WO2024024223A1 - Dispositif embarqué, procédé de commande et programme informatique - Google Patents

Dispositif embarqué, procédé de commande et programme informatique Download PDF

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Publication number
WO2024024223A1
WO2024024223A1 PCT/JP2023/018525 JP2023018525W WO2024024223A1 WO 2024024223 A1 WO2024024223 A1 WO 2024024223A1 JP 2023018525 W JP2023018525 W JP 2023018525W WO 2024024223 A1 WO2024024223 A1 WO 2024024223A1
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Prior art keywords
vehicle
vehicle device
processing
unit
server
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PCT/JP2023/018525
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English (en)
Japanese (ja)
Inventor
秀典 山下
Original Assignee
住友電気工業株式会社
住友電装株式会社
株式会社オートネットワーク技術研究所
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Publication of WO2024024223A1 publication Critical patent/WO2024024223A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • 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
    • 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]
    • G16Y40/00—IoT characterised by the purpose of the information processing
    • G16Y40/30—Control

Definitions

  • the present disclosure relates to an in-vehicle device, a control method, and a computer program.
  • This application claims priority based on Japanese Application No. 2022-118601 filed on July 26, 2022, and incorporates all the contents described in the said Japanese application.
  • a server Systems that aggregate sensor data from a large number of sensors on a server computer (hereinafter referred to as a server), analyze it, and use it for driving support are becoming popular.
  • Sensor data is transmitted from sensors mounted on vehicles and sensors provided in infrastructure equipment provided on the roadside (hereinafter referred to as infrastructure sensors).
  • infrastructure sensors infrastructure equipment provided on the roadside
  • a vehicle uses wireless communication to connect to a nearby wireless base station and communicate with a server via the wireless base station.
  • Direct communication between vehicles also allows sensor data from one vehicle to be transmitted to another vehicle, and information held by one vehicle to another vehicle.
  • So-called cloud servers that provide various services to vehicles via wireless communication are also becoming popular. Examples include distribution of so-called traffic information, management of dispatch schedules for transportation vehicles, distribution of sightseeing and event information near roads, vehicle failure diagnosis, and route guidance.
  • traffic information so-called traffic information
  • management of dispatch schedules for transportation vehicles distribution of sightseeing and event information near roads
  • vehicle failure diagnosis and route guidance.
  • route guidance By using a cloud server, vehicles can not only travel more safely, but also use vehicles to lead meaningful lives.
  • Patent Document 1 listed below discloses a distributed processing system configured by a plurality of ECUs (Electronic Control Units) mounted on a vehicle. This distributed processing system performs load distribution control by transferring a task being executed by an ECU with a large processing load to an ECU with a small processing load for execution.
  • ECUs Electronic Control Units
  • An in-vehicle device is an in-vehicle device that is installed in a vehicle and receives services from an external device, and includes a communication unit that transmits predetermined data to the external device, and a state of the external environment of the in-vehicle device.
  • the external environment includes a wireless communication speed between the in-vehicle device and the external device, and the service includes a processing unit that performs a first process on predetermined data; The result of executing the process is provided by being transmitted to the in-vehicle device, and the first process is the same process as at least a part of the second process.
  • FIG. 1 is a schematic diagram showing a usage pattern of an in-vehicle device according to an embodiment of the present disclosure.
  • FIG. 2 is a block diagram showing the hardware configuration of the in-vehicle device shown in FIG. 1.
  • FIG. 3 is a block diagram showing the hardware configuration of the in-vehicle gateway shown in FIG. 2.
  • FIG. 4 is a block diagram showing the hardware configuration of the function expansion ECU shown in FIG. 2.
  • FIG. 5 is a block diagram showing the hardware configuration of the server shown in FIG. 1.
  • FIG. 6 is a block diagram showing the functional configuration of the in-vehicle device.
  • FIG. 7 is a flowchart showing the processing executed by the function expansion ECU.
  • FIG. 1 is a schematic diagram showing a usage pattern of an in-vehicle device according to an embodiment of the present disclosure.
  • FIG. 2 is a block diagram showing the hardware configuration of the in-vehicle device shown in FIG. 1.
  • FIG. 3 is a block diagram showing the hardware
  • FIG. 8 is a flowchart showing the processing executed by the in-vehicle gateway.
  • FIG. 9 is a flowchart showing the processing executed by the server.
  • FIG. 10 is a block diagram showing the functional configuration of an in-vehicle device according to a third modification.
  • cloud cooperation services Various services provided to vehicles from cloud servers (hereinafter referred to as cloud cooperation services) are realized using variable wireless communications as a medium. As the number of cloud cooperation services increases, the number of applications (ie, computer programs) for providing each service also increases, and resources for providing cloud cooperation services become tight. Therefore, there is a problem that problems such as interruption of cloud cooperation services occur.
  • Resources for providing cloud cooperation services include, for example, wireless communication resources and cloud server resources that provide each service. These can be said to be the external environment of the in-vehicle device.
  • the distributed processing system disclosed in Patent Document 1 is for distributing the load among a plurality of ECUs in a vehicle, and does not take into account the situation outside the vehicle (for example, the state of wireless communication). That is, the technology disclosed in Patent Document 1 cannot solve the above-mentioned problems in cloud collaboration services.
  • an object of the present disclosure is to provide an in-vehicle device, a control method, and a computer program that can maintain cloud cooperation services and provide services from a server even when the external environment of the in-vehicle device deteriorates. do.
  • the in-vehicle device is an in-vehicle device that is installed in a vehicle and receives service from an external device, and includes a communication unit that transmits predetermined data to the external device, and a communication unit that transmits predetermined data to the external device.
  • an evaluation unit that evaluates the state of the external environment; a determination unit that determines whether or not to execute the first process according to the evaluation result by the evaluation unit; and a determination unit that determines that the first process is to be executed.
  • the external environment includes a processing unit that executes a first process on predetermined data
  • the external environment includes a wireless communication speed between the in-vehicle device and the external device
  • the service includes a processing unit that executes a first process on predetermined data.
  • the result of performing the second process on the vehicle is provided by being transmitted to the in-vehicle device, and the first process is the same process as at least a part of the second process.
  • This provides redundancy in which the in-vehicle device performs at least part of the same processing as the external device (for example, a server) to provide the service when the external environment of the in-vehicle device deteriorates. system can be realized. Therefore, even when the state of the external environment of the in-vehicle device deteriorates, the cloud cooperation service can be maintained and the service can be provided from the external device.
  • the first process may be the same process as the second process.
  • the in-vehicle device can perform the same processing as the external device, so there is no need to transmit the result of the first processing to the external device, and unnecessary communication can be avoided.
  • the predetermined data may be image data or moving image data detected by a sensor mounted on the vehicle, and the second process may be an authentication process. Thereby, instructions to the vehicle (for example, unlocking the door) can be executed using face authentication.
  • the first process may be the same process as a part of the second process
  • the communication unit further includes the result of the first process being performed on the predetermined data by the processing unit. may be sent to an external device.
  • the external device can efficiently provide services.
  • the predetermined data may be image data or moving image data detected by a sensor mounted on a vehicle
  • the second process is an authentication process
  • the authentication process is an image data detected by a sensor mounted on a vehicle.
  • image processing processing that processes data or video image data
  • feature extraction processing that extracts feature quantities of the object from images obtained by image processing processing
  • feature quantities extracted by feature extraction processing that are used as reference feature quantities.
  • the first process may include an image processing process or an image processing process and a feature extraction process.
  • the external device can provide a service to the in-vehicle device by receiving the result of the first process from the in-vehicle device and only performing the verification process, even if the external environment of the in-vehicle device deteriorates. can also provide services efficiently.
  • the external device can provide a service even when the poor external environment is caused by a low execution speed of face authentication processing by the external device due to tight resources of the external device.
  • the communication unit may further receive an execution program for the first process from an external device.
  • the in-vehicle device can optimally execute the first process executed when the state of the external environment deteriorates using the latest program.
  • the communication unit transmits the predetermined data to the external device and the processing unit starts executing the first process
  • the communication unit performs the second process.
  • the processing unit may end the execution of the first process. This makes it possible to avoid unnecessary continuation of the first process in the in-vehicle device.
  • the in-vehicle device may further include a route specifying unit that specifies the planned travel route of the vehicle, and the evaluation unit specifies the route specified by the route specifying unit.
  • the wireless communication speed between the in-vehicle device and the external device may be evaluated by evaluating the wireless communication speed on the planned driving route.
  • the determination unit may determine to perform the first process.
  • the in-vehicle device knows in advance that the vehicle will be traveling on a route with a low wireless communication speed, so it can prepare to execute the first process before traveling on that route, and the first process can be performed more efficiently. Can be executed quickly.
  • the evaluation unit may evaluate the wireless communication speed on the planned travel route based on a map that associates roads with actual values of wireless communication speeds on the roads. Thereby, the in-vehicle device can easily determine whether the vehicle is scheduled to travel on a route where the wireless communication speed is low.
  • a control method is a control method for an in-vehicle device that is installed in a vehicle and receives service from an external device, and includes a communication step of transmitting predetermined data to the external device; an evaluation step that evaluates the state of the external environment of the in-vehicle device; a determination step that determines whether or not to execute the first process according to the evaluation result of the evaluation step; in response to the determination, the external environment includes a wireless communication speed between the in-vehicle device and the external device, and the service includes a step of performing a first process on the predetermined data.
  • the second processing is performed on predetermined data, and the result is transmitted to the in-vehicle device, and the first processing is the same processing as at least a part of the second processing.
  • This provides redundancy in which the in-vehicle device performs at least part of the same processing as the external device (for example, a server) to provide the service when the external environment of the in-vehicle device deteriorates. system can be realized. Therefore, even when the state of the external environment of the in-vehicle device deteriorates, the cloud cooperation service can be maintained and the service can be provided from the external device.
  • a computer program is installed in a vehicle and has a communication function for transmitting predetermined data to the external device, and a communication function for transmitting predetermined data to the external device, and a communication function for transmitting predetermined data to the external device.
  • an evaluation function that evaluates the state; a determination function that determines whether or not to execute the first process according to the evaluation result by the evaluation function; , a processing function that performs a first process on predetermined data, the external environment includes a wireless communication speed between the computer and an external device, and the service provides a processing function that performs a first process on predetermined data.
  • the results of executing the two processes are provided by being sent to the computer, and the first process is the same process as at least a part of the second process.
  • This enables a redundant system in which the computer performs at least some of the same processing as that provided by an external device (e.g., a server) when the external environment of the computer deteriorates. . Therefore, even when the external environment of the computer deteriorates, the cloud cooperation service can be maintained and services can be provided from external devices.
  • an in-vehicle device 100 is mounted on a vehicle 102.
  • the in-vehicle device 100 receives a cloud collaboration service (hereinafter also simply referred to as service) from the server 104, which is a cloud server.
  • service a cloud collaboration service
  • the cloud cooperation service is a driving support service.
  • the base station 106 provides mobile communication services using, for example, 4G lines and 5G lines.
  • Base station 106 is connected to network 108 .
  • the in-vehicle device 100 mounted on the vehicle 102 has a communication function based on the communication specifications (4G line, 5G line, etc.) serviced by the base station 106.
  • the server 104 also receives sensor data from infrastructure sensors (not shown) fixedly installed on the roadside (that is, on the road (including intersections) and its surroundings).
  • the infrastructure sensor is, for example, an image sensor (such as a digital surveillance camera), a radar (such as a millimeter wave radar), or a laser sensor (such as LiDAR (Light Detection and Ranging)).
  • the infrastructure sensor has a communication function with the base station 106 and transmits the acquired sensor data to the server 104 via the base station 106 and the network 108.
  • Vehicles 102, pedestrians (not shown), etc. are objects to be detected by the infrastructure sensor.
  • the vehicle 102 is equipped with a sensor as described later.
  • Pedestrians are also detected by sensors mounted on the vehicle 102.
  • Sensor data acquired by sensors mounted on the vehicle 102 is transmitted to the server 104 via the base station 106 and the network 108.
  • the server 104 analyzes sensor data received from the vehicle 102 and infrastructure sensors, and transmits, for example, dynamic information as driving support information to an in-vehicle device mounted on the vehicle.
  • Dynamic information is information about dynamic objects detected by sensors (i.e., infrastructure sensors and vehicle-mounted sensors). Dynamic objects are not limited to objects that are moving (eg, people and vehicles), but also include objects that have a moving function but are stationary.
  • the dynamic information may include information about the dynamic object itself and information about the displacement of the dynamic object (ie, position, speed of movement, direction of movement, time, etc.).
  • FIG. 1 shows one vehicle 102 on which one base station 106 and on-vehicle device 100 are mounted.
  • a plurality of base stations are provided and a plurality of vehicles equipped with on-vehicle devices are running. There may be vehicles that are not equipped with an on-vehicle device. Vehicles not equipped with on-vehicle devices are detected as dynamic objects.
  • the in-vehicle device 100 includes a communication unit 120, an in-vehicle gateway 122, a sensor 124, an automatic driving ECU 126, an ECU 128, a function expansion ECU 130, and a bus 132.
  • the in-vehicle device 100 includes a plurality of ECUs in addition to the automatic driving ECU 126 and the function expansion ECU 130, and FIG. 2 shows the ECU 128 as a representative thereof.
  • the communication unit 120 performs wireless communication with an external device of the vehicle 102 (for example, communication with the server 104 via the base station 106).
  • the communication unit 120 includes an IC (Integrated Circuit) for modulating and multiplexing employed in wireless communication, an antenna for transmitting and receiving radio waves of a predetermined frequency, an RF (Radio Frequency) circuit, and the like.
  • the communication unit 120 also has a communication function with a GNSS (Global Navigation Satellite System) such as a GPS (Global Positioning System).
  • the communication unit 120 may also have a communication function such as Wi-Fi.
  • the in-vehicle gateway 122 which is an in-vehicle device, plays the role of connecting the communication function (specifically, communication specifications) with the outside of the vehicle and the communication function (communication specifications) inside the vehicle (for example, communication protocol conversion).
  • Each of the automatic driving ECU 126 and the function expansion ECU 130 can communicate with an external device via the in-vehicle gateway 122 and the communication unit 120.
  • the function expansion ECU 130 acquires dynamic information from among the information received from the outside via the communication unit 120, generates and updates driving support information.
  • the driving support information is transmitted to the automatic driving ECU 126.
  • the bus 132 is responsible for the communication function within the vehicle, and communication (that is, data exchange) between the in-vehicle gateway 122, the sensor 124, the automatic driving ECU 126, the ECU 128, and the function expansion ECU 130 is performed via the bus 132.
  • CAN Controller Area Network
  • CAN Controller Area Network
  • the sensor 124 is mounted on the vehicle 102, and includes a sensor (a video image capturing device, a laser sensor (LiDAR)) for acquiring information external to the vehicle 102, and a sensor (for example, an acceleration sensor) for acquiring information about the vehicle itself. sensors and load sensors).
  • Video image capturing devices include, for example, digital cameras (CCD (Charge-Coupled Device) cameras and CMOS (Complementary Metal-Oxide Semiconductor) cameras).
  • the sensor 124 acquires information within a detection range (in the case of a camera, an imaging range) and outputs it as sensor data.
  • a digital camera outputs digital image data.
  • a detection signal (that is, an analog or digital signal) from the sensor 124 is output as digital data to the bus 132 via an I/F section (not shown), and is transmitted to the automatic driving ECU 126, the function expansion ECU 130, and the like.
  • the automatic driving ECU 126 controls the running of the vehicle 102.
  • the automatic driving ECU 126 acquires sensor data, analyzes it to understand the surrounding situation of the vehicle 102, and controls mechanisms related to automatic driving (i.e., mechanisms such as the engine, transmission, steering, and brakes). Control.
  • the automatic driving ECU 126 uses the driving support information acquired from the function expansion ECU 130 for automatic driving.
  • the function expansion ECU 130 maintains the service provided by the server 104 normally without interruption even when the external environment of the in-vehicle device 100 is poor (for example, the wireless communication speed is low). Realize that it will be maintained. That is, the function expansion ECU 130 provides redundancy to the system for providing the cloud collaboration service, which is configured by the in-vehicle device 100 and the server 104, so that even when the external environment of the in-vehicle device 100 is bad, , to enable maintenance of services.
  • in-vehicle gateway 122 includes a control section 140 and a memory 142.
  • the control unit 140 includes a CPU (Central Processing Unit), and controls the memory 142.
  • the memory 142 is, for example, a rewritable nonvolatile semiconductor memory, and stores a computer program (hereinafter simply referred to as a program) executed by the control unit 140.
  • the memory 142 provides a work area for programs executed by the control unit 140.
  • the control unit 140 acquires the data to be processed directly from the communication unit 120 and acquires it from sources other than the communication unit 120 via the bus 132.
  • the control unit 140 stores the data received from the communication unit 120 and the data received via the bus 132 in the memory 142 as appropriate.
  • the control unit 140 stores the processing results in the memory 142 and outputs them to the bus 132.
  • function expansion ECU 130 is also configured similarly to the in-vehicle gateway 122. That is, referring to FIG. 4, function expansion ECU 130 includes a control section 150 and a memory 152.
  • the control unit 150 includes a CPU and controls the memory 152.
  • the memory 152 is, for example, a rewritable nonvolatile semiconductor memory, and stores a program executed by the control unit 150.
  • the memory 152 provides a work area for programs executed by the control unit 150.
  • the control unit 150 obtains data to be processed via the bus 132. Control unit 150 stores data received via bus 132 in memory 152 as appropriate.
  • the control unit 150 stores the processing results in the memory 152 and outputs them to the bus 132.
  • the server 104 includes a control unit 160 for controlling each unit, a memory 162 for storing data, a communication unit 164 for communicating, and a bus 166 for exchanging data between each unit.
  • the control unit 160 includes a CPU, and realizes functions described below by controlling each unit.
  • Memory 162 includes a rewritable semiconductor nonvolatile memory and a mass storage device such as a hard disk drive.
  • the communication unit 164 receives sensor data uploaded from the in-vehicle device 100 and infrastructure sensors placed on the road via the base station 106. The data received by the communication unit 164 is transmitted to and stored in the memory 162. Thereby, the server 104 can generate traffic information (for example, accidents, traffic jams, road regulations, and statistical information), dynamic information, and the like, and transmit the generated information to the in-vehicle device 100 of the vehicle 102 as driving support information.
  • traffic information for example, accidents, traffic jams, road regulations, and statistical information
  • the in-vehicle device 100 acquires driving support information such as dynamic information from the server 104 as a predetermined service (eg, driving support service).
  • in-vehicle device 100 includes a storage section 200, an evaluation section 202, a determination section 204, a processing section 206, and an output section 208.
  • the storage unit 200 is realized by the memory 142 of the in-vehicle gateway 122 (see FIG. 3) and the memory 152 of the function expansion ECU 130 (see FIG. 4). Other functions described below are realized by the control section 140 of the vehicle-mounted gateway 122 or the control section 150 of the function expansion ECU 130.
  • the storage unit 200 stores evaluation results, processing results, sensor data, processing programs, and service data.
  • the evaluation result is a result of evaluation of the state of the external environment of the in-vehicle device 100 by the evaluation unit 202, which will be described later.
  • the processing result is a result obtained by executing a processing program by the processing unit 206, which will be described later.
  • Sensor data is data output from sensor 124 mounted on vehicle 102 and transmitted via bus 132.
  • the service data is data regarding a predetermined service received from the server 104, and is, for example, driving support information such as dynamic information.
  • the evaluation unit 202 evaluates the state of the external environment of the in-vehicle device 100 at a predetermined timing (for example, at a certain period or at a preset time).
  • the evaluation section 202 is realized by the control section 140 of the in-vehicle gateway 122.
  • the external environment refers to hardware and software resources outside the vehicle-mounted device 100, and refers to resources that affect a predetermined service that the vehicle-mounted device 100 receives from the server 104.
  • the external environment includes wireless communication resources (including network resources) and server 104 resources.
  • the evaluation unit 202 measures, for example, the communication speed of wireless communication by the communication unit 120. Furthermore, the evaluation unit 202 may measure the response speed of the server 104 as described later.
  • the evaluation unit 202 stores evaluation results (for example, wireless communication speed and response speed of the server 104) in the storage unit 200.
  • the determination unit 204 reads the evaluation results from the storage unit 200 at a predetermined timing (for example, at a fixed period or a preset time) and determines whether the external environment of the in-vehicle device 100 is in a bad condition.
  • the determination unit 204 is realized by the control unit 150 of the function expansion ECU 130. For example, the determination unit 204 determines whether the external environment of the in-vehicle device 100 is in bad condition by determining whether the wireless communication speed read from the storage unit 200 is less than or equal to a predetermined threshold. do.
  • the determination unit 204 determines that the external environment of the in-vehicle device 100 is in poor condition. When determining that the external environment of the in-vehicle device 100 is poor, the determining unit 204 instructs the processing unit 206 to perform a predetermined process.
  • the external environment of the in-vehicle device 100 may be in a bad condition. That is, the processing speed related to service provision by the server 104 decreases due to resource shortage of the server 104, which causes problems in service provision. Even in such a case, it should be determined that the external environment of the in-vehicle device 100 is in a bad state. Therefore, if the response speed of the server 104 is included in the evaluation result read from the storage unit 200, the response speed of the server 104 is compared with a predetermined threshold (hereinafter referred to as a second threshold) and the in-vehicle device 100 conditions of the external environment may be determined. For example, the determination unit 204 determines that the external environment of the in-vehicle device 100 is bad if the response speed of the server 104 is equal to or less than the second threshold even if the wireless communication speed is higher than the first threshold. do.
  • a predetermined threshold hereinafter referred to as a second threshold
  • the processing unit 206 receives instructions from the determination unit 204 and executes predetermined processing.
  • the processing unit 206 is realized by the control unit 150 of the function expansion ECU 130. Specifically, the processing unit 206 reads a processing program for executing a predetermined process from the storage unit 200, and executes the processing program on the sensor data read from the storage unit 200.
  • the sensor data to be processed is sensor data transmitted from the in-vehicle device 100 to the server 104. Further, the processing unit 206 determines whether or not service data has been received by the communication unit 120 and stored in the storage unit 200 while executing the processing program.
  • the service data is data for realizing a service provided from the server 104 to the in-vehicle device 100.
  • the service data is, for example, driving support information generated by the server 104 executing analysis processing on sensor data transmitted from the in-vehicle device 100 to the server 104. If the service data is stored while the processing unit 206 is executing the processing program, the processing unit 206 ends the processing program that is being executed. When the processing unit 206 completes execution of the processing program before the service data is stored, the processing unit 206 outputs the processing result to the output unit 208.
  • the processing program executed by the processing unit 206 is, for example, a program received by the communication unit 120 from the server 104.
  • the in-vehicle device 100 (specifically, the function expansion ECU 130) executes a program (for example, a sensor A data analysis processing program) is received by the communication unit 120 and stored in the storage unit 200.
  • the output unit 208 determines whether data has been input from the processing unit 206 and whether service data has been stored in the storage unit 200.
  • data for example, driving support information
  • the output unit 208 transmits the input data to a target ECU (hereinafter referred to as an end ECU).
  • service data for example, driving support information
  • the output unit 208 reads the service data from the storage unit 200 and transmits it to the end ECU.
  • the end ECU uses the input data. For example, if the end ECU is the automatic driving ECU 126, the automatic driving ECU 126 uses the input driving support information to control the driving of the vehicle 102.
  • the in-vehicle device 100 can receive service data (for example, driving support information) provided from the server 104 and transmit it to the corresponding end ECU. Furthermore, if the external environment is bad and it takes a long time to receive service data provided from the server 104, the in-vehicle device 100 generates data corresponding to the service data using the processing unit 206, and Can be sent to ECU. Therefore, even when the external environment of the in-vehicle device 100 is in poor condition, interruption of the cloud collaboration service provided from the server 104 to the in-vehicle device 100 can be avoided. That is, the cloud cooperation service provided from the server 104 to the in-vehicle device 100 can be maintained.
  • service data for example, driving support information
  • the in-vehicle device 100 and the server 104 constitute a redundant system.
  • One of the reasons why the in-vehicle device 100 receives services from the server 104 is that the processing performance of the server 104 is higher than that of the in-vehicle device 100. Therefore, even if the external environment is in poor condition, service data may be received from the server 104 before the processing by the processing unit 206 is completed. In that case, the processing unit 206 ends the process. Thereby, in the vehicle-mounted device 100, it is possible to avoid unnecessary continuation of processing.
  • the processing program executed by the processing unit 206 is a program that executes the same process as the program executed by the server 104 to generate service data provided to the in-vehicle device 100. That is, even if the programs themselves are not the same, it is sufficient that the processing contents are the same. Thereby, the in-vehicle device 100 does not need to transmit the processing result by the processing unit 206 to the server 104, and unnecessary communication can be avoided.
  • the server 104 may execute multiple processes and transmit the results to the in-vehicle device 100. For example, in a face recognition service, a target image is transmitted from the in-vehicle device 100 to the server 104.
  • the server 104 executes three processes: image processing of the received image, feature extraction processing of extracting facial parts from the processed image, and matching processing of determining the degree of matching of the extracted feature amounts.
  • image processing processing and feature extraction processing When the communication speed between the in-vehicle device 100 and the server 104 is low, the in-vehicle device 100 executes image processing processing and feature extraction processing, sends the results to the server 104, and the server 104 executes a matching process, as described later. You may.
  • the in-vehicle device 100 can avoid unnecessary communication of transmitting the results of image processing and feature extraction processing to the server.
  • the processing unit 206 by receiving the processing program to be executed by the processing unit 206 from the server 104 in advance and storing it in the storage unit 200, the latest program can be received from the server 104, and the processing unit 206 can perform optimal processing. Can be executed.
  • the processing program executed by the processing unit 206 may be part of the program executed by the server 104 to generate service data provided to the in-vehicle device 100. If the processing unit 206 sends the execution results to the server 104, the server 104 can use the received data to execute subsequent processing, so even if the external environment of the in-vehicle device deteriorates, Server 104 can provide services efficiently.
  • control unit 150 transmits a service provision request to server 104.
  • the service provision request is, for example, data including sensor data and a request for analysis of the data and transmission of driving support information.
  • the sensor data is sensor data output from the sensor 124 and stored in the memory 152. Control then moves to step 302.
  • step 302 the control unit 150 acquires data representing the state of the external environment of the in-vehicle device 100. Specifically, the control unit 150 reads the above evaluation results from the memory 152 (see storage unit 200 in FIG. 6). The evaluation results are the evaluation results of the evaluation unit 202 in FIG. 6, and are the wireless communication speed measured by the in-vehicle gateway 122 and the response speed of the server 104, as described later. Control then moves to step 304.
  • the control unit 150 determines whether the state of the external environment has deteriorated. Specifically, the control unit 150 determines whether the data acquired in step 302 (i.e., the wireless communication speed and the response speed of the server 104) is less than or equal to a predetermined threshold. For example, the wireless communication speed is compared with a first threshold, and the response speed of the server 104 is compared with a second threshold, and it is determined whether one of them is less than or equal to the corresponding threshold. judge. If the wireless communication speed is reduced, the services provided by the server 104 may be affected, resulting in service delays, service interruptions, and the like.
  • step 302 and step 304 corresponds to the function of the determination unit 204 shown in FIG.
  • step 306 the control unit 150 executes predetermined processing.
  • the process in step 306 corresponds to the function of the processing unit 206 in FIG. That is, the control unit 150 reads the processing program and the sensor data to be processed from the memory 152, and executes the processing program.
  • step 308 the control unit 150 determines whether service data has been received.
  • the process in step 308 corresponds to the function of the processing unit 206 in FIG. That is, the control unit 150 determines whether the service data is stored in the memory 152 (see storage unit 200 in FIG. 6).
  • the service data is data received from the server 104 by the communication unit 120, as described above. If it is determined that service data is stored, control transfers to step 312. Otherwise, control transfers to step 310.
  • step 310 the control unit 150 determines whether the process in step 306 (i.e., the process program) has been completed.
  • the process in step 308 corresponds to the function of the processing unit 206 in FIG. If it is determined that the process is complete, control moves to step 314. Otherwise, control returns to step 306 to continue processing.
  • step 312 the control unit 150 ends the processing program. Control then transfers to step 314.
  • the process in step 312 corresponds to the function of the processing unit 206 in FIG.
  • step 314 the control unit 150 determines whether the data resulting from the processing by the processing program or the service data received from the server 104 can be used. If it is determined that it is available, control transfers to step 316. Otherwise, control transfers to step 318. For example, the control unit 150 determines whether the processing result data or service data can be effectively used by the target ECU, taking into account delay time (including, for example, processing delay time and communication delay time). For example, if the target ECU is the automatic driving ECU 126 and the original data (for example, sensor data) of the driving support information is old data (that is, data acquired more than a predetermined time in the past than the current one), the automatic driving ECU 126 Driving support information cannot be used effectively.
  • delay time including, for example, processing delay time and communication delay time
  • step 316 the control unit 150 transmits the data of the processing result by the processing program or the service data received from the server 104 to the target ECU.
  • the process in step 316 corresponds to the function of the output unit 208 in FIG.
  • step 318 the control unit 150 determines whether an instruction to end has been received.
  • the instruction to end is given, for example, by turning off the start button or the like of the vehicle 102. If it is determined that the program is to be terminated, the program is terminated. Otherwise, control returns to step 300 and the process described above is repeated.
  • step 320 the control unit 150 determines whether or not a program for executing a predetermined process, that is, a processing program to be executed in step 306 is stored in the memory 152. . If so, control passes to step 324. Otherwise, control transfers to step 322.
  • the control unit 150 controls the communication unit 120 to request the server 104 for a program that executes a predetermined process (for example, sends a program transmission request to the server 104), and stores the received program in the memory. 152.
  • the program transmission request is, for example, data (for example, a predetermined code) requesting transmission of a program executed by the server 104 in order for the server 104 to provide a service to the in-vehicle device 100.
  • the program sent from the server 104 is, for example, a program that executes the same process as the program that the server 104 executes to provide services to the in-vehicle device 100.
  • step 324 similarly to step 308, the control unit 150 determines whether service data has been received. That is, the control unit 150 determines whether service data is stored in the memory 152 (see storage unit 200 in FIG. 6). If it is determined that service data is stored, control transfers to step 314. Otherwise, step 324 is repeated.
  • the function expansion ECU 130 of the in-vehicle device 100 executes the same process as the process executed by the server 104 that requested service provision. If a processing result is obtained before receiving service data from the server 104, the function expansion ECU 130 can output the processing result to the target ECU for use. If service data can be received from the server 104 before the processing of the function expansion ECU 130 is completed, the received service data can be output to the target ECU and used. Therefore, even if the external environment of the in-vehicle device 100 is in poor condition, problems such as service interruption can be avoided. Further, the function expansion ECU 130 can receive and store a program executed by the server 104 to implement a service from the server 104 when the external environment of the in-vehicle device 100 is in good condition.
  • FIG. 8 Opera of in-vehicle gateway 122 corresponding to the function of the evaluation unit 202 shown in FIG. 6 will be described.
  • the processing shown in FIG. 8 is realized by the control unit 140 (see FIG. 3) reading a predetermined program from the memory 142 and executing it.
  • control unit 140 measures the wireless communication speed. Specifically, the control unit 140 measures the speed of data communication with the outside of the vehicle-mounted device 100, which is executed by the communication unit 120. Control then transfers to step 402. If the data communication speed of the in-vehicle device 100 with the outside is reduced, stable service cannot be provided from the server 104.
  • the control unit 140 measures the response speed of the server 104. Specifically, the control unit 140 measures the time from controlling the communication unit 120 to transmit predetermined data to the server 104 until receiving a response thereto, and takes the reciprocal of the time as the response speed. For example, the control unit 140 measures the time from the request for service provision by the function expansion ECU 130 to the reception of service data in response to the request. Control then transfers to step 402. Even if the communication state between the in-vehicle device 100 and the server 104 is good, the processing speed of the server 104 for executing the service provided to the in-vehicle device 100 may be reduced for some reason.
  • the response time of the server 104 to the in-vehicle device 100 will be longer, and the response time will be longer. Speed decreases. In such a case, a situation may arise in which service provision from the server 104 to the in-vehicle device 100 may be hindered.
  • step 404 the control unit 140 stores the measurement results (i.e., wireless communication speed and response speed) in step 400 and step 404 in the memory 142 as an evaluation result (see FIG. 6). Control then transfers to step 406.
  • measurement results i.e., wireless communication speed and response speed
  • step 406 the control unit 140 determines whether a request for the evaluation results stored in the memory 142 in step 404 has been received from the function expansion ECU 130. If it is determined that a request has been received, control moves to step 408. Otherwise, control transfers to step 410.
  • step 408 the control unit 140 reads the requested data (ie, the evaluation result) from the memory 142 and transmits it to the function expansion ECU 130 via the bus 132. For example, if time-series evaluation results are stored in the memory 142, the control unit 140 transmits the newest evaluation result. Further, the control unit 140 may transmit statistical values (for example, the average value of wireless communication speed and the average value of response speed) obtained from a plurality of evaluation results in the most recent predetermined period.
  • step 410 the control unit 140 determines whether an instruction to end has been received.
  • the instruction to end is given, for example, by turning off the start button or the like of the vehicle 102. If it is determined that the program is to be terminated, the program is terminated. Otherwise, control returns to step 400 and the process described above is repeated.
  • the in-vehicle gateway 122 of the in-vehicle device 100 monitors the state of the external environment of the in-vehicle device 100, receives a request from the function expansion ECU 130, and receives information representing the state of the external environment of the in-vehicle device 100 (that is, evaluation result) can be sent to the function expansion ECU 130. Therefore, the function expansion ECU 130 can execute processing according to the state of the external environment of the in-vehicle device 100, as described above.
  • server operation Referring to FIG. 9, the operation by the server 104, that is, the provision of services to the in-vehicle device 100 will be described.
  • the processing shown in FIG. 9 is realized by the control unit 160 of the server 104 shown in FIG. 5 reading a predetermined program from the memory 162 and executing it.
  • step 500 the control unit 160 determines whether a service provision request has been received. If it is determined that the message has been received, control moves to step 502. Otherwise, control transfers to step 510.
  • the service provision request is transmitted from the in-vehicle device 100 in step 300 shown in FIG.
  • step 502 the control unit 160 reads from the memory 162 a program for executing the process specified by the service provision request received in step 500, and executes it. Control then transfers to step 504.
  • step 504 the control unit 160 determines whether the processing in step 502 has been completed. If it is determined that the process is complete, control moves to step 506. Otherwise, control returns to step 502.
  • control unit 160 transmits the result of the process in step 502 to the source of the service provision request (for example, the in-vehicle device 100).
  • the control unit 160 can identify the destination based on the source address (eg, IP address) of the data received in step 500. Control then transfers to step 508.
  • step 508 the control unit 160 determines whether an instruction to end has been received.
  • the instruction to terminate is given, for example, by operating an operating unit (keyboard, mouse, etc.) provided in the server 104. If it is determined that the program is to be terminated, the program is terminated. Otherwise, control returns to step 500 and the process described above is repeated.
  • step 510 the control unit 160 determines whether a program transmission request has been received. If it is determined that it has been received, control moves to step 512. Otherwise, control transfers to step 508.
  • the program transmission request is transmitted from the in-vehicle device 100 in step 322 shown in FIG.
  • step 512 the control unit 160 identifies the program corresponding to the program transmission request received in step 510, reads it from the memory 162, and transmits it to the source of the program transmission request (for example, the vehicle-mounted device 100).
  • the control unit 160 can identify the destination based on the source address of the program transmission request received in step 510. Control then transfers to step 508.
  • the server 104 can receive a service provision request from an in-vehicle device, execute a predetermined process, and send the processing result to the in-vehicle device that made the request. Furthermore, upon receiving a request to send a program for executing a service, the server 104 can send the corresponding program to the requesting in-vehicle device.
  • the service provided from the server 104 to the in-vehicle device 100 can be prevented from being interrupted, and the service can be maintained.
  • the in-vehicle gateway 122 monitors the state of the external environment of the in-vehicle device 100
  • the function expansion ECU 130 executes the same program as the server 104 depending on the state of the external environment. but not limited to.
  • the function expansion ECU 130 may monitor the state of the external environment of the in-vehicle device 100.
  • the in-vehicle gateway 122 may execute the above-described process by the function expansion ECU 130. In that case, the in-vehicle device 100 does not need to include the function expansion ECU 130.
  • the in-vehicle device according to the first modification receives service from the server while the vehicle in which the in-vehicle device is installed is stopped.
  • the in-vehicle device according to the first modification has the same configuration and the same functions as the in-vehicle device 100 shown in FIG. 2. In the following, for convenience, the in-vehicle device according to the first modification will be described as the in-vehicle device 100.
  • the in-vehicle device 100 receives from the server 104 a service for unlocking the door of the vehicle 102 in which the in-vehicle device 100 is mounted (hereinafter referred to as face authentication unlocking service) using face authentication.
  • a camera is used as the sensor 124
  • an ECU that controls door locking is used as the ECU 128.
  • the sensor 124 captures an image of a person approaching the vehicle 102 (that is, a person subject to face authentication processing).
  • the obtained image data is included in the service provision request and transmitted from the communication unit 120 to the server 104 (see step 300 in FIG. 7).
  • the service provision request includes, for example, a code for requesting face authentication processing for image data (hereinafter referred to as a face authentication request code).
  • the server 104 Upon receiving the service provision request, the server 104 executes a face authentication process on the received image data as a process corresponding to the face authentication request code (see step 502 in FIG. 9). For example, the server 104 cuts out a facial part from the received image data, extracts facial features through processing such as edge detection, and combines the facial features of the owner of the vehicle 102 stored in the vehicle 102 in advance. Executes matching processing to determine the degree of matching. If the degree of matching is greater than or equal to the predetermined value, the server 104 transmits information indicating that the authentication has been passed to the in-vehicle device 100 (see step 506 in FIG. 9).
  • the function expansion ECU 130 receives the information via the communication unit 120, transmits it to the ECU 128, and causes the door to be unlocked (see step 316 in FIG. 7). If the external environment of the in-vehicle device 100 is in good condition, the face authentication unlocking service is provided by the server 104 in this manner.
  • the function expansion ECU 130 executes the face authentication process that has been received and stored in advance from the server 104. Execute the program (see step 306 in FIG. 7). The program executed is the same program executed by server 104. If the matching degree obtained as a processing result is greater than or equal to a predetermined value, the function expansion ECU 130 transmits information indicating that the authentication has been passed to the ECU 128, and causes the door to be unlocked (see step 316 in FIG. 7). Therefore, even if the external environment of the in-vehicle device 100 is in poor condition, the facial recognition unlocking service can be realized.
  • the service provided by the server 104 is a face authentication unlocking service as in the first modification.
  • the face authentication processing executed by the server 104 to provide the service includes, for example, image processing processing as pre-processing of the target image, feature extraction processing for extracting facial parts from the processed image, and extracted features. It is assumed that the process consists of a matching process that determines the degree of coincidence of quantities.
  • the function expansion ECU 130 receives and stores a program for executing image processing processing and feature extraction processing from the server 104 in advance.
  • the face authentication unlocking service is provided by the server 104 as in the first modification.
  • the function expansion ECU 130 reads and executes a program for executing image processing processing and feature extraction processing.
  • Function expansion ECU 130 includes the extracted feature quantity in a service provision request and transmits it from communication unit 120 to server 104 .
  • the service provision request includes a code (hereinafter referred to as a verification request code) different from the above-mentioned face authentication processing code.
  • the server 104 that has received the service provision request executes a matching process on the received feature amount as a process corresponding to the matching request code, and if the degree of matching is greater than or equal to a predetermined value, the server 104 indicates that the authentication has been passed.
  • information is transmitted to the in-vehicle device 100.
  • Function expansion ECU 130 receives the information via communication unit 120, transmits the received information to ECU 128, and causes ECU 128 to unlock the door. In this way, even if the external environment of the in-vehicle device 100 is in a bad condition, the face authentication unlocking service is provided by the server 104.
  • the server 104 does not need to execute the entire face authentication process, but only needs to execute a part of the matching process, so that the matching process can be executed at high speed. This is particularly effective when, for example, the cause of the poor external environment of the in-vehicle device 100 is not a decrease in wireless communication speed, but a decrease in the execution speed of face authentication processing by the server 104 due to resource constraints on the server 104. be.
  • the server 104 can execute the matching process using significantly fewer resources than the resources for executing the face authentication process. Therefore, even if the resources of the server 104 are tight, the server 104 can quickly complete the verification process and send the verification results to the in-vehicle device 100.
  • the in-vehicle device 100 requests the server 104 to perform facial recognition unlocking service, and after the server 104 starts face authentication processing, the external environment of the in-vehicle device 100 is Environmental conditions may deteriorate. In that case, since the face authentication process is being executed in the server 104, the server 104 that has received the service provision request including the verification request code may end the face authentication process and execute the verification process. The server 104 can quickly complete the verification process and send the verification results to the in-vehicle device 100.
  • the in-vehicle device acquires information for determining the state of the external environment of the in-vehicle device from the outside.
  • the in-vehicle device 100 includes a storage section 200, an evaluation section 202, a determination section 204, a processing section 206, an output section 208, and a route identification section 210.
  • the configuration shown in FIG. 10 is the same as the configuration shown in FIG. 6 by adding a route specifying section 210 and adding a communication speed performance map 212 to the storage section 200.
  • the configuration other than the route specifying unit 210 and the communication speed performance map 212 is the same as in FIG. 2, and realizes the same functions. Therefore, the different points will be explained without repeating redundant explanations.
  • the route identification unit 210 identifies the planned travel route of the vehicle 102 on which the in-vehicle device 100 is mounted.
  • the planned travel route of the vehicle 102 is specified by the car navigation system mounted on the vehicle 102, for example, in response to a destination being set in the car navigation system.
  • the car navigation system can use the set destination and the current position of the vehicle 102, which can be obtained from GPS, to refer to a road map and specify a planned driving route.
  • the route specifying unit 210 acquires the planned travel route specified by the car navigation system from the car navigation system.
  • the route specifying unit 210 may independently specify the planned route of the vehicle 102, similar to a car navigation system.
  • the route specifying unit 210 inputs information on the specified planned travel route to the determining unit 204.
  • the communication speed performance map 212 is a map that associates locations on the road with actual communication speeds at those locations.
  • the communication speed performance map 212 is generated, for example, by a server (for example, a server other than the server 104) collecting communication speeds with in-vehicle devices mounted on vehicles traveling on each road.
  • the server specifies the position on the road from the position information of each vehicle, and associates the communication speed with the vehicle-mounted device of the vehicle with the specified position. Additionally, the server may collect the communication speed (that is, the upload speed of sensor data) with infrastructure sensors installed on the roadside of each road.
  • each in-vehicle device may store the position of a running vehicle, the communication speed at that position, and information representing the time at which the communication speed was observed in association with each other, and periodically upload the stored information to the server.
  • the server can generate a communication speed performance map 212 from the received information.
  • the determination unit 204 reads the communication speed track record map 212 from the storage unit 200, refers to the communication speed track record map 212 using the information of the planned travel route input from the route specifying unit 210, and determines the wireless communication speed on the planned drive route. Identify.
  • the determining unit 204 determines the state of the external environment of the in-vehicle device 100 by comparing the wireless communication speed on the planned travel route of the vehicle 102 with a predetermined threshold. For example, the determination unit 204 determines that the state of the external environment of the vehicle-mounted device 100 is poor on the planned travel route where the wireless communication speed is less than or equal to a threshold value.
  • the vehicle-mounted device 100 executes a program in step 306 shown in FIG. 7 shortly before the vehicle 102 actually travels on that route.
  • a program in step 306 shown in FIG. 7 can be prepared in advance (for example, activated and placed on standby). Therefore, the in-vehicle device 100 can more quickly execute the corresponding program when the vehicle 102 actually travels the route.
  • the determination unit 204 does not determine the state of the external environment of the in-vehicle device 100 only based on the wireless communication speed obtained from the communication speed performance map 212 read from the storage unit 200, and the determination unit 204 does not determine the state of the external environment of the in-vehicle device 100.
  • the state of the external environment of the in-vehicle device 100 may be determined by using the response speed 104 together. In that case, the determination unit 204 substitutes the wireless communication speed included in the evaluation result by the evaluation unit 202 with the wireless communication speed obtained from the communication speed performance map 212 read from the storage unit 200, and as described above, What is necessary is to determine the state of the external environment.
  • each process (each function) of the above-described embodiment may be realized by a processing circuit (Circuitry) including one or more processors.
  • the processing circuit may be constituted by an integrated circuit, etc., which is a combination of the one or more processors, one or more memories, and any of various analog circuits and various digital circuits.
  • the one or more memories store programs (instructions) that cause the one or more processors to execute each of the above processes.
  • the one or more processors may execute each of the above processes according to the program read from the one or more memories, or may execute each of the above processes according to a logic circuit designed in advance to execute each of the above processes. May be executed.
  • the above processors include a CPU, GPU (Graphics Processing Unit), DSP (Digital Signal Processor), FPGA (Field Programmable Gate Array), and ASIC (A Even if it is a variety of processors that are compatible with computer control, such as application specific integrated circuits, etc. good.
  • the plurality of physically separated processors may cooperate with each other to execute each of the above processes.
  • the processors installed in each of a plurality of physically separated computers cooperate with each other via a network such as a LAN (Local Area Network), a WAN (Wide Area Network), and the Internet to execute the above processes. You can.
  • a recording medium that records a program that causes a computer to execute the processes (for example, the processes shown in FIGS. 7 and 8) executed by the in-vehicle device 100 (specifically, the function expansion ECU 130 and the in-vehicle gateway 122).
  • the recording medium is, for example, an optical disk (DVD (Digital Versatile Disc), etc.) or a removable semiconductor memory (USB (Universal Serial Bus) memory, etc.).
  • DVD Digital Versatile Disc
  • USB Universal Serial Bus
  • the computer readable non-transitory recording medium is A computer installed in a vehicle that receives services from an external device, a communication function for transmitting predetermined data to the external device; an evaluation function that evaluates the state of the external environment of the computer; a determination function that determines whether or not to execute the first process according to the evaluation result by the evaluation function; realizing a processing function of executing the first process on the predetermined data in response to the judgment function determining that the first process is to be executed;
  • the external environment includes a wireless communication speed between the computer and the external device,
  • the service is provided by the external device performing a second process on the predetermined data and transmitting the result to the computer,
  • the first process stores a computer program that is the same process as at least a part of the second process.

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Abstract

Le dispositif embarqué d'après la présente invention est monté dans un véhicule. Le dispositif embarqué prend en charge la fourniture d'un service provenant d'un dispositif externe. Le dispositif embarqué comprend : une unité de communication qui transmet des données prescrites au dispositif externe ; une unité d'évaluation qui évalue l'état d'un environnement externe du dispositif embarqué ; une unité de détermination qui détermine si un premier traitement doit être exécuté ou non en fonction du résultat d'évaluation par l'unité d'évaluation ; et une unité de traitement qui accepte une détermination par l'unité de détermination indiquant que le premier traitement doit être exécuté et exécute le premier traitement sur les données prescrites. L'environnement externe comprend la vitesse d'une communication sans fil entre le dispositif embarqué et le dispositif externe. Le service est fourni parce que le dispositif externe a exécuté un second traitement sur les données prescrites transmises au dispositif embarqué. Le premier traitement est identique à au moins une partie du second traitement.
PCT/JP2023/018525 2022-07-26 2023-05-18 Dispositif embarqué, procédé de commande et programme informatique WO2024024223A1 (fr)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006107259A (ja) * 2004-10-07 2006-04-20 Sumitomo Electric Ind Ltd 無線通信システムおよびそれを備えた車両検知システム
JP2007089021A (ja) * 2005-09-26 2007-04-05 Toyota Infotechnology Center Co Ltd 分散処理システム、車載端末、及び基地局
JP2021170296A (ja) * 2020-04-17 2021-10-28 株式会社東海理化電機製作所 認証システム及び認証方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006107259A (ja) * 2004-10-07 2006-04-20 Sumitomo Electric Ind Ltd 無線通信システムおよびそれを備えた車両検知システム
JP2007089021A (ja) * 2005-09-26 2007-04-05 Toyota Infotechnology Center Co Ltd 分散処理システム、車載端末、及び基地局
JP2021170296A (ja) * 2020-04-17 2021-10-28 株式会社東海理化電機製作所 認証システム及び認証方法

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