Information processing device, method, program, and storage medium

Abstract

To provide an information processing device capable of reliably and accurately updating a map.SOLUTION: A server device 4 stores an advanced map DB 43 including feature information on features in a storage unit 42. Then, the server 4 receives difference information Idf indicating the difference between the feature information and the actual features corresponding to the feature information from a plurality of on-vehicle devices with external sensors that measure the features. The server device 4 also transmits a data request signal SR requesting the transmission of raw data, which is measured data of the actual features, according to reliability calculated based on the plurality of difference information Idf, to the on-vehicle devices.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a technique for updating map data. [Background technology]

[0002] Conventionally, there has been known a technique for updating map data based on the output of a sensor installed in a vehicle. For example, Patent Document 1 discloses a navigation system having a server that manages the latest map data and a navigation device that receives map update information from the server, in which, when a sensor detects a change in the map data, the navigation device sets the sensor to increase the frequency of map update requests at the detected point. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-108820 Summary of the Invention [Problem to be solved by the invention]

[0004] A system is known in which, when a vehicle detects a change in map data using a sensor, it transmits data related to the change to a server that manages the map data, thereby updating the map data. In such a system, when the server receives data on a predetermined number of identical or similar change points, it determines that the change points are reliable and reflects the data on the change points in the map data. On the other hand, when the reliability of the change is medium (i.e., when it is not possible to clearly determine whether a change has occurred), there is a possibility that the change will not be reflected in the map data even though it actually has occurred, or that an erroneous change will be reflected in the map data even though there actually has not. On the other hand, advanced maps used in autonomous driving require reliable and accurate updates when changes occur in the map. Patent Document 1 does not disclose or suggest any of the above issues.

[0005] The present invention has been made to solve the above-mentioned problems, and has as its main object to provide an information processing device that can reliably and accurately update maps. [Means for solving the problem]

[0006] The invention described in the claims is an information processing device comprising: a memory unit that stores feature information related to features; a receiving unit that receives difference information indicating the difference between the feature information and the actual feature corresponding to the feature information from a plurality of mobile bodies equipped with measuring devices that measure the features; and a request unit that requests the plurality of mobile bodies or other mobile bodies to transmit measurement data of the actual feature to be used to determine whether or not the actual feature has changed, depending on the reliability calculated based on the plurality of difference information.

[0007] The invention described in the claims is a method executed by an information processing device having a memory unit that stores feature information related to features, and is characterized by having a receiving step of receiving difference information indicating the difference between the feature information and the actual feature corresponding to the feature information from multiple mobile bodies equipped with measurement devices that measure features, and a requesting step of requesting the multiple mobile bodies or other mobile bodies to transmit measurement data of the actual feature to be used to determine whether or not the actual feature has changed, depending on the reliability calculated based on the multiple difference information.

[0008] The invention described in the claims is a method executed by an information processing device having a memory unit that stores feature information related to features, and is characterized by having a receiving step of receiving difference information indicating the difference between the feature information and the actual feature corresponding to the feature information from multiple mobile bodies equipped with measurement devices that measure features, and a requesting step of requesting the multiple mobile bodies or other mobile bodies to transmit measurement data of the actual feature to be used to determine whether or not the actual feature has changed, depending on the reliability calculated based on the multiple difference information. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic configuration of an advanced map system. [Figure 2] (A) shows the functional configuration of the in-vehicle device, and (B) shows the functional configuration of the server device. [Figure 3] FIG. 2 is a functional block diagram showing the functional relationship between the vehicle-mounted device and the server device. [Figure 4] 10 is an example of a data structure of difference information. [Figure 5] 10 is an example of a data structure of a raw data request signal. [Figure 6] 1 is an example of a data structure of raw data information. [Figure 7] 1 is a flowchart illustrating an example of a processing procedure according to an embodiment. [Figure 8] 1 shows a data structure containing a raw data request. DETAILED DESCRIPTION OF THE INVENTION

[0010] According to a preferred embodiment of the present invention, an information processing device includes a memory unit that stores feature information related to features, a receiving unit that receives difference information indicating the difference between the feature information and the actual feature corresponding to the feature information from multiple mobile bodies equipped with measuring devices that measure the features, and a request unit that requests the multiple mobile bodies or other mobile bodies to transmit measurement data of the actual feature according to a reliability calculated based on the multiple difference information.

[0011] The information processing device includes a storage unit, a receiving unit, and a requesting unit. The storage unit stores feature information related to features. The receiving unit receives difference information indicating differences between the feature information and the actual features corresponding to the feature information from multiple mobile bodies equipped with measurement devices that measure the features. The requesting unit requests the multiple mobile bodies or other mobile bodies to transmit measurement data of the actual features based on a reliability calculated based on the difference information. With this aspect, the information processing device can acquire and analyze measurement data of features that may be subject to change based on the difference information, thereby accurately determining changes in the features.

[0012] In one aspect of the information processing device, the measurement data has a larger volume than the difference information, and the information processing device can accurately determine changes in features while suitably suppressing an increase in communication volume due to transmission and reception of unnecessary measurement data.

[0013] In another aspect of the information processing device, the information processing device includes an update unit that updates the feature information when the reliability exceeds a predetermined upper limit, and does not update the feature information when the reliability is below a predetermined lower limit, and the request unit requests transmission of the measurement data when the reliability is equal to or less than the upper limit and equal to or greater than the lower limit. With this aspect, the information processing device can appropriately suppress an increase in communication volume due to sending and receiving unnecessary measurement data, while accurately determining a change in a feature based on the measurement data even when the change in a feature cannot be accurately determined based on difference information alone.

[0014] In another aspect of the information processing device, the request unit requests transmission of the measurement data if the difference information required to calculate the reliability is not received within a predetermined period of time. With this aspect, even if the information processing device is unable to collect the required number of difference information and therefore is unable to accurately determine whether or not a feature has changed, the information processing device can accurately determine whether or not a feature has changed based on the measurement data.

[0015] In another aspect of the information processing device, the measurement data is three-dimensional data generated by a distance measuring device that irradiates a laser. With this aspect, the information processing device can accurately determine whether or not there is a change in a feature on the ground based on the measurement data.

[0016] According to another preferred embodiment of the present invention, a measurement device mounted on a mobile body includes: a measurement unit that measures the positions of objects present around the mobile body; a memory unit that sequentially stores measurement data measured by the measurement unit; a receiver that receives a transmission request including position information related to a feature from an external device that has a memory unit that stores feature information related to the feature; and a transmitter that transmits the measurement data stored in the memory unit to the external device after the position of the mobile body and the position included in the transmission request are within a predetermined distance. In this aspect, when the measurement device receives a transmission request including position information related to the feature from an external device that manages feature information, the measurement device can transmit the measurement data of the target feature to the external device so that the external device can preferably perform analysis, etc., regarding changes to the feature information.

[0017] In one aspect of the measurement device, the storage unit updates the measurement data when the position of the moving object changes. This aspect allows the measurement device to preferably prevent measurement data measured at the same point from being duplicated and stored in the storage unit.

[0018] In another aspect of the above-described measuring device, the storage unit stores a plurality of pieces of the measurement data corresponding to a plurality of different positions of the moving object, and when the position of the moving object changes, the storage unit erases one piece of measurement data that has been stored for the longest period of time and stores one piece of new measurement data measured by the measurement unit. With this aspect, the measuring device can store in the storage unit the measurement data generated when the moving object has traveled a predetermined distance recently.

[0019] According to another preferred embodiment of the present invention, there is provided a control method executed by an information processing device having a memory unit that stores feature information related to features, the control method comprising: a receiving step of receiving, from a plurality of mobile bodies equipped with measurement devices that measure features, difference information indicating differences between the feature information and the actual features corresponding to the feature information; and a requesting step of requesting the plurality of mobile bodies or other mobile bodies to transmit measurement data of the actual features according to a reliability calculated based on the plurality of difference information. By executing this control method, the information processing device can acquire and analyze measurement data of target features from the mobile bodies for features that may have changed based on the difference information, and accurately determine changes in the features.

[0020] According to another preferred embodiment of the present invention, there is provided a control method executed by a measurement device mounted on a mobile body and having a measurement unit that measures the positions of objects present around the mobile body, the control method comprising: a storage step of sequentially storing measurement data measured by the measurement unit in a storage step; a receiving step of receiving a transmission request including position information related to a feature from an external device having a storage step that stores feature information about the feature; and a transmission step of transmitting the measurement data stored in the storage step to the external device after the position of the mobile body and the position included in the transmission request are within a predetermined distance. By executing this control method, the measurement device can, when receiving a transmission request including position information related to the feature from an external device that manages feature information, transmit the measurement data of the target feature to the external device so that the external device can preferably perform analysis, etc., regarding changes to the feature information.

[0021] In a preferred example, the program causes a computer to function as any one of the information processing devices or measuring devices described above. The computer preferably functions as any one of the information processing devices or measuring devices described above by executing the program. [Example]

[0022] Preferred embodiments of the present invention will now be described with reference to the drawings.

[0023] [System Configuration] 1 shows a schematic configuration of an advanced map system according to this embodiment. The advanced map system includes a plurality of vehicle-mounted devices 1 (1A, 1B, ...) equipped with external sensors for measuring features, and a server device 4 that stores an advanced map DB 43. The advanced map system accurately updates information about features, such as the positions and shapes of features around roads, registered in the advanced map DB 43 (also referred to as "feature information").

[0024] The vehicle-mounted device 1 has one or more external sensors such as a Lidar (Light Detection and Ranging or Laser Illuminated Detection and Ranging) or a camera, and performs highly accurate estimation of the vehicle position based on the output of the external sensor.

[0025] In this embodiment, the vehicle-mounted device 1 detects differences in feature information registered in the advanced map DB 43 based on the output of an external sensor, and transmits information about the detected differences (also referred to as "difference information Idf") to the server device 4. Furthermore, when the vehicle-mounted device 1 receives a signal (also referred to as a "raw data request signal SR") requesting unprocessed data (so-called raw data) output by the external sensor, the vehicle-mounted device 1 transmits information about the raw data whose detection target range includes a position specified by the raw data request signal SR (also referred to as "raw data information Irw") to the server device 4. Hereinafter, for convenience of explanation, the vehicle-mounted device 1 that transmits the difference information Idf will be referred to as "vehicle-mounted device 1A" as appropriate, and the vehicle-mounted device 1 that transmits the raw data information Irw based on the raw data request signal SR will be referred to as "vehicle-mounted device 1B" as appropriate. Note that the vehicle-mounted device 1 mounted on each vehicle may actually have the functions of both the vehicle-mounted device 1A and the vehicle-mounted device 1B. The vehicle-mounted device 1 is an example of a "measurement device" in the present invention.

[0026] The server device 4 stores an advanced map DB 43 containing feature information corresponding to each feature existing around a road, and distributes part or all of the advanced map DB 43 in response to a request from the vehicle-mounted device 1. Features registered as feature information in the advanced map DB 43 may include, for example, artificial features such as kilometer posts, 100-meter posts, delineators, traffic infrastructure (e.g., road signs, direction signs, and traffic signals), utility poles, and streetlights that are periodically lined along the road, as well as natural features such as trees. In this embodiment, the server device 4 determines whether or not there has been a change in the feature information registered in the advanced map DB 43 based on the difference information Idf received from the vehicle-mounted device 1A. At this time, the server device 4 calculates the reliability (also referred to as "reliability Rdf") of the difference information Idf and transmits a raw data request signal SR to the vehicle-mounted device 1 according to the calculated reliability Rdf. When the server device 4 receives the raw data information Irw based on the raw data request signal SR, it analyzes the raw data included in the raw data information Irw and determines whether or not to update the feature information registered in the advanced map DB 43 and what content to update. The server device 4 is an example of the "information processing device" and "external device" of the present invention.

[0027] [Configuration of in-vehicle device and server device] 2(A) is a block diagram showing the functional configuration of the vehicle-mounted device 1. The vehicle-mounted device 1 mainly includes a communication unit 11, a storage unit 12, a sensor unit 13, an input unit 14, a control unit 15, and an output unit 16. These elements are interconnected via a bus line.

[0028] Based on the control of the control unit 15, the communication unit 11 performs data communication with the server device 4, such as difference information Idf, raw data request signal SR, and raw data information Irw. Also, based on the control of the control unit 15, the communication unit 11 receives map data including feature information from the server device 4.

[0029] The storage unit 12 stores programs executed by the control unit 15 and information necessary for the control unit 15 to execute predetermined processes. For example, the storage unit 12 stores map data including feature information received from the communication unit 11.

[0030] In this embodiment, the storage unit 12 of the vehicle-mounted device 1B temporarily stores raw data generated within a predetermined distance of the most recent driving section in a raw data cache 21. As described below, each time the vehicle travels a predetermined distance, the control unit 15 associates the latest raw data from the external sensor 31 with information on the time of acquisition of the raw data, the vehicle's position, and the vehicle's attitude, and stores the data in the raw data cache 21. At this time, information on the position, type, and setting conditions of the external sensor 31 used to generate the raw data may also be stored in the raw data cache 21. In this case, the raw data cache 21 deletes the raw data stored for the longest period and stores the latest raw data on a first-in, first-out basis. In this way, the control unit 15 accumulates raw data according to driving distance rather than according to time, thereby effectively preventing duplicate accumulation of raw data generated at the same location while the vehicle is stopped in the raw data cache 21.

[0031] The sensor unit 13 includes one or more external sensors 31 for measuring features present around the vehicle, a GPS receiver 32, a gyro sensor 33, an acceleration sensor 34, and a speed sensor 35. The external sensor 31 measures features present around the vehicle using a lidar, camera, or the like, and outputs the measurement data to the control unit 15. For example, a lidar emits a pulsed laser within a predetermined angular range in the horizontal and vertical directions to discretely measure the distance to an object present in the external world, and outputs three-dimensional point cloud information indicating the position of the object as measurement data. In addition, the camera outputs captured image data generated at predetermined intervals to the control unit 15. The external sensor 31 is an example of a "measurement unit" in the present invention.

[0032] The input unit 14 is a button, a touch panel, a remote controller, a voice input device, etc. that the user operates, and the output unit 16 is, for example, a display, a speaker, etc. that outputs based on the control of the control unit 15.

[0033] The control unit 15 includes a CPU that executes a program and controls the entire in-vehicle device 1. For example, the control unit 15 transmits a map data request signal specifying the vehicle's position predicted based on the output of the GPS receiver 32, etc., to the server device 4 via the communication unit 11, thereby receiving map data around the vehicle's position, including feature information, from the server device 4 via the communication unit 11 and storing the map data in the storage unit 13. The control unit 15 also performs a process of transmitting difference information Idf, a process of receiving a raw data request signal SR, and a process of transmitting raw data information Irw via the communication unit 11, and functions as a "receiving unit" and a "transmitting unit" in the present invention.

[0034] 2(B) is a block diagram showing the functional configuration of the server device 4. The server device 4 mainly includes a communication unit 41 that performs data communication with the vehicle-mounted device 1 under the control of the control unit 45, a storage unit 42, and the control unit 45. These elements are interconnected via a bus line.

[0035] The storage unit 42 stores programs executed by the control unit 45 and information required for the control unit 45 to execute predetermined processes. In this embodiment, the storage unit 42 stores an advanced map DB 43. The advanced map DB 43 includes feature information corresponding to each feature to be detected by the external sensor 31 of the vehicle-mounted device 1. Furthermore, the storage unit 42 accumulates difference information Idf and raw data information Irw received from multiple vehicle-mounted devices 1 under the control of the control unit 45, as will be described later.

[0036] The control unit 45 includes a CPU that executes programs and controls the entire server device 4. For example, when the control unit 45 receives a map data request signal via the communication unit 41, the control unit 45 extracts map data including feature information about the area around the location indicated by the location information included in the request signal from the advanced map DB 43 and transmits the map data to the requesting in-vehicle device 1. In this embodiment, the control unit 45 functionally includes a difference information receiving unit 46, a raw data requesting unit 47, and a map updating unit 48, which will be described later.

[0037] [Map update process] Next, the details of the process of updating the advanced map DB 43 will be described.

[0038] (1) Functional Blocks FIG. 3 is a functional block diagram showing the functional relationship between the vehicle-mounted device 1 (1A, 1B) and each element of the server device 4. As shown in FIG.

[0039] The difference information receiving unit 46 receives, via the communication unit 41, difference information Idf indicating a change in a feature from the onboard device 1A that has detected a change in a feature whose feature information is registered in the advanced map DB 43. Here, the difference information Idf does not include measurement data of the feature and has a smaller data volume than the raw data information Irw. The difference information Idf also includes feature identification information (also referred to as a "feature ID"), making it possible to identify which feature the information pertains to. The difference information receiving unit 46 is an example of a "receiving unit" in the present invention. The onboard device 1A may transmit difference information Idf indicating the result of feature detection based on the output of the external sensor 31 to the difference information receiving unit 46, regardless of whether a change in the feature has been detected. In this case, the difference information Idf includes information on whether a difference in the target feature has been detected.

[0040] The raw data request unit 47 calculates the reliability Rdf based on the difference information Idf for each feature stored in the storage unit 42. In this case, the raw data request unit 47, for example, estimates the parameter for which detection processing has been performed for each feature and calculates the reliability Rdf based on the ratio of difference information Idf indicating the disappearance or change of the feature to the parameter. In this case, the raw data request unit 47 may calculate the parameter by counting the number of on-board units 1 that have passed through a route on which the target feature can be detected by referring to location information, etc., periodically received from each on-board unit 1, or may estimate the parameter by referring to the statistical traffic volume of the route. In another example, if difference information Idf is transmitted even when there is no change in the feature, the raw data request unit 47 may calculate the parameter based on the number of received difference information Idf. In another example, the raw data request unit 47 may calculate the corresponding reliability Rdf based only on the number of difference information Idf indicating the disappearance or change of the feature. In yet another example, information contained in the received difference information Idf indicating the type of external sensor 31 or the type of vehicle used in the feature detection process may be identified, and the reliability Rdf may be calculated by weighting the difference information Idf detected by a specific type of external sensor 31 or vehicle, or based only on the difference information Idf detected by a specific type of external sensor 31 or vehicle.

[0041] Then, when the raw data request unit 47 determines that it is necessary to analyze the raw data information Irw and perform a detailed analysis of the presence or absence of changes in the feature information based on the calculated reliability Rdf, etc., it transmits a raw data request signal SR to the vehicle-mounted device 1B. In this case, as will be described later, the raw data request signal SR includes position information of the feature to be detected. In this case, for example, the raw data request unit 47 transmits the raw data request signal SR to the vehicle-mounted device 1B that is located within a predetermined distance from the position of the feature for which the raw data information Irw is required. Note that the raw data request unit 47 identifies the position of each vehicle-mounted device 1, for example, by receiving position information from each vehicle-mounted device 1 traveling on the road at predetermined intervals.

[0042] Here, a supplementary explanation will be given of the timing of transmitting the raw data request signal SR using a specific example.

[0043] For example, when the reliability Rdf is equal to or less than a predetermined upper threshold (also referred to as the "first threshold") and equal to or greater than a predetermined lower threshold (also referred to as the "second threshold"), the raw data request unit 47 determines that a detailed analysis of the presence or absence of changes in the feature information is necessary, and transmits a raw data request signal SR. For example, the above-mentioned first threshold is a threshold for determining whether it is possible to determine that the difference information Idf is reliable information, and the above-mentioned second threshold is a threshold for determining whether it is possible to determine that the difference information Idf is unreliable information. The first threshold is an example of the "predetermined upper limit" in the present invention, and the second threshold is an example of the "predetermined lower limit" in the present invention.

[0044] In another example, when there is a feature for which the number of pieces of difference information Idf required to calculate the reliability Rdf has not been collected within a predetermined period among the features whose feature information is registered in the advanced map DB 43, the raw data request unit 47 transmits a raw data request signal SR specifying the position of the feature. In yet another example, when the raw data request unit 47 receives notification information from the on-board device 1 that a difference has been detected between a road in the map data and an actual road, it transmits a raw data request signal SR specifying the position around the road.

[0045] Then, in response to the raw data request signal SR, the raw data request unit 47 receives raw data information Irw including raw data measured on the target feature from the on-board device 1B via the communication unit 41. Then, the raw data request unit 47 stores the received raw data information Irw in the storage unit 42. The raw data request unit 47 is an example of the "request unit" in the present invention.

[0046] The map update unit 48 updates the feature information in the advanced map DB 43 based on the raw data information Irw stored in the memory unit 42. For example, when a predetermined number or more pieces of raw data information Irw targeting the same feature are accumulated in the memory unit 42, the map update unit 48 analyzes the accumulated raw data information Irw to determine whether or not the corresponding feature has changed. Then, when the map update unit 48 determines based on the analysis result that the position, shape, etc. of the target feature has changed or disappeared, the map update unit 48 updates the feature information of the target feature registered in the advanced map DB 43 based on the analysis result. The map update unit 48 is an example of the "update unit" in the present invention.

[0047] Here, a supplementary explanation will be given of the processing performed when the vehicle-mounted device 1B receives the raw data request signal SR.

[0048] For example, when the detection range of the external sensor 31 is located in the forward direction of the vehicle, the in-vehicle device 1B extracts part or all of the raw data stored in the raw data cache 21 and transmits the extracted raw data information Irw to the server device 4 when the in-vehicle device 1B approaches within a predetermined distance the position indicated by the position information included in the raw data request signal SR. The predetermined distance is set, for example, within the range of the detectable distance of the external sensor 31 and a distance necessary and sufficient for detecting the object. In another example, when the detection range of the external sensor 31 includes the rear or side directions of the vehicle, the in-vehicle device 1B extracts part or all of the raw data stored in the raw data cache 21 and transmits the extracted raw data information Irw to the server device 4 when the in-vehicle device 1B moves away from the position indicated by the position information included in the raw data request signal SR by a predetermined distance or more after passing the position indicated by the position information included in the raw data request signal SR. The in-vehicle device 1B may transmit the raw data information Irw immediately when the in-vehicle device 1B meets the condition of approaching within a predetermined distance from the position indicated by the position information included in the raw data request signal SR or moving away from the position indicated by the position information included in the raw data request signal SR by a predetermined distance or more after approaching the position indicated by the position information included in the raw data request signal SR, or may transmit the raw data information Irw at any timing after the condition is met.

[0049] According to these examples, the vehicle-mounted device 1B can suitably transmit raw data including in its target range features that exist at the position specified by the raw data request signal SR to the server device 4. Furthermore, by transmitting raw data information Irw including raw data generated at multiple positions stored in the raw data cache 21, the vehicle-mounted device 1B can suitably cause the server device 4 to statistically detect the position, shape, etc. of the feature from the multiple pieces of raw data even when the target feature is temporarily in the blind spot of a stopped vehicle or the like and is not included in the raw data information Irw.

[0050] (2) Data Structure Next, specific examples of the data structures of the difference information Idf, the raw data request signal SR, and the raw data information Irw will be described.

[0051] (2-1) Difference information Fig. 4 shows an example of the data structure of difference information Idf generated by the vehicle-mounted device 1A when a change in a feature is detected. The feature information IF shown in Fig. 4 includes header information and body information.

[0052] The header information includes fields for "header ID," "version information," "time information at the time of difference detection," "vehicle position information at the time of difference detection," and "vehicle attitude information at the time of difference detection." Identification information indicating that the information is difference information Idf is registered in "header ID." The version of the data structure of the body information is registered in "version information." The "time information at the time of difference detection," "vehicle position information at the time of difference detection," and "vehicle attitude information at the time of difference detection" respectively register time information, position information, and vehicle attitude information when a change in the feature (i.e., a difference) is detected. In this case, the vehicle-mounted device 1 calculates the roll angle, pitch angle, and yaw angle of the vehicle at the time the feature is detected based on detection signals from internal sensors such as the gyro sensor 33 and acceleration sensor 34, and registers information on these angles in "vehicle attitude information at the time of difference detection."

[0053] The body information includes fields for "feature ID," "change identification flag," and "sensor type information." The "feature ID" registers identification information for a feature that is uniquely assigned within the advanced map DB 43. The feature ID may be composed of multiple IDs that identify the target feature in stages. For example, the feature ID for "road sign A" may be composed of an ID that indicates the type "road sign" and an ID that indicates "A," which is a type of road sign. In this case, these IDs may be registered in different fields.

[0054] A flag indicating that a change has occurred is registered in the "change identification flag." For example, the "change identification flag" may register a flag indicating that the target feature has disappeared, a flag indicating that the position of the target feature has changed, or a flag indicating that the target feature has been deformed. The "sensor type information" registers information indicating the type of external sensor 31 used in the feature detection process. Note that instead of or in addition to the "sensor type information," "vehicle type information" indicating the type of vehicle may be provided.

[0055] In this way, the difference information Idf does not have a field for registering data with a large data volume, and therefore has a smaller data volume than the raw data information Irw including measurement data (raw data) from the external sensor 31.

[0056] (2-2) Raw data request signal Fig. 5 shows an example of the data structure of a raw data request signal SR. In the example of Fig. 5, the raw data request signal SR includes, as header information, a "header ID" and "version information" that indicate that it is a raw data request signal SR, and also includes, as body information, "location information" and "raw data transmission conditions."

[0057] Here, the "location information" is registered with information that specifies the point from which the raw data information Irw is to be acquired (i.e., the location of the feature that is to be checked for changes). Preferably, in addition to the "location information," a field for "feature ID" is further provided.

[0058] Information that specifies the conditions when the raw data information Irw is acquired is registered in the "raw data transmission conditions." Here, the "raw data transmission conditions" include the subfields of "vehicle position conditions," "driving speed conditions," "time period conditions," and "sensor conditions." The "vehicle position conditions" register conditions related to the vehicle's position when the raw data information Irw is acquired, such as the lane number specifying the lane and the vehicle's attitude when acquiring the raw data information Irw. The "driving speed conditions" register vehicle speed conditions when acquiring the raw data information Irw (for example, x ("x" is a positive number) km / h or less). The "time period conditions" register conditions for the time period when the raw data information Irw is acquired.

[0059] The "sensor conditions" register conditions related to the external sensor 31 that generates the raw data to be included in the raw data information Irw, and are composed of subfields for "sensor type conditions" and "sensor data conditions." The "sensor type conditions" register information specifying the type of external sensor 31 (e.g., LIDAR or camera) that generates the raw data information Irw. The "sensor data conditions" register conditions such as settings at the time of generating raw data for the external sensor 31 specified in the sensor type conditions. For example, in the case of LIDAR, the "sensor data conditions" register information indicating that only point cloud information of objects that are more than y meters away (y is a positive number) should be transmitted as raw data, and that only point cloud information with a predetermined brightness or higher should be transmitted as raw data. Furthermore, when external sensors 31 are present at multiple positions on the vehicle, the "sensor conditions" may include a subfield specifying the positional conditions of the external sensor 31 used to generate the raw data. In other words, the "sensor conditions" register information specifying the external sensor 31 that generates the raw data and the conditions related to its settings.

[0060] In addition, the body information may further include a field such as a "raw data transmission request flag" that stores flag information indicating whether raw data information Irw is required (for example, "1" if required, and "0" if not).

[0061] (2-3) Raw data information Fig. 6 shows an example of the data structure of the raw data information Irw generated by the vehicle-mounted device 1B upon receiving the raw data request signal SR. The feature information IF shown in Fig. 6 includes header information and body information.

[0062] The header information includes the following fields: "Header ID," "Version Information," "Time Information at the Time of Acquisition of Raw Data," "Vehicle Position Information at the Time of Acquisition of Raw Data," and "Vehicle Posture Information at the Time of Acquisition of Raw Data." "Header ID" stores identification information indicating that the information is raw data information Irw. "Version Information" stores the version of the data structure of the body information. "Time Information at the Time of Acquisition of Raw Data," "Vehicle Position Information at the Time of Acquisition of Raw Data," and "Vehicle Posture Information at the Time of Acquisition of Raw Data," respectively store the time information, position information, and vehicle posture information at the time the raw data included in the body information was generated.

[0063] The body information includes the fields of "Raw data type ID," "Raw data size," and "Raw data." In "Raw data type ID," identification information indicating the type of raw data or identification information indicating the type of external sensor 31 that output the raw data is registered. In "Raw data size," size information of the raw data registered in "Raw data" is registered. In "Raw data," raw data extracted from the raw data cache 21 is registered.

[0064] (3) Processing flow 7 is a flowchart showing the processing procedures of the vehicle-mounted device 1A that generates difference information Idf, the server device 4, and the vehicle-mounted device 1B that receives a raw data request signal SR from the server device 4 and generates raw data information Irw. The vehicle-mounted device 1A, the server device 4, and the vehicle-mounted device 1B repeatedly execute the processing of the flowchart shown in FIG.

[0065] First, the vehicle-mounted device 1A detects the current position, attitude, speed, etc. of the vehicle based on the outputs of the GPS receiver 32, the gyro sensor 33, the acceleration sensor 34, the speed sensor 35, etc. (step S11).

[0066] Next, the vehicle-mounted device 1A performs a feature detection process based on the output of the external sensor 31 (step S12). In this case, for example, the vehicle-mounted device 1A identifies features that exist around the current position predicted in step S11 based on the feature information stored in the storage unit 12, and performs a process of detecting the features based on the output of the external sensor 31. In this case, the vehicle-mounted device 1A periodically receives map data including feature information around the vehicle position from the server device 4, for example, to store feature information having the same content as the feature information registered in the advanced map DB 43 in the storage unit 12.

[0067] The vehicle-mounted device 1A then determines whether there has been a change in the feature to be detected (step S13). In this case, for example, the vehicle-mounted device 1A compares the position, shape, etc. of the feature identified based on the current position predicted in step S11 and the output of the external sensor 31 with the position, shape, etc. of the feature indicated by the feature information stored in the storage unit 12, thereby determining whether there has been a change in the position or shape of the feature to be detected or whether the feature has disappeared, etc. If the vehicle-mounted device 1A determines that there has been a change in the feature to be detected (step S13; Yes), it generates difference information Idf and transmits it to the server device 4 (step S14). On the other hand, if the vehicle-mounted device 1A determines that there has been no change in the feature to be detected (step S13; No), it returns the process to step S11. Note that even if the vehicle-mounted device 1A determines that there has been no change in the feature to be detected, it may transmit information indicating that there has been no change in the feature to the server device 4 together with the feature ID, etc. of the feature to be detected. In this case, the difference information Idf is used to calculate the reliability Rdf, for example.

[0068] The server device 4 receives and stores difference information Idf transmitted from the on-board devices 1A of the multiple vehicles (step S21). Then, the server device 4 executes the following steps S22 to S27 for each feature for which difference information Idf has been stored.

[0069] The server device 4 determines whether the accumulated difference information Idf for a feature for which difference information Idf has been accumulated indicates that the information has been lost and whether its reliability Rdf has exceeded a first threshold (step S22). If the server device 4 determines that the accumulated difference information Idf indicates that the information has been lost and that its reliability Rdf has exceeded the first threshold (step S22; Yes), the server device 4 determines that the difference information Idf is reliable and updates the advanced map DB 43 (step S27). Specifically, in this case, the server device 4 deletes the feature information for the target feature from the advanced map DB 43, or adds information to the feature information indicating that the feature has been lost.

[0070] On the other hand, if the accumulated difference information Idf indicates a change other than loss or if the reliability Rdf is equal to or less than the first threshold (step S22; No), the server device 4 determines whether the raw data request condition is met (step S23). For example, if the reliability Rdf is less than the second threshold, the server device 4 determines that the corresponding difference information Idf is unreliable and does not satisfy the raw data request condition. In another example, if the accumulated difference information Idf indicates a change other than loss and its reliability Rdf is equal to or greater than the second threshold, the server device 4 determines that the raw data request condition is met. In yet another example, if the accumulated difference information Idf indicates loss and its reliability Rdf is equal to or less than the first threshold and equal to or greater than the second threshold, the server device 4 determines that the raw data request condition is met. In yet another example, the server device 4 determines that the raw data request condition is met if the accumulated difference information Idf indicates loss and its reliability Rdf is equal to or less than the first threshold and equal to or greater than the second threshold. In yet another example, the server device 4 determines that the raw data request condition is met if the number of difference information Idf required to calculate the reliability Rdf is not collected.

[0071] If the server device 4 determines that the raw data request conditions are met (step S23; Yes), it transmits a raw data request signal SR specifying the position of the target feature, etc., to the vehicle-mounted device 1B located in a position surrounding the target feature (step S24).On the other hand, if the server device 4 determines that the raw data request conditions are not met (step S23; No), it returns the process to step S21.

[0072] The vehicle-mounted device 1B mounted on each vehicle traveling on a road stores raw data for a predetermined traveling distance output from the external sensor 31 in the raw data cache 21 (step S31). Then, when the vehicle-mounted device 1B receives a raw data request signal SR from the server device 4, it stores information on the request position of the raw data indicated by the raw data request signal SR (step S32). In the example of FIG. 5, the vehicle-mounted device 1B stores information registered in the "position information" of the body information as information on the request position of the raw data.

[0073] Then, the vehicle-mounted device 1B determines whether or not it is traveling in the vicinity of the request position of the raw data stored in step S32 (step S33). If it is determined that it is traveling in the vicinity of the request position of the raw data (step S33; Yes), it transmits raw data information Irw including raw data corresponding to information registered in the "raw data transmission condition" of the body information included in the raw data request signal SR, from the raw data stored in the raw data cache 21, to the server device 4 (step S34). On the other hand, if it is determined that it is not traveling in the vicinity of the request position of the raw data stored in step S32 (step S33; No), it returns the process to step S31 and continues to store the raw data of the external sensor 31 in the raw data cache 21.

[0074] Meanwhile, the server device 4 determines whether or not it has received a predetermined number of pieces of raw data information Irw for each feature for which it has transmitted a raw data request signal SR (step S25). The predetermined number is set, for example, to the number of pieces of raw data information Irw required to perform feature detection using known image analysis and statistical analysis of the raw data information Irw. If the server device 4 determines that it has received a predetermined number of pieces of raw data information Irw (step S25; Yes), it performs analysis processing for feature detection on the received raw data information Irw to determine whether or not there has actually been a change in the target feature (step S26). On the other hand, if the server device 4 determines that it has received less than the predetermined number of pieces of raw data information Irw (step S25; No), it continues to perform reception processing of the raw data information Irw.

[0075] Then, when the server device 4 determines based on the analysis of the raw data information Irw that there has actually been a change in the target feature (step S26; Yes), it updates the advanced map DB 43 based on the analysis result of the raw data information Irw (step S27).On the other hand, when the server device 4 determines based on the analysis of the raw data information Irw that there has actually been no change in the target feature (step S26; No), it ends the processing of the flowchart.

[0076] As described above, the server device 4 according to this embodiment stores an advanced map DB 43 containing feature information related to features in the storage unit 42. The server device 4 receives difference information Idf indicating the difference between the feature information and the actual feature corresponding to the feature information from multiple vehicle-mounted devices 1 equipped with external sensors 31 that measure the features. The server device 4 also transmits a raw data request signal SR to the vehicle-mounted devices 1, requesting the transmission of raw data, which is measurement data of the actual feature, according to the reliability Rdf calculated based on the multiple pieces of difference information Idf. With this configuration, the server device 4 can acquire raw data of features that may have changed from the vehicle-mounted devices 1 based on the difference information Idf, analyze the data in detail, and accurately determine changes in the feature.

[0077] Here, the effect of collecting the raw data information Irw and performing the update process for the advanced map DB 43 will be explained in more detail.

[0078] Generally, the difference information Idf transmitted by each vehicle-mounted device 1A is determined independently by that vehicle-mounted device 1A, and therefore may contain data based on erroneous detection. Therefore, the server device 4 according to this embodiment can appropriately calculate the reliability Rdf of the difference information Idf by collecting and analyzing the difference information Idf for the same location from multiple vehicle-mounted devices 1A. In this case, the server device 4 updates the advanced map DB 43 when the reliability Rdf exceeds a first upper threshold, and does not update the advanced map DB 43 when the reliability Rdf is less than a second lower threshold. The server device 4 then distributes the updated advanced map DB 43 to each vehicle-mounted device 1, thereby ensuring that the vehicle-mounted device 1 always uses the latest map.

[0079] On the other hand, in places where the environment is subject to rapid dynamic changes, a situation may occur in which the reliability Rdf is below the first threshold and above the second threshold, making it impossible to determine whether the difference information Idf is reliable. In such cases, since raw data is measurement data captured from the real world without processing, the server device 4 can perform a more detailed analysis to determine whether or not there has been any change in the features by collecting raw data information Irw from each vehicle-mounted device 1B. However, since raw data typically has a large volume, the server device 4 receives the minimum amount of raw data required by transmitting a raw data request signal SR specifying the required portion of the raw data to the vehicle-mounted device 1B. This allows for an optimal reduction in the amount of communication data.

[0080] [Variations] The server device 4 may embed information requesting raw data in the map data to be distributed to the vehicle-mounted device 1 instead of transmitting the raw data request signal SR.

[0081] FIG. 8(A) shows an example of a data structure of feature information in which information requesting raw data can be embedded.

[0082] In the example of FIG. 8(A), the body information of the feature information has an "attribute information" field, and the "attribute information" has a "reliability" subfield. In this case, for example, the server device 4 sets the "reliability" subfield of the feature information of the feature for which raw data information Irw is required to "Unknown." In this case, when the vehicle-mounted device 1B receives map data from the server device 4 and refers to the target feature information, it determines that the "reliability" subfield is set to "Unknown," and therefore determines that the reliability of the target feature is unknown and that it is necessary to transmit the raw data information Irw. Then, when the vehicle-mounted device 1B passes around the position indicated by the position information of the target feature information, it transmits the raw data information Irw including the raw data stored in the raw data cache 21 to the server device 4.

[0083] In another example, a table that allows arbitrary specification of points for which raw data is required may be defined as attribute information of route information representing links and nodes. Figure 8(B) shows an example of the data structure of the above table.

[0084] In the example of FIG. 8(B), the header information has a field for "link ID or node ID," in which the corresponding link ID or node ID is registered. The body information has fields for "position information format information," "size information," and multiple (here, n) pieces of "position information." Here, the "position information format information" registers identification information for the format of information stored in the "position information" (for example, a format expressed by latitude and longitude, or a position reference format, etc.). The "size information" registers information for the number of "position information" fields (here, n pieces of information). The "position information" registers position information for a feature for which raw data is required, or position information specifying a measurement position.

[0085] In this case, the server device 4 includes the table of Fig. 8(B) as attribute information in the route information and distributes map data including the route information to the vehicle-mounted device 1. Then, the vehicle-mounted device 1B that receives the table of Fig. 8(B) generates raw data based on the position specified in the "position information" of the body information, and transmits raw data information Irw including the raw data to the server device 4. Note that, similar to the embodiment, the server device 4 may transmit the table of Fig. 8(B) as a raw data request signal SR to the vehicle-mounted device 1A that is traveling on the target route or a route in the vicinity thereof. [Explanation of symbols]

[0086] 1 On-vehicle device 4. Server equipment 11, 41 Communications Department 12, 42 Storage section 13 Sensor section 14 Input section 15, 45 Control section 16 Output section 31 External Sensor 43 Advanced Map DB

Claims

1. a storage unit that stores feature information relating to features; a receiving unit that receives difference information indicating a difference between feature information and an actual feature corresponding to the feature information from a plurality of mobile objects equipped with a measuring device that measures the feature; a request unit that requests the plurality of moving bodies or another moving body to transmit measurement data of the actual feature used to determine whether or not there is a change in the actual feature, according to the reliability calculated based on the plurality of pieces of difference information; An information processing device comprising:

2. 2. The information processing apparatus according to claim 1, wherein the measurement data has a larger volume than the difference information.

3. an update unit that updates the feature information when the reliability exceeds a predetermined upper limit value, and does not update the feature information when the reliability is below a predetermined lower limit value; 3. The information processing apparatus according to claim 1, wherein the requesting unit requests transmission of the measurement data when the reliability is equal to or less than the upper limit and equal to or greater than the lower limit.

4. The information processing device according to any one of claims 1 to 3, characterized in that the request unit requests transmission of the measurement data when the difference information in the number necessary to calculate the reliability cannot be received within a predetermined period of time.

5. 5. The information processing apparatus according to claim 1, wherein the measurement data is three-dimensional data generated by a distance measuring device that irradiates a laser.

6. the receiving unit receives the difference information including external sensor type information relating to the type of an external sensor provided in each of the plurality of moving objects; The information processing device according to any one of claims 1 to 5, characterized in that the request unit requests the plurality of moving bodies or the other moving bodies to transmit measurement data of the actual feature based on a reliability calculated by weighting the difference information based on the external sensor type information.

7. the receiving unit receives the difference information including moving object type information relating to each type of the plurality of moving objects; An information processing device as described in any one of claims 1 to 5, characterized in that the request unit requests the multiple moving bodies or the other moving bodies to transmit measurement data of the actual feature based on a reliability calculated by weighting the difference information based on the moving body type information.

8. An information processing device as described in any one of claims 1 to 7, further comprising a judgment unit that analyzes measurement data of multiple actual features targeting one of the features, transmitted from the multiple moving bodies or the other moving bodies in response to a request from the request unit, and determines whether or not there has been a change in the one of the features.

9. A method executed by an information processing device having a storage unit that stores feature information related to features, a receiving step of receiving difference information indicating a difference between feature information and an actual feature corresponding to the feature information from a plurality of mobile objects equipped with measurement devices that measure the feature; a requesting step of requesting the plurality of moving bodies or another moving body to transmit measurement data of the actual feature to be used for determining whether or not there is a change in the actual feature, according to the reliability calculated based on the plurality of pieces of difference information; A method comprising:

10. A program that causes a computer to function as the information processing device according to any one of claims 1 to 8.

11. A storage medium storing the program according to claim 10.

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