WO2022102202A1 - Système de télésurveillance, programme de télésurveillance, procédé de télésurveillance, dispositif embarqué et serveur de traitement de données - Google Patents

Système de télésurveillance, programme de télésurveillance, procédé de télésurveillance, dispositif embarqué et serveur de traitement de données 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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WIPO (PCT)
Prior art keywords
data
data processing
processing server
test vehicle
remote monitoring
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PCT/JP2021/031090
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English (en)
Japanese (ja)
Inventor
寛 川添
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株式会社堀場製作所
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Priority to JP2022561287A priority Critical patent/JPWO2022102202A1/ja
Publication of WO2022102202A1 publication Critical patent/WO2022102202A1/fr

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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.

Abstract

La présente invention concerne un système de télésurveillance capable de réduire les heures de développement et de transmettre des données d'un véhicule d'essai en temps réel à un serveur de traitement de données, le système de télésurveillance étant destiné à surveiller un véhicule d'essai V ayant un système d'aide à la conduite avancé ou un système de conduite autonome depuis un centre opérationnel distant OS. Le système de télésurveillance comprend : un serveur de traitement de données qui échange des données avec le centre opérationnel OS ; une pluralité de capteurs extérieurs ajoutés sur le véhicule d'essai V séparé d'un capteur de véhicule V1 du véhicule d'essai V ; et un dispositif de traitement de données installé dans le véhicule d'essai V pour échanger des données avec le serveur de traitement de données, le dispositif de traitement de données comprenant une unité d'acquisition de données qui acquiert des données pendant le déplacement sur la route depuis la pluralité de capteurs extérieurs et le véhicule d'essai V, une unité d'extraction de données qui définit une plage d'extraction de données sur la base d'une demande de données reçue depuis le serveur de traitement de données et extrait une partie des données, et une unité de transmission de données qui transmet les données extraites par l'unité d'extraction de données au serveur de traitement de données.
PCT/JP2021/031090 2020-11-11 2021-08-25 Système de télésurveillance, programme de télésurveillance, procédé de télésurveillance, dispositif embarqué et serveur de traitement de données WO2022102202A1 (fr)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003015742A (ja) * 2001-06-27 2003-01-17 Denso Corp 車両の自動運転システム
JP6755374B1 (ja) * 2019-08-30 2020-09-16 あいおいニッセイ同和損害保険株式会社 プログラム、情報処理方法、及び情報処理装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003015742A (ja) * 2001-06-27 2003-01-17 Denso Corp 車両の自動運転システム
JP6755374B1 (ja) * 2019-08-30 2020-09-16 あいおいニッセイ同和損害保険株式会社 プログラム、情報処理方法、及び情報処理装置

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