶ１の誤作動又は不作動等の異常を検出するために用いられることができ、外部センサ３と車両センサＶ１とが同種のセンサの場合には、外部センサ３は、車両センサＶ１よりも精度の良いものを用いることが望ましい。 Here, the external sensor 3 can be used to detect an abnormality such as a malfunction or non-operation of the vehicle sensor V1 built in the test vehicle V, and the external sensor 3 and the vehicle sensor V1 are the same type of sensor. In this case, it is desirable to use an external sensor 3 having a higher accuracy than the vehicle sensor V1.
　各試験車両Vに搭載されたデータ処理機器４は、ＣＰＵ、メモリ、入出力インターフェース、ＡＤ変換器、通信装置などを有するコンピュータであり、メモリに記憶されたプログラムに基づいて、図２に示すように、データ取得部４１、データ要求受信部４２、データ抽出部４３及びデータ送信部４４などとしての機能を発揮する。 The data processing device 4 mounted on each test vehicle V is a computer having a CPU, a memory, an input / output interface, an AD converter, a communication device, and the like, and is as shown in FIG. 2 based on a program stored in the memory. In addition, it exerts functions as a data acquisition unit 41, a data request reception unit 42, a data extraction unit 43, a data transmission unit 44, and the like.
　データ取得部４１は、複数の外部センサ３及び試験車両Ｖから、路上走行時のデータをリアルタイムで取得するものである。ここで、データ取得部４１は、試験車両Ｖに搭載された例えばＣＡＮ（Controller Area Network）等の車載ネットワークを介して、試験車両Ｖに搭載された車両センサＶ１からデータを取得する。本実施形態では、データ取得部４１が取得した各種データは、データ格納部４５に格納される。 The data acquisition unit 41 acquires data when traveling on the road in real time from a plurality of external sensors 3 and the test vehicle V. Here, the data acquisition unit 41 acquires data from the vehicle sensor V1 mounted on the test vehicle V via an in-vehicle network such as a CAN (Controller Area Network) mounted on the test vehicle V. In the present embodiment, various data acquired by the data acquisition unit 41 are stored in the data storage unit 45.
　データ要求受信部４２は、データ処理サーバ２のデータ要求送信部２２から送信されるデータ要求を受信するものである。そして、データ要求受信部４２は、受信したデータ要求をデータ抽出部４３に送る。なお、データ要求を受信する前段階において、データ処理機器４は、車速又は位置データの少なくとも１つを最小限のデータとしてリアルタイムにデータセンタＤＳに送信しており、オペレーションセンタＯＳでは、その最小限のデータをリアルタイムで監視することができる。 The data request receiving unit 42 receives the data request transmitted from the data request transmitting unit 22 of the data processing server 2. Then, the data request receiving unit 42 sends the received data request to the data extraction unit 43. In the stage before receiving the data request, the data processing device 4 transmits at least one of the vehicle speed or the position data as the minimum data to the data center DS in real time, and the operation center OS uses the minimum. Data can be monitored in real time.
　データ抽出部４３は、データ要求受信部４２が受信したデータ要求に基づいてデータ抽出範囲を設定し、データの一部をリアルタイムで抽出する。そして、データ抽出部４３は、抽出したデータをデータ送信部４４に送る。 The data extraction unit 43 sets the data extraction range based on the data request received by the data request reception unit 42, and extracts a part of the data in real time. Then, the data extraction unit 43 sends the extracted data to the data transmission unit 44.
　ここで、データ抽出部４３は、抽出するデータのデータ容量を圧縮する、或いは、車両センサＶ１又は外部センサ３のサンプリング周波数よりも小さいサンプリング周波数でデータを処理（低サンプリング化）する。これにより、データ処理機器４からデータセンタＤＳのデータ処理サーバ２に送信されるデータ容量を小さくしている。 Here, the data extraction unit 43 compresses the data capacity of the data to be extracted, or processes (reduces sampling) the data at a sampling frequency smaller than the sampling frequency of the vehicle sensor V1 or the external sensor 3. As a result, the amount of data transmitted from the data processing device 4 to the data processing server 2 of the data center DS is reduced.
　なお、データ抽出部４３は、データ要求受信部４２が受信したデータ要求に基づいてデータ範囲を設定する他に、予め定められたデータ範囲のみを抽出する機能を有していても良い。このとき、予め定められたデータ範囲を圧縮又は低サンプリング化しても良い。また、データ抽出部４３は、設定されたデータ範囲を抽出する他に、外部センサ３及び車両センサＶ１のデータをデータ範囲に基づいて抽出すること無く、圧縮又は低サンプリング化する機能を有していても良い。 The data extraction unit 43 may have a function of extracting only a predetermined data range in addition to setting a data range based on the data request received by the data request receiving unit 42. At this time, the predetermined data range may be compressed or reduced in sampling. In addition to extracting the set data range, the data extraction unit 43 has a function of compressing or reducing the sampling without extracting the data of the external sensor 3 and the vehicle sensor V1 based on the data range. May be.
　データ送信部４４は、データ抽出部４３により抽出されたデータをデータセンタＤＳの管理サーバ２にリアルタイムで送信する。データ送信部４４から送信されたデータは、図１に示すように、データ処理サーバ２のデータ受信部２３により受信されて、データ処理サーバ２の表示装置（不図示）に表示される。また、データ処理サーバ２のデータ受信部２３に受信されたデータは、データ処理サーバ２のデータ格納部２４に格納される。 The data transmission unit 44 transmits the data extracted by the data extraction unit 43 to the management server 2 of the data center DS in real time. As shown in FIG. 1, the data transmitted from the data transmission unit 44 is received by the data reception unit 23 of the data processing server 2 and displayed on a display device (not shown) of the data processing server 2. Further, the data received by the data receiving unit 23 of the data processing server 2 is stored in the data storage unit 24 of the data processing server 2.
　データ処理機器４におけるデータ抽出及びデータ送信は、試験車両Ｖが走行している最中にリアルタイムに行われ、オペレーションセンタＯＳのオペレータは、リアルタイムに送信されるデータを試験車両Ｖが走行している最中に監視又は分析することができる。 Data extraction and data transmission in the data processing device 4 are performed in real time while the test vehicle V is running, and the operator of the operation center OS is running the data transmitted in real time in the test vehicle V. Can be monitored or analyzed during the process.
　また、本実施形態の遠隔モニタリングシステム１００は、走行中の試験車両からリアルタイムでデータを送信する構成のほか、試験車両が停止している場合などの走行試験を行っていない場合にも、オペレータからの要求に応じて、データを抽出して、データセンタＤＳのデータ処理サーバ２に送信するように構成しても良い。 Further, the remote monitoring system 100 of the present embodiment has a configuration in which data is transmitted in real time from a running test vehicle, and even when a running test is not performed such as when the test vehicle is stopped, the operator can use the remote monitoring system 100. Data may be extracted and transmitted to the data processing server 2 of the data center DS in response to the request of.
　その他、図３に示すように、データ処理機器４のデータ格納部４５に格納された各種センサのフルサイズデータをＷｉＦｉ等の無線通信又はＬＡＮ等の有線通信によりデータセンタＤＳのデータ処理サーバ２に送信できるように構成することもできる。 In addition, as shown in FIG. 3, the full-size data of various sensors stored in the data storage unit 45 of the data processing device 4 is transferred to the data processing server 2 of the data center DS by wireless communication such as WiFi or wired communication such as LAN. It can also be configured for transmission.
＜本実施形態の効果＞
　このような遠隔モニタリングシステム１００であれば、データセンタＤＳのデータ処理サーバ２からのデータ要求に基づいて、複数の外部センサ３及び試験車両Ｖのデータの一部を抽出し、抽出したデータをデータ処理サーバ２に送信するので、送信するデータの容量を抑えることができ、リアルタイムでデータ処理サーバ２にデータを送信することができる。また、リアルタイムでデータ処理サーバ２にデータを送信することができるので、試験車両Ｖにエンジニアが同乗する必要がなく、開発工数を削減することもできる。 <Effect of this embodiment>
In such a remote monitoring system 100, a part of the data of the plurality of external sensors 3 and the test vehicle V is extracted based on the data request from the data processing server 2 of the data center DS, and the extracted data is used as data. Since the data is transmitted to the processing server 2, the amount of data to be transmitted can be suppressed, and the data can be transmitted to the data processing server 2 in real time. Further, since the data can be transmitted to the data processing server 2 in real time, it is not necessary for the engineer to ride on the test vehicle V, and the development man-hours can be reduced.
＜その他の実施形態＞
　なお、本発明は前記実施形態に限られるものではない。 <Other embodiments>
The present invention is not limited to the above embodiment.
　例えば、前記実施形態の構成に加えて、図４に示すように、データ処理機器４は、データ判断部４６をさらに備えていても良い。このデータ判断部４６は、複数の外部センサ３から取得された外部センサデータと、車両センサＶ１から取得された車両センサデータとを比較して、外部センサデータと車両センサデータとの差に基づいて、データの不一致が生じているかを判断するものである。 For example, in addition to the configuration of the embodiment, as shown in FIG. 4, the data processing device 4 may further include a data determination unit 46. The data determination unit 46 compares the external sensor data acquired from the plurality of external sensors 3 with the vehicle sensor data acquired from the vehicle sensor V1, and based on the difference between the external sensor data and the vehicle sensor data. , It is to judge whether there is a data mismatch.
　この構成において、データ送信部４４は、データ判断部４６によりデータの不一致が生じている場合に、そのことを示すアラート信号をデータセンタＤＳのデータ処理サーバ２に送信するように構成しても良い。このようにアラート信号をデータセンタＤＳのデータ処理サーバ２に送信することによって、オペレータは、車両センサＶ１の誤検知又は不検知等の異常をリアルタイムに認識することができる。ここで、データ判断部４６は、同種の車両センサＶ１と外部センサ３（例えばＬｉＤＡＲ同士）とのデータの不一致を判断することもできるし、異なる車両センサＶ１と外部センサ３（例えば車載カメラとＬｉＤＡＲ）とのデータの不一致を判断することもできる。 In this configuration, the data transmission unit 44 may be configured to transmit an alert signal indicating that a data mismatch has occurred by the data determination unit 46 to the data processing server 2 of the data center DS. .. By transmitting the alert signal to the data processing server 2 of the data center DS in this way, the operator can recognize an abnormality such as false detection or non-detection of the vehicle sensor V1 in real time. Here, the data determination unit 46 can determine the data mismatch between the vehicle sensor V1 of the same type and the external sensor 3 (for example, LiDARs), or the different vehicle sensor V1 and the external sensor 3 (for example, an in-vehicle camera and LiDAR). ) And the data mismatch can also be determined.
　また、データ抽出部４３は、データ判断部４６によりデータの不一致が生じている場合に、その不一致が生じた異常データ（不一致時点を含む前後の各種データ）を抽出するように構成しても良い。この構成であれば、上記のアラート信号により、車両センサＶ１の異常を認識したオペレータからのデータ要求に遅滞なく対応して送信することができる。また、オペレータからのデータ要求無しに、自動的にデータ送信部４４によりデータ処理サーバ２に送信しても良い。 Further, the data extraction unit 43 may be configured to extract abnormal data (various data before and after the time of the mismatch) in which the mismatch has occurred when the data mismatch has occurred by the data determination unit 46. .. With this configuration, the above alert signal can be used to respond to and transmit a data request from an operator who has recognized an abnormality in the vehicle sensor V1 without delay. Further, the data transmission unit 44 may automatically transmit the data to the data processing server 2 without a data request from the operator.
　さらに、前記実施形態の構成に加えて、図５に示すように、データ処理機器４は、挙動検出部４７をさらに備えていても良い。この挙動検出部４７は、複数の外部センサ３から取得された外部センサデータ又は車両センサＶ１から取得された車両センサデータと所定の閾値とを比較して、試験車両Ｖの所定の挙動を検出するものである。 Further, in addition to the configuration of the embodiment, as shown in FIG. 5, the data processing device 4 may further include a behavior detection unit 47. The behavior detection unit 47 compares the external sensor data acquired from the plurality of external sensors 3 or the vehicle sensor data acquired from the vehicle sensor V1 with a predetermined threshold value, and detects a predetermined behavior of the test vehicle V. It is a thing.
　この構成において、データ送信部４４は、挙動検出部４７により所定の挙動が検出された場合に、そのことを示す挙動検出信号をデータセンタのデータ処理サーバ２に送信するように構成しても良い。このように挙動検出信号をデータセンタのデータ処理サーバ２に送信することによって、オペレータは、試験車両Ｖの所定の挙動をリアルタイムに認識することができる。なお、所定の挙動の一例については、図６に示すとおりであり、想定される動作それぞれに対して、予期しない所定の挙動が設定されている。ここで、予期しない所定の挙動は、１又は複数のセンサ３、Ｖ１のデータの組み合わせにより検出することができる。例えば、挙動検出部４７は、試験車両Ｖが一定速走行中に、車速のばらつきがあれば、予期しない挙動として、速度フラツキを検出する。 In this configuration, the data transmission unit 44 may be configured to transmit a behavior detection signal indicating that a predetermined behavior is detected by the behavior detection unit 47 to the data processing server 2 of the data center. .. By transmitting the behavior detection signal to the data processing server 2 of the data center in this way, the operator can recognize the predetermined behavior of the test vehicle V in real time. An example of the predetermined behavior is as shown in FIG. 6, and an unexpected predetermined behavior is set for each of the assumed movements. Here, an unexpected predetermined behavior can be detected by a combination of data of one or a plurality of sensors 3 and V1. For example, the behavior detection unit 47 detects speed flicker as an unexpected behavior if the test vehicle V is traveling at a constant speed and the vehicle speed varies.
　また、データ抽出部４３は、挙動検出部４７により所定の挙動が検出された場合に、その挙動が検出された挙動データ（検出時点を含む前後の各種データ）を抽出するように構成しても良い。この構成であれば、上記の挙動検出信号により、試験車両Ｖの所定の挙動を認識したオペレータからのデータ要求に遅滞なく対応して送信することができる。また、オペレータからのデータ要求無しに、自動的にデータ送信部４４によりデータ処理サーバ２に送信することができる。 Further, the data extraction unit 43 may be configured to extract behavior data (various data before and after including the detection time point) in which the behavior is detected when the behavior detection unit 47 detects a predetermined behavior. good. With this configuration, the above-mentioned behavior detection signal can be transmitted in response to a data request from an operator who has recognized a predetermined behavior of the test vehicle V without delay. Further, the data can be automatically transmitted to the data processing server 2 by the data transmission unit 44 without a data request from the operator.
　加えて、データセンタＤＳのデータ処理サーバ２からドライバに再現して欲しい運転態様を要求できるように構成しても良い。この場合、データセンタＤＳのデータ処理サーバ２には、オペレータから運転態様要求が入力される。そして、この運転態様要求は、データ処理機器４に送信される。データ処理機器４に送信された運転態様要求は、例えばドライバが視認可能なディスプレイに表示される。 In addition, the data processing server 2 of the data center DS may be configured so that the driver can request the operation mode to be reproduced. In this case, the operation mode request is input from the operator to the data processing server 2 of the data center DS. Then, this operation mode request is transmitted to the data processing device 4. The operation mode request transmitted to the data processing device 4 is displayed, for example, on a display visible to the driver.
　その上、データセンタＤＳのデータ処理サーバ２が人工知能を用いてデータ格納部４５に格納する又は格納されている例えば画像データ等のデータを解析してラベリング、タグ付け等をするようにしても良い。 Further, even if the data processing server 2 of the data center DS analyzes the data stored or stored in the data storage unit 45 using artificial intelligence, for example, image data, and labels, tags, etc. good.
　また、前記実施形態により収集したデータ（例えば画像データ、Raderデータ、LiDARデータ等）を台上で再現し、公道での課題対策を台上で実施可能に構成することもできる。 Further, it is also possible to reproduce the data collected by the above embodiment (for example, image data, Radar data, LiDAR data, etc.) on a table, and configure the problem countermeasures on public roads so that they can be implemented on the table.
　その他、本発明は前記実施形態に限られず、その趣旨を逸脱しない範囲で種々の変形が可能であるのは言うまでもない。 In addition, the present invention is not limited to the above-described embodiment, and it goes without saying that various modifications can be made without departing from the spirit of the present invention.
　本発明によれば、リアルタイムでデータ処理サーバに試験車両のデータを送信できるようになり、エンジニアが試験車両に同乗することなくリアルタイムに遠隔でデータ解析することができるため、開発工数を削減することが可能になる。 According to the present invention, the data of the test vehicle can be transmitted to the data processing server in real time, and the engineer can remotely analyze the data in real time without riding in the test vehicle, thus reducing the development man-hours. Will be possible.

Claims (13)

  1. 　先進運転支援システム又は自動運転システムを有する試験車両を遠隔のオペレーションセンタでモニタリングするための遠隔モニタリングシステムであって、
    　前記オペレーションセンタとデータのやり取りを行うデータ処理サーバと、
    　前記試験車両の車両センサとは別に前記試験車両に後付けされる複数の外部センサと、
    　前記試験車両に搭載されて前記データ処理サーバとデータのやり取りを行うデータ処理機器とを備え、
    　前記データ処理機器は、
    　前記複数の外部センサ及び前記試験車両から、路上走行時のデータを取得するデータ取得部と、
    　前記データ処理サーバから受け付けたデータ要求に基づいてデータ抽出範囲を設定し、前記データの一部を抽出するデータ抽出部と、
    　前記データ抽出部により抽出されたデータを前記データ処理サーバに送信するデータ送信部とを備える、遠隔モニタリングシステム。     A remote monitoring system for monitoring a test vehicle with an advanced driver assistance system or an automated driving system at a remote operation center.
    A data processing server that exchanges data with the operation center,
    A plurality of external sensors that are retrofitted to the test vehicle separately from the vehicle sensors of the test vehicle,
    It is equipped with a data processing device mounted on the test vehicle and exchanges data with the data processing server.
    The data processing device is
    A data acquisition unit that acquires data when traveling on the road from the plurality of external sensors and the test vehicle.
    A data extraction unit that sets a data extraction range based on a data request received from the data processing server and extracts a part of the data, and a data extraction unit.
    A remote monitoring system including a data transmission unit that transmits data extracted by the data extraction unit to the data processing server.
  2. 　前記データ処理サーバは、
    　オペレータセンタから入力されるデータ要求を受け付けるデータ要求受付部と、
    　前記データ要求受付部が受け付けたデータ要求を前記データ処理機器に送信するデータ要求送信部とを備える、請求項１に記載の遠隔モニタリングシステム。     The data processing server is
    A data request reception unit that accepts data requests input from the operator center,
    The remote monitoring system according to claim 1, further comprising a data request transmitting unit that transmits a data request received by the data request receiving unit to the data processing device.
  3. 　前記データ処理機器は、前記複数の外部センサから取得された外部センサデータと、前記車両センサから取得された車両センサデータとを比較して、前記外部センサデータ及び前記車両センサデータの差に基づいて、データの不一致が生じているかを判断するデータ判断部をさらに備える、請求項１又は２に記載の遠隔モニタリングシステム。 The data processing device compares the external sensor data acquired from the plurality of external sensors with the vehicle sensor data acquired from the vehicle sensor, and based on the difference between the external sensor data and the vehicle sensor data. The remote monitoring system according to claim 1 or 2, further comprising a data determination unit for determining whether or not a data mismatch has occurred.
  4. 　前記データ送信部は、前記データ判断部により前記データの不一致が生じている場合に、そのことを示すアラート信号を前記データ処理サーバに送信する、請求項３に記載の遠隔モニタリングシステム。 The remote monitoring system according to claim 3, wherein the data transmission unit transmits an alert signal indicating that the data mismatch has occurred by the data determination unit to the data processing server.
  5. 　前記データ抽出部は、前記データ判断部によりデータの不一致が生じている場合に、その不一致が生じたデータを抽出するものである、請求項３又は４に記載の遠隔モニタリングシステム。 The remote monitoring system according to claim 3 or 4, wherein the data extraction unit extracts the data in which the inconsistency has occurred when the data inconsistency has occurred by the data determination unit.
  6. 　前記データ処理機器は、前記複数の外部センサから取得された外部センサデータ又は前記車両センサから取得された車両センサデータと所定の閾値とを比較して、前記試験車両の所定の挙動を検出する挙動検出部をさらに備える、請求項１乃至５の何れか一項に記載の遠隔モニタリングシステム。 The data processing device has a behavior of detecting a predetermined behavior of the test vehicle by comparing the external sensor data acquired from the plurality of external sensors or the vehicle sensor data acquired from the vehicle sensor with a predetermined threshold value. The remote monitoring system according to any one of claims 1 to 5, further comprising a detection unit.
  7. 　前記データ送信部は、前記挙動検出部により所定の挙動が検出された場合に、そのことを示す挙動検出信号を前記データ処理サーバに送信する、請求項６に記載の遠隔モニタリングシステム。 The remote monitoring system according to claim 6, wherein the data transmission unit transmits a behavior detection signal indicating that a predetermined behavior is detected by the behavior detection unit to the data processing server.
  8. 　前記データ抽出部は、前記挙動検出部により所定の挙動が検出された場合に、その挙動が検出されたデータを抽出するものである、請求項６又は７に記載の遠隔モニタリングシステム。 The remote monitoring system according to claim 6 or 7, wherein the data extraction unit extracts data in which a predetermined behavior is detected by the behavior detection unit.
  9. 　データ抽出部は、抽出するデータのデータ容量を圧縮する、或いは、前記車両センサ又は前記外部センサのサンプリング周波数よりも小さいサンプリング周波数でデータを抽出する、請求項１乃至８の何れか一項に記載の遠隔モニタリングシステム。 The item according to any one of claims 1 to 8, wherein the data extraction unit compresses the data capacity of the data to be extracted, or extracts data at a sampling frequency lower than the sampling frequency of the vehicle sensor or the external sensor. Remote monitoring system.
  10. 　先進運転支援システム又は自動運転システムを有する試験車両を遠隔のオペレーションセンタでモニタリングするための遠隔モニタリングシステムに用いられるプログラムであって、
    　前記遠隔モニタリングシステムは、前記オペレーションセンタとデータのやり取りを行うデータ処理サーバと、前記試験車両の車両センサとは別に前記試験車両に後付けされる複数の外部センサと、前記試験車両に搭載されて前記データ処理サーバとデータのやり取りを行うデータ処理機器とを備えており、
    　前記プログラムは、前記複数の外部センサ及び前記試験車両から、路上走行時のデータを取得するデータ取得部と、前記データ処理サーバから受け付けたデータ要求に基づいてデータ抽出範囲を設定し、前記データの一部を抽出するデータ抽出部と、前記データ抽出部により抽出されたデータを前記データ処理サーバに送信するデータ送信部と、としての機能を前記データ処理機器に発揮させることを特徴とする遠隔モニタリング用プログラム。     A program used in a remote monitoring system for monitoring a test vehicle with an advanced driver assistance system or an automated driving system at a remote operation center.
    The remote monitoring system includes a data processing server that exchanges data with the operation center, a plurality of external sensors that are retrofitted to the test vehicle separately from the vehicle sensors of the test vehicle, and the remote monitoring system mounted on the test vehicle. It is equipped with a data processing server and data processing equipment that exchanges data.
    The program sets a data extraction range based on a data acquisition unit that acquires data when traveling on the road from the plurality of external sensors and the test vehicle, and a data request received from the data processing server, and sets the data extraction range of the data. Remote monitoring characterized in that the data processing device exerts the functions of a data extraction unit that extracts a part of the data and a data transmission unit that transmits the data extracted by the data extraction unit to the data processing server. Program for.
  11. 　先進運転支援システム又は自動運転システムを有する試験車両を遠隔のオペレーションセンタでモニタリングするための遠隔モニタリング方法であって、
    　前記オペレーションセンタとデータのやり取りを行うデータ処理サーバと、前記試験車両の車両センサとは別に前記試験車両に後付けされる複数の外部センサと、前記試験車両に搭載されて前記データ処理サーバとデータのやり取りを行うデータ処理機器とを用いるものであり、
    　前記複数の外部センサ及び前記試験車両から、路上走行時のデータを取得し、
    　前記データ処理サーバから受け付けたデータ要求に基づいてデータ抽出範囲を設定して前記データの一部を抽出し、
    　抽出されたデータを前記データ処理サーバに送信するデータ送信部とを備える、遠隔モニタリング方法。     A remote monitoring method for monitoring a test vehicle with an advanced driver assistance system or an automated driving system at a remote operation center.
    A data processing server that exchanges data with the operation center, a plurality of external sensors that are retrofitted to the test vehicle separately from the vehicle sensor of the test vehicle, and the data processing server and data mounted on the test vehicle. It uses a data processing device that exchanges data.
    Data when traveling on the road is acquired from the plurality of external sensors and the test vehicle, and the data is obtained.
    A part of the data is extracted by setting the data extraction range based on the data request received from the data processing server.
    A remote monitoring method including a data transmission unit that transmits the extracted data to the data processing server.
  12. 　先進運転支援システム又は自動運転システムを有する試験車両をデータ処理サーバを介して遠隔のオペレーションセンタでモニタリングするための遠隔モニタリングシステムに用いられる車両側機器であって、
    　前記試験車両の車両センサとは別に前記試験車両に後付けされる複数の外部センサと、
    　前記試験車両に搭載されて前記データ処理サーバとデータのやり取りを行うデータ処理機器とを備え、
    　前記データ処理機器は、
    　前記複数の外部センサ及び前記試験車両から、路上走行時のデータを取得するデータ取得部と、
    　前記データ処理サーバから受け付けたデータ要求に基づいてデータ抽出範囲を設定し、前記データの一部を抽出するデータ抽出部と、
    　前記データ抽出部により抽出されたデータを前記データ処理サーバに送信するデータ送信部とを備える、車両側機器。     A vehicle-side device used in a remote monitoring system for monitoring a test vehicle with an advanced driver assistance system or an automatic driving system at a remote operation center via a data processing server.
    A plurality of external sensors that are retrofitted to the test vehicle separately from the vehicle sensors of the test vehicle,
    It is equipped with a data processing device mounted on the test vehicle and exchanges data with the data processing server.
    The data processing device is
    A data acquisition unit that acquires data when traveling on the road from the plurality of external sensors and the test vehicle.
    A data extraction unit that sets a data extraction range based on a data request received from the data processing server and extracts a part of the data, and a data extraction unit.
    A vehicle-side device including a data transmission unit that transmits data extracted by the data extraction unit to the data processing server.
  13. 　請求項１２に記載の車両側機器とともに前記遠隔モニタリングシステムを構成するデータ処理サーバであって、
    　オペレータセンタから入力されるデータ要求を受け付けるデータ要求受付部と、
    　前記データ要求受付部が受け付けたデータ要求を前記データ処理機器に送信するデータ要求送信部とを備える、データ処理サーバ。     A data processing server that constitutes the remote monitoring system together with the vehicle-side device according to claim 12.
    A data request reception unit that accepts data requests input from the operator center,
    A data processing server including a data request transmitting unit that transmits a data request received by the data request receiving unit to the data processing device.
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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003015742A (en) * 2001-06-27 2003-01-17 Denso Corp Automatic operation system for vehicle
JP6755374B1 (en) * 2019-08-30 2020-09-16 あいおいニッセイ同和損害保険株式会社 Programs, information processing methods, and information processing equipment

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003015742A (en) * 2001-06-27 2003-01-17 Denso Corp Automatic operation system for vehicle
JP6755374B1 (en) * 2019-08-30 2020-09-16 あいおいニッセイ同和損害保険株式会社 Programs, information processing methods, and information processing equipment

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