Safety performance evaluation device, safety performance evaluation method, information processing device and information processing method

Abstract

Provided are a safety performance evaluation device, a safety performance evaluation method, an information processing device, and an information processing method that enable evaluation of the safety performance of a driving assistance processing unit. The safety performance evaluation device comprises: an acquisition unit that acquires information about a driving assistance function of a mobile body; and an evaluation unit that evaluates the safety performance of the driving assistance function of the mobile body based on the acquired information.

Description

Technical Field

[0001] The present disclosure relates to a safety performance evaluation device, a safety performance evaluation method, an information processing device, and an information processing method. Background Art

[0002] In recent years, various sensors have been installed in automobiles. A driving assistance system (hereinafter also referred to as a driving assistance processing unit) has been studied, which performs driving assistance by wirelessly communicating with surrounding vehicles and infrastructure while using the output information of such sensors. In order to improve the safety performance of vehicles, driving assistance systems are expected to become increasingly developed and popular in the future.

[0003] In order to further improve the safety performance of the above-mentioned driving assistance system, it is necessary to provide high-performance sensors, processors with strong processing capabilities, etc., which increases the equipment cost. Therefore, although it is known that the safety performance will be further improved, there is a concern that the equipment cost will become a bottleneck hindering the popularization of driving assistance processing units with high safety performance.

[0004] At the same time, vehicle users are required to purchase insurance. In order to reduce the burden of insurance premiums, a service that discounts insurance premiums based on driving distance and the driver's past violation records has been introduced. In addition, a service that determines insurance premiums based on the driver's driving quality and driving conditions has also been proposed (see Patent Documents 1 and 2).

[0005] Citation List

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2002-297910

[0008] Patent Document 2: Japanese Patent Application Publication No. 2006-39642 Summary of the invention

[0009] Problems to be solved by the present invention

[0010] If the insurance premium of a vehicle equipped with a high-safety driving assistance function can be discounted, the motivation to introduce a high-safety driving assistance system may be increased, thereby promoting the popularization of driving assistance systems. In order to discount the insurance premium of a vehicle equipped with a high-safety driving assistance function, a measure for evaluating the safety performance of the driving assistance function equipped on the vehicle is required.

[0011] One aspect of the present disclosure provides a safety performance evaluation device, a safety performance evaluation method, an information processing device, and an information processing method that enable evaluation of the safety performance of a driving assistance function.

[0012] Solution to the problem

[0013] In order to solve the above problems, one aspect of the present disclosure provides a safety performance evaluation device, comprising:

[0014] an acquisition unit that acquires information on a driving assist function of a moving object; and

[0015] An evaluation unit evaluates safety performance of a driving assistance function of the mobile object based on the acquired information.

[0016] The information about the driving assistance function of the mobile body may include identification information of a driving assistance processing unit mounted on the mobile body, and

[0017] The evaluation unit may evaluate the safety performance of the driving assistance function of the mobile object based on the identification information of the driving assistance processing unit.

[0018] The information about the driving assistance function of the mobile body may include safety performance information of the driving assistance processing unit, and

[0019] The evaluation unit may evaluate the safety performance of the driving assistance function of the mobile object based on the identification information and the safety performance information of the driving assistance processing unit.

[0020] The safety performance information may include at least one of identification information or output information of a sensor built in or connected to the driving assistance processing unit.

[0021] The safety performance information may include identification information of a signal processing large-scale integrated circuit (LSI) that implements the function of the driving assistance processing unit, version information of software that implements the function of the driving assistance processing unit, or at least one of accident information of the mobile body.

[0022] The evaluation unit may evaluate the safety performance of the driving assistance function of the mobile object based on the detection capability of a sensor built into or connected to the driving assistance processing unit.

[0023] The evaluation unit can evaluate the safety performance of the driving assistance function of the mobile body based on time difference information from the time when the sensor built into or connected to the driving assistance processing unit detects the object at the reference location to the time when the mobile body passes the reference location.

[0024] The safety performance evaluation device may also include

[0025] a number measurement unit, the number measurement unit measuring the number of times the driving assistance processing unit sends a specific message,

[0026] The evaluation unit may evaluate the safety performance of the driving assistance function of the mobile object based on the number of times measured by the number of times measuring unit.

[0027] The evaluation unit may evaluate the safety performance of the driving assistance function of the mobile body based on output information of a sensor built in or connected to the driving assistance processing unit when the mobile body transmits a message.

[0028] The safety performance evaluation device may also include:

[0029] an area setting unit, the area setting unit setting a predetermined area; and

[0030] an information extraction unit that extracts information about the driving assistance function of the mobile body acquired by the acquisition unit in the predetermined area,

[0031] The evaluation unit may evaluate the safety performance of the driving assistance function of the mobile object based on the information extracted by the information extraction unit.

[0032] The safety performance evaluation device may also include:

[0033] a time period setting unit, the time period setting unit setting a predetermined time period; and

[0034] an information extraction unit that extracts the information on the driving assistance function of the mobile body acquired by the acquisition unit within the predetermined time period,

[0035] The evaluation unit may evaluate the safety performance of the driving assistance function of the mobile object based on the information extracted by the information extraction unit.

[0036] The safety performance evaluation device may further include a determination unit configured to determine an insurance premium for the moving object based on the safety performance evaluated by the evaluation unit.

[0037] The safety performance evaluation device may also include:

[0038] a safety performance standard determination unit that determines whether the safety performance evaluated by the evaluation unit meets a predetermined standard; and

[0039] A maintenance warning unit is configured to urge maintenance of the driving assist function of the mobile body when the safety performance standard determination unit determines that the predetermined standard is not met.

[0040] Another aspect of the present disclosure provides a safety performance evaluation method, comprising:

[0041] Acquiring information about a driving assistance function of a mobile object; and

[0042] Based on the acquired information, the safety performance of the driving assistance function of the mobile object is evaluated.

[0043] Another aspect of the present disclosure provides an information processing device, including:

[0044] a driving assistance processing unit that generates information related to a safety performance evaluation of a driving assistance function; and

[0045] a communication unit, wherein the communication unit sends the information,

[0046] The information sent from the communication unit includes first identification information for identifying the driving assistance processing unit and second identification information for identifying a moving object carrying the driving assistance processing unit and the communication unit.

[0047] One or more sensors may be built into or connected to the driver assistance processing unit, and

[0048] The information may include output information of the one or more sensors and third identification information for identifying the one or more sensors.

[0049] The information may include at least one of identification information of a signal processing LSI that implements the function of the driving assistance processing unit, version information of software that implements the function of the driving assistance processing unit, or accident information of the moving body.

[0050] The driving assistance processing unit may dynamically set the type of the specific message according to at least one of an area where the moving body is located or a time period during which the communication unit performs communication.

[0051] The information processing device may further include:

[0052] a first determination unit configured to determine whether a predetermined event has occurred; and

[0053] a second determination unit, the second determination unit determining whether the moving body is traveling in a predetermined area or a predetermined time period,

[0054] wherein, when it is determined that a predetermined event has occurred, the driving assistance processing unit generates dynamic information on safety performance corresponding to the event, and

[0055] When it is determined that a predetermined event has occurred and when it is determined that the moving body is traveling in a predetermined area or within a predetermined time period, the transmitting unit transmits dynamic information corresponding to the event.

[0056] Another aspect of the present disclosure provides an information processing method, comprising:

[0057] generating information related to a safety performance evaluation of a driving assistance function for a mobile object; and

[0058] sending a plurality of messages and said information from a communication unit,

[0059] Wherein, in the case where the communication unit sends a specific message among the multiple messages, the information sent from the communication unit includes first identification information for identifying a driving assistance processing unit carried on the mobile body, and second identification information for identifying the mobile body carrying the driving assistance processing unit and the communication unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 is a block diagram illustrating a schematic configuration of a safety performance evaluation system including a safety performance evaluation device and an information processing device according to the first embodiment.

[0061] Figure 2 is a diagram illustrating a first example of safety performance information of a first contracting vehicle and a second contracting vehicle registered in a server.

[0062] Figure 3 is a diagram illustrating a second example of safety performance information of a first contracting vehicle and a second contracting vehicle registered in a server.

[0063] Figure 4 is a diagram illustrating a third example of safety performance information of a first contract vehicle and a second contract vehicle registered in a server.

[0064] Figure 5 is a diagram illustrating a fourth example of safety performance information of a first contract vehicle and a second contract vehicle registered in a server.

[0065] Figure 6 It is a block diagram illustrating the internal structure of a server equipped with a safety performance evaluation device according to the first embodiment.

[0066] Figure 7 It is a block diagram illustrating the schematic structure of the information processing device installed in the first contract vehicle and the second contract vehicle.

[0067] Figure 8 It is a graphic description Figure 7 A block diagram showing an example of a detailed configuration of an information processing unit.

[0068] Fig. 9 It is a graphic description Figure 7A block diagram of an example of the detailed configuration of a control unit.

[0069] Fig.10 A diagram illustrating usage conditions, triggering conditions, and termination conditions for sending a Decentralized Environment Notification Message (DENM).

[0070] Fig.11 It is a flowchart illustrating the processing operation of the safety performance evaluation device according to the first embodiment mounted on the server.

[0071] Fig.12 It is a block diagram illustrating the internal structure of a server equipped with a safety performance evaluation device according to the second embodiment.

[0072] Fig.13 It is a flowchart illustrating the processing operation of the safety performance evaluation device according to the second embodiment mounted on the server.

[0073] Fig.14 It is a block diagram illustrating the internal structure of a server equipped with a safety performance evaluation device according to the third embodiment.

[0074] Fig.15 It is a flowchart illustrating the processing operation of the safety performance evaluation device according to the third embodiment mounted on the server.

[0075] Fig.16 It is a graphic description Fig.15 FIG. 1 is a diagram of a first example of the processing procedure of step S24.

[0076] Fig.17 It is a graphic description Fig.15 FIG. 2 is a diagram showing a second example of the processing procedure of step S24.

[0077] Fig.18 is a diagram illustrating an example of data distribution related to object detection speed based on the output of the sensor.

[0078] Fig.19 is a diagram illustrating an example in which a detection speed of an advanced driver assistance system (ADAS) / autonomous driving (AD) system (ADAS / AD system) is calculated in consideration of a speed of a contracting vehicle.

[0079] Fig. 20 is a diagram illustrating an example in which the safety performance of the ADAS / AD system is evaluated by using the length of the relative distance with respect to a reference point A.

[0080] Fig.21 It is a flowchart illustrating an example of detailed processing operation of the insurance premium determination unit.

[0081] Fig. 22 It is a block diagram illustrating the internal structure of the safety performance evaluation device according to the fourth embodiment.

[0082] Fig.23 is a flowchart illustrating the processing operation of the safety performance evaluation device according to the fourth embodiment.

[0083] Fig.24 It is a block diagram illustrating the internal structure of the safety performance evaluation device according to the fifth embodiment.

[0084] Fig.25 is a flowchart illustrating the processing operation of the safety performance evaluation device according to the fifth embodiment.

[0085] Fig.26 is a block diagram illustrating a schematic configuration of an information processing apparatus according to a sixth embodiment.

[0086] Fig. 27 is a flowchart illustrating the processing operation of the information processing apparatus according to the sixth embodiment.

[0087] Fig.28 is a block diagram illustrating a schematic configuration of a modification example of the information processing apparatus according to the sixth embodiment.

[0088] Fig.29 It is a graphic description Fig.28 Flowchart of processing operation of an information processing apparatus.

[0089] Fig.30 It is a block diagram illustrating the internal structure of a server equipped with a safety performance evaluation device according to the seventh embodiment.

[0090] Fig.31 It is a block diagram illustrating the internal structure of a server equipped with a safety performance evaluation device according to the eighth embodiment.

[0091] Fig.32 is a flowchart illustrating the processing operation of the safety performance evaluation device according to the eighth embodiment.

[0092] Fig.33 It is a block diagram illustrating the internal structure of a server equipped with a safety performance evaluation device according to the ninth embodiment.

[0093] Fig.34 is a flowchart illustrating the processing operation of the safety performance evaluation device according to the ninth embodiment.

[0094] Fig.35 is a block diagram illustrating a schematic configuration of an information processing apparatus 2c according to the ninth embodiment.

[0095] Fig.36 It is a graphic description Fig.35 A block diagram of an example of a detailed configuration of the control unit 46a.

[0096] Fig.37 It is a graphic description Fig.36 Flow chart of the operation of the control unit 46a.

[0097] Fig.38 This is a block diagram illustrating an example of the hardware configuration of a computer that executes a program to perform a series of processes of a safety performance evaluation device, an information processing device, and a safety performance evaluation system. DETAILED DESCRIPTION

[0098] Embodiments of the safety performance evaluation device and the information processing device will be described below with reference to the accompanying drawings. The main components of the safety performance evaluation device and the information processing device will be mainly described below, but the safety performance evaluation device and the information processing device may have components and functions that are not shown or described. The following description does not exclude components and functions that are not shown or described.

[0099] The following mainly describes an example in which the safety performance evaluation device is mounted on a server and the information processing device is mounted on a vehicle, but the information processing device may be mounted on various mobile bodies other than vehicles, such as airplanes, ships, drones, robots, etc. In addition, the safety performance evaluation device may be mounted on various computer devices such as devices that can communicate with the information processing device (such as personal computers, workstations, etc.). Below, as an example of a vehicle equipped with an information processing device, a contracted vehicle that has purchased any vehicle insurance will be described.

[0100] (First embodiment)

[0101] Figure 1 1 is a block diagram illustrating a schematic configuration of a safety performance evaluation system 3 including a safety performance evaluation device 1 and an information processing device 2 according to the first embodiment. Figure 1 The safety performance evaluation system 3 includes a first contracted vehicle 4a and a second contracted vehicle 4b, both of which are equipped with an information processing device 2, and a server 5 equipped with a safety performance evaluation device 1. The first contracted vehicle 4a and the second contracted vehicle 4b are vehicles that have signed an insurance contract with an insurance company. The specific content and type of insurance are not limited. For example, any insurance related to the vehicle can be covered, such as personal injury liability insurance, property damage liability insurance, personal injury insurance and vehicle insurance. In addition, although Figure 1 Only two contracted vehicles are illustrated in the figure, but the number of contracted vehicles communicating with the server 5 is arbitrary.

[0102] Both the first contracted vehicle 4a and the second contracted vehicle 4b are equipped with an advanced driver assistance system (ADAS) / autonomous driving (AD) system that implements a driving assistance function. The ADAS / AD systems installed on the first contracted vehicle 4a and the second contracted vehicle 4b are different from each other and have different safety performances. The server 5 receives safety performance information of the ADAS / AD system from each contracted vehicle via the base station 6 or the roadside unit (RSU) 7, for example, through wireless communication, and registers and maintains the safety performance information. As described later, the server 5 has a function of evaluating the safety performance of each contracted vehicle based on the safety performance information received from each contracted vehicle. The server 5 can determine the insurance premium of each contracted vehicle based on the results of evaluating the safety performance of each contracted vehicle. For example, a contracted vehicle with better safety performance can obtain a higher discount rate on the basic insurance premium, that is, the insurance premium can be reduced.

[0103] Here, the safety performance information includes static safety performance information that does not depend on time, conditions, etc., and dynamic safety performance information that changes according to time, conditions, etc. In this embodiment, the safety performance of the ADAS / AD system is evaluated based on the static safety performance information.

[0104] The static safety performance information includes information such as the specifications of the ADAS / AD system mounted on each contracted vehicle, and the specifications of various facilities mounted on each contracted vehicle and affecting safety performance. More specifically, the static safety performance information includes identification information of each sensor connected to the ADAS / AD system mounted on each contracted vehicle, identification information of the ADAS / AD system, identification information of each contracted vehicle, etc. In addition, the static safety performance information may include identification information of a signal processing large-scale integrated circuit (LSI) that implements the functions of the ADAS / AD system and information on its type, as well as type and version information of software that implements the functions of the ADAS / AD system.

[0105] An example of static safety performance information about a sensor is information about the type of sensor. Examples of sensors include position information sensors, camera modules (including image sensors), light detection and ranging or laser imaging detection and ranging (LiDAR), radar, etc. In addition, the static safety performance information may include information about the manufacturer of each sensor, as well as the specifications of the sensor. For example, in the case of a camera module (image sensor) or LiDAR, the specification of the sensor is the number of pixels or the viewing angle. In the case of a radar, the specification of the sensor is the resolution (azimuth resolution / range resolution).

[0106] Furthermore, in the case where the contractor or user of the contracted vehicle signs an insurance contract for the contracted vehicle, information of sensors reported as being mounted on the contracted vehicle may be registered as static safety performance information in the server 5. Furthermore, the static safety performance information may include product models of the respective sensors, or may include unique identification information assigned to each product model of the respective sensors.

[0107] In addition to the identification information of the sensor, the static safety performance information included in the safety performance information includes, for example, the identification number of the vehicle equipped with the ADAS / AD system, the identification information of the ADAS / AD system, the identification information of the signal processing LSI that implements the functions of the ADAS / AD system, the version information of the software that implements the functions of the ADAS / AD system, etc. Here, the identification information of the vehicle equipped with the ADAS / AD system may be, for example, the vehicle model name or model name.

[0108] In addition, when a general communication device such as a vehicle-to-everything (V2X) module that cooperates with an ADAS / AD system is installed on the vehicle, identification information such as the model name of the V2X module can be included in the static safety performance information.

[0109] Figure 1 The diagram illustrates an example in which the ADAS / AD system of the first contract vehicle 4a has superior safety performance compared to the ADAS / AD system of the second contract vehicle 4b. The first contract vehicle 4a performs cellular wireless communication with the base station 6, while the second contract vehicle 4b performs wireless communication with the RSU 7 installed on the traffic light 8, road sign (not shown), etc. Note that in addition to the function of performing cellular wireless communication with the base station 6, the first contract vehicle 4a may also have a function of performing wireless communication with the RSU 7 installed on the traffic light 8, road sign (not shown), etc.

[0110] The server 5 registers the safety performance information of the ADAS / AD system installed on the first contracted vehicle 4a and the safety performance information of the ADAS / AD system installed on the second contracted vehicle 4b in a distinguishable manner. ADAS / AD systems with different safety performance functions are respectively installed on the first contracted vehicle 4a and the second contracted vehicle 4b. In this specification, the ADAS / AD system may be collectively referred to as a driving assistance processing unit. The driving assistance processing unit performs various driving assistance processes. For example, the driving assistance processing unit performs various driving assistance processes, such as the function of predicting a collision with an obstacle ahead and issuing an alarm or automatic braking, the function of assisting the steering wheel operation to maintain lane driving, the function of maintaining a constant distance between vehicles, the function of automatically parking the vehicle in a parking space, or the function of assisting the driver when parking the vehicle in a parking space. The driving assistance processing unit according to this embodiment generates information related to the safety performance evaluation of the driving assistance function.

[0111] The server 5 according to the present embodiment evaluates the safety performance of the ADAS / AD system based on the static safety performance information of the ADAS / AD system mounted on each contracted vehicle. Figure 2 4 is a diagram illustrating a first example of static safety performance information of the first contracting vehicle 4a and the second contracting vehicle 4b registered in the server 5. Figure 2 In the example, register the product model of each sensor such as LiDAR, radar, front camera, and rear camera. Note that although Figure 2 The diagram illustrates an example in which the product model of each sensor mounted is registered for each contracted vehicle, however, the product model of each sensor may be registered for each unique identification information assigned to each contracted vehicle by the insurance company. The identification information of each contracted vehicle may be a number uniquely assigned to identify the vehicle body, a chassis number, a vehicle registration number plate, or a vehicle number plate. Here, the product model of each sensor is registered for each contracted vehicle. However, the product model of each sensor may also be registered for each vehicle model.

[0112] Figure 3 4 is a diagram illustrating a second example of the safety performance information of the first contract vehicle 4a and the second contract vehicle 4b registered in the server 5. Figure 2 ,exist Figure 3 In the example of FIG. 1 , for each contracted vehicle, each sensor is classified according to each type, and each sensor is assigned unique identification information with the same number of bits.

[0113] Figure 4 4 is a diagram illustrating a third example of the safety performance information of the first contract vehicle 4a and the second contract vehicle 4b registered in the server 5. Figure 4In the example of FIG. 1 , the product model of the V2X module that cooperates with the ADAS / AD system and the information about whether each sensor corresponds to the V2X module are registered. Figure 4 The diagram illustrates that the sensor with a check mark corresponds to the V2X module. In addition, as safety performance information other than the sensor, the product model of the signal processing LSI that implements the functions of the ADAS / AD system and the version number of the software that implements the functions of the ADAS / AD system are also registered. The product model of the signal processing LSI and the version number of the software are identification information for identifying the signal processing LSI and the software. Note that, more specifically, the signal processing LSI is a general term for semiconductor circuits that perform processing operations for implementing the functions of the ADAS / AD system, and is interpreted as including a substrate on which multiple LSIs are mounted. In addition, the signal processing LSI may have processing functions that include image processing and also include image recognition processing.

[0114] Figure 5 4 is a diagram illustrating a fourth example of the safety performance information of the first contract vehicle 4a and the second contract vehicle 4b registered in the server 5. Figure 5 In the example, the product model of each sensor connected to each V2X module is registered. In addition, similar to Figure 4 , register the product model of the signal processing LSI that implements the functions of the ADAS / AD system and the version number of the software that implements the functions of the ADAS / AD system.

[0115] Figures 2 to 5 The safety performance information of each contracted vehicle registered in the server 5 is merely illustrated, and various changes can be envisioned. For example, in the case where the type of ADAS / AD system mounted is different for each model of vehicle, the model of the vehicle or its identification information may be included in the safety performance information.

[0116] Figure 6 It is a block diagram illustrating the internal structure of the server 5 equipped with the safety performance evaluation device 1 according to the first embodiment. Figure 6 The server 5 includes an information acquisition unit 11, a registration information holding unit 12, a safety performance evaluation unit 13, an insurance premium determination unit 14, and an insurance premium holding unit 15. Among them, the information acquisition unit 11 and the safety performance evaluation unit 13 are essential components, and the other units are optional components that can be appropriately omitted.

[0117] The information acquisition unit 11 acquires information from each contracted vehicle via the base station 6 or the RSU 7 by radio communication. The information acquired by the information acquisition unit 11 is information about the driving assistance function of the contracted vehicle, including the static safety performance information described above. The information acquisition unit 11 acquires static safety performance information that does not depend on time, conditions, etc.

[0118] The registration information holding unit 12 holds static safety performance information included in the safety performance information. For example, the registration information holding unit 12 holds information that does not change according to the environment, time, and driving status, such as information about the specifications of the ADAS / AD system. Note that the registration information holding unit 12 can register information about the ADAS / AD system mounted on each contracted vehicle in advance. In addition, the information acquisition unit 11 can acquire information about the ADAS / AD system periodically or irregularly, and the pre-registered information can be updated by the static safety performance information acquired by the information acquisition unit 11. The information held in the registration information holding unit 12 is part of the safety performance information and is sent to the safety performance evaluation unit 13 when necessary.

[0119] Above Figures 2 to 5 The static safety performance information maintained in the registration information maintaining unit 12 is illustrated. The registration information maintaining unit 12 can classify and register each sensor according to the type, installation location, etc. of each sensor connected to the ADAS / AD system. At this time, the registration information maintaining unit 12 can identify each sensor by product model, or can maintain identification information in a format common to all sensors. As described above, the data format of the information registered in the registration information maintaining unit 12 is arbitrary.

[0120] The safety performance evaluation unit 13 evaluates the safety performance of the ADAS / AD system installed in each contracted vehicle based on the static safety performance information maintained in the registration information maintenance unit 12. The evaluation result is sent to the insurance premium determination unit 14 as a safety performance evaluation level. More specifically, the safety performance evaluation unit 13 evaluates the safety performance of the ADAS / AD system based on the driving assistance function of the ADAS / AD system installed in each contracted vehicle. In the case where multiple sensors are connected to the ADAS / AD system, the safety performance of each sensor is evaluated. In addition, the identification information of the signal processing LSI that implements the functions of the ADAS / AD system, the version information of the software that implements the functions of the ADAS / AD system, etc. can also be elements for evaluating the safety performance of the ADAS / AD system.

[0121] In addition, the safety performance evaluation unit 13 can evaluate the safety performance of the ADAS / AD system based on whether a specific type of sensor is connected to the ADAS / AD system. For example, in the case where a sensor with higher safety performance, which is different from the sensor provided in the ADAS / AD system as standard equipment, is optionally connected to the ADAS / AD system, the safety performance evaluation unit 13 evaluates the safety performance of the ADAS / AD system as higher.

[0122] For example, evaluation information of safe driving facilities of vehicles evaluated by the New Car Assessment Program (NCAP) may be prepared in advance and maintained in the safety performance evaluation unit 13, and the safety performance level of the ADAS / AD system of each contracted vehicle may be determined based on the evaluation results. In addition, results obtained by analyzing the evaluation results of NCAP according to the type of sensors installed, the type and version of software, etc. may be prepared, and the safety performance level of the ADAS / AD system of each contracted vehicle may be determined based on the analysis results according to the type of sensors used. Of course, not only the evaluation results obtained by NCAP but also the evaluation results obtained by other groups may be used.

[0123] In addition, in the case where multiple sensors are connected to the ADAS / AD system, the safety performance is evaluated for each of the multiple sensors connected to the ADAS / AD system, and the safety performance level can be determined by comprehensively considering the safety performance evaluation results of each sensor. At this time, priorities can be given to the multiple sensors, and the safety performance level can be comprehensively determined with more emphasis on the safety performance of sensors with high safety priorities.

[0124] The insurance premium determination unit 14 determines the insurance cost of the vehicle, i.e., the insurance premium, based on the safety performance level of the ADAS / AD system evaluated by the safety performance evaluation unit 13. When the contracted vehicle is equipped with an ADAS / AD system with better safety performance, the insurance premium determination unit 14 increases the discount rate of the basic insurance premium. As described above, by proactively discounting the insurance premium of the contracted vehicle equipped with an ADAS / AD system with better safety performance, the motivation to equip the ADAS / AD system with better safety performance is enhanced, thereby making it possible to popularize the ADAS / AD system with better safety performance.

[0125] When the safety performance evaluation unit 13 evaluates that the safety performance is high, the insurance premium determination unit 14 increases the discount rate of the basic insurance premium. For example, when a sensor having a safety performance superior to that of the general is connected to the ADAS / AD system and the safety performance is evaluated as high by the safety performance evaluation unit 13, the insurance premium determination unit 14 increases the discount rate of the basic insurance premium.

[0126] Figure 7 It is a block diagram illustrating the schematic configuration of the information processing device 2 mounted on the first contract vehicle 4a and the second contract vehicle 4b. Figure 7 The information processing device 2 includes an input unit 31, a data acquisition unit 32, a communication unit 33, an on-board device 34, an output control unit 35, an output unit 36, a drive system control unit 37, a drive system 38, a body system control unit 39, a body system 40, a storage unit 41 and a driving assistance processing unit 42.

[0127] The various units in the information processing device 2 are connected to each other via the communication network 43. As the communication network 43, for example, an in-vehicle communication network according to any protocol such as a controller area network (CAN), a local interconnect network (LIN), a local area network (LAN), FlexRay (registered trademark), a bus, etc. can be used. Note that at least some of the constituent units in the information processing device 2 can be directly connected to each other without the communication network 43. Note that, hereinafter, even in the case where the various units of the information processing device 2 communicate via the communication network 43, the description of the communication network 43 may be omitted.

[0128] The input unit 31 includes a device for the occupant to input various data, instructions, etc. For example, the input unit 31 includes an operating device such as a touch panel, a button, a microphone, a switch, a joystick, an operating device that can perform input by a method other than manual operation, such as voice, gesture, change of viewpoint, etc. In addition, for example, the input unit 31 may be a remote control device using infrared or other radio waves, or an external connection device corresponding to the operation of the information processing device 2, such as a mobile device, a wearable device, etc. The input unit 31 generates an input signal based on the data, instructions, etc. input by the occupant, and provides the input signal to each unit of the information processing device 2.

[0129] Various sensors are connected to the data acquisition unit 32. The data acquisition unit 32 acquires output information of these sensors. The output information of each sensor acquired by the data acquisition unit 32 is supplied to each unit of the information processing device 2.

[0130] For example, the data acquisition unit 32 acquires output information of various sensors for detecting the state of the vehicle, etc. There are various sensors acquired by the data acquisition unit 32 . Figure 7 , as representative sensors, the position information sensor 32a, the image capturing unit 32b, the LiDAR 32c, and the radar 32d are illustrated, however, the sensors whose output information is acquired by the data acquisition unit 32 are not limited to the illustrated sensors.

[0131] The position information sensor 32a is a sensor that receives a global navigation satellite system (GNSS) signal from a GNSS satellite represented by a global positioning system (GPS). The position information may be detected by a method other than the method of detecting the position information by receiving the GNSS signal, or a method combined with the method of detecting the position information by receiving the GNSS signal. For example, the position information may be detected by performing map matching with a vehicle speed sensor. Here, the map information used for map matching may be a dynamic map, and further, image information captured by the image capture unit 32b may be used.

[0132] The image capture unit 32b includes, for example, an image sensor such as a complementary metal oxide semiconductor (CMOS) sensor, a charge coupled device (CCD) sensor, etc. In addition, the image capture unit 32b may be various devices in which an image sensor is built, such as a time of flight (ToF) camera, a stereo camera, a monocular camera, an infrared camera, other cameras, etc.

[0133] The LiDAR 32c emits light such as ultraviolet rays, visible light, or near infrared rays, and measures the distance to the target object based on the time until the reflected light thereof is received. The radar 32d measures the distance to the target object by using electromagnetic waves having a shorter wavelength (e.g., 40 GHz band) than that of the LiDAR 32c.

[0134] Note that other sensors may be used as sensors whose output information is to be acquired by the data acquisition unit 32. For example, the data acquisition unit 32 may acquire output information of a gyro sensor, an acceleration sensor, and an inertial measurement unit (IMU). Alternatively, the data acquisition unit 32 may acquire output information of a sensor for detecting an operation amount of an accelerator pedal, an operation amount of a brake pedal, a steering angle of a steering wheel, an engine speed, a motor speed, a wheel speed, and the like.

[0135] In addition, the data acquisition unit 32 may acquire output information of an environmental sensor for detecting climate, weather, etc., or a surrounding information detection sensor for detecting objects around the vehicle. Examples of environmental sensors may include a raindrop sensor, a fog sensor, a sunshine sensor, a snow sensor, etc. In addition to the above-mentioned LiDAR 32c and radar 32d, examples of surrounding information detection sensors may also include ultrasonic sensors, sonars, etc. In addition, in the case of reporting weather information, the data acquisition unit 32 may acquire the reported information and acquire information about the environment.

[0136] In addition, for example, the data acquisition unit 32 may acquire output information of various sensors for detecting information inside the vehicle. For example, the data acquisition unit 32 may acquire output information of an image capture device that captures an image of the driver, a biometric sensor that detects biometric information of the driver, a microphone that collects sounds in the passenger compartment, etc. The biometric sensor is provided on, for example, a seat surface, a steering wheel, etc., and detects biometric information of an occupant sitting on the seat or a driver holding the steering wheel.

[0137] The communication unit 33 communicates with the vehicle-mounted device 34, various devices outside the vehicle, the server 5, the base station 6, etc., transmits data supplied from various units of the information processing device 2, and provides received data to various units of the information processing device 2. Note that there is no particular limitation on the communication protocol supported by the communication unit 33. In addition, the communication unit 33 can support multiple types of communication protocols.

[0138] For example, the communication unit 33 performs wireless communication with the in-vehicle device 34 through long term evolution (LTE), the fifth generation mobile communication system (5G), device-to-device (D2D) communication, wireless LAN, Bluetooth (registered trademark), near field communication (NFC), wireless USB (WUSB), etc. In addition, for example, the communication unit 33 performs wired communication with the in-vehicle device 34 via a connection terminal (not shown) (and via a cable if necessary) by using a universal serial bus (USB), a high-definition multimedia interface (HDMI), a mobile high-definition link (MHL), etc.

[0139] In addition, for example, the communication unit 33 can communicate with a device (e.g., an application server or a control server) existing on an external network (e.g., the Internet, a cloud network, or a company-specific network) through, for example, the base station 6 or an access point. In addition, for example, the communication unit 33 can communicate with a terminal (e.g., a terminal of a pedestrian or a store, or a machine type communication (MTC) terminal) existing near the vehicle by using a peer-to-peer (P2P) technology. In addition, for example, the communication unit 33 performs V2X communication, such as vehicle-to-vehicle communication, vehicle-to-infrastructure communication, vehicle-to-residence communication, vehicle-to-network (base station 6) communication, vehicle-to-pedestrian communication, etc. By setting a V2X module in the communication unit 33, V2X communication can be achieved. Note that the messages sent and received by the vehicle are not necessarily limited to V2X messages. There may also be messages sent and received using protocols other than the protocol for V2X communication. For example, the communication unit 33 includes a beacon receiving unit that receives radio waves or electromagnetic waves emitted from a wireless station installed on a road, etc., thereby obtaining information such as the current position, traffic congestion, traffic control, and required time. In this specification, an example in which a vehicle mainly transmits and receives a V2X message will be described. Here, the V2X message refers to a message transmitted by using a protocol for performing V2X communication when a specific event occurs.

[0140] The in-vehicle device 34 includes, for example, a mobile device or wearable device of an occupant, an information device brought into or attached to the vehicle, a navigation device for searching for a route to an arbitrary destination, and the like.

[0141] The output control unit 35 controls the output of various information to the occupants of the vehicle or to the outside of the vehicle. For example, the output control unit 35 controls the output of visual information and auditory information from the output unit 36 ​​by generating an output signal including at least one of visual information (e.g., image data) or auditory information (e.g., sound data) and providing the output signal to the output unit 36. For example, the output control unit 35 synthesizes image data captured by different image capturing devices of the data acquisition unit 32, generates a bird's-eye view image, a panoramic image, etc., and provides the output signal including the generated image to the output unit 36. In addition, for example, the output control unit 35 generates sound data including a warning sound, a warning message, etc. regarding dangers such as collision, contact, or entering a danger zone, and provides the output signal including the generated sound data to the output unit 36.

[0142] The output unit 36 ​​includes a device capable of outputting visual information or auditory information to the occupants of the vehicle or to the outside of the vehicle. For example, the output unit 36 ​​includes a display device, an instrument panel, an audio speaker, headphones, a wearable device such as a glasses-type display worn by the occupants, a projector, a lamp, etc. The display device included in the output unit 36 ​​may be a conventional display, or may display visual information within the driver's field of view, such as a head-up display, a transmissive display, an augmented reality (AR) display device, etc. In addition, the display device included in the output unit 36 ​​may be a transmissive display provided on a shield of a helmet.

[0143] The drive system control unit 37 controls the drive system 38 by generating various control signals and providing the control signals to the drive system 38. In addition, when necessary, the drive system control unit 37 provides control signals to various units other than the drive system 38, and notifies the control state of the drive system 38, etc. In addition, the drive system control unit 37 controls the drive system 38 by generating various control signals based on the output data from the driving assistance processing unit 42 and providing the control signals to the drive system 38. For example, when the distance to an obstacle in the driving direction or the vehicle ahead is short, a control signal for braking is generated to perform braking control.

[0144] The drive system 38 includes various devices related to the drive system of the vehicle. For example, the drive system 38 includes a drive force generating device such as an internal combustion engine or a drive motor for generating a drive force, a drive force transmitting mechanism for transmitting the drive force to the wheels, a steering mechanism for adjusting a steering angle, a braking device for generating a braking force, an anti-lock braking system (ABS), an electronic stability control (ESC), an electric power steering device, etc.

[0145] The body system control unit 39 controls the body system 40 by generating various control signals and providing the control signals to the body system 40. In addition, the body system control unit 39 generates a signal for notifying the control state of the body system 40 and provides the signal to each unit other than the body system 40 as necessary.

[0146] The body system 40 includes various body devices installed on the vehicle body. For example, the body system 40 includes a keyless entry system, a smart key system, a power window device, a power seat, a steering wheel, an air conditioner, various lights (for example, headlights, taillights, brake lights, flashers, fog lights, etc.), etc.

[0147] The storage unit 41 includes, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic storage device such as a hard disk drive (HDD), a semiconductor storage device, an optical storage device, a magneto-optical storage device, etc. The storage unit 41 stores various programs, data, etc. used by the various units of the information processing device 2. For example, the storage unit 41 stores map data, such as a three-dimensional high-precision map such as a dynamic map, a global map with lower precision than a high-precision map but covering a wide area, a local map including information about the surrounding environment of the vehicle, etc.

[0148] The driving assistance processing unit 42 performs, for example, signal processing for implementing the ADAS / AD system and controls driving assistance such as collision avoidance. More specifically, the driving assistance processing unit 42 performs various driving assistance controls, such as control for preventing collision with a front obstacle, steering wheel operation control, constant vehicle-to-vehicle spacing control, and parking guidance control. In addition, the driving assistance processing unit 42 generates information for safety performance evaluation, including a plurality of V2X messages related to driving assistance. The generated information for safety performance evaluation is sent to the server 5 via vehicle-to-infrastructure (V2I) communication or the like. Alternatively, the generated information for safety performance evaluation can be sent to the server 5 via other vehicles via vehicle-to-vehicle (V2V) communication. The data sent from the communication unit 33 when sending information for safety performance evaluation (including V2X messages) includes first identification information for identifying the driving assistance processing unit 42, and second identification information for identifying the vehicle equipped with the driving assistance processing unit 42 and the communication unit 33. The first identification information is used to evaluate the safety performance of the ADAS / AD system. The second identification information is used to specify that the vehicle equipped with the driving assistance processing unit 42 is an insurance contract vehicle. The second identification information can be used to evaluate the safety performance of the ADAS / AD system. In addition, in addition to the above-mentioned data acquisition unit 32 , the driving assistance processing unit 42 also includes an information processing unit 45 and a control unit 46 .

[0149] In addition, if necessary for processing in the server 5, when sending information for safety performance evaluation, vehicle location information ( / GPS information), time information (time information during data transmission, time information during event detection, etc.), information related to sensors that contribute greatly to event detection, etc. can be sent together.

[0150] The information processing unit 45 performs various information processing based on the output information of each sensor acquired by the data acquisition unit 32. For example, the information processing unit 45 uses the output information of each sensor to calculate the position information of the contracted vehicle equipped with the driving assistance processing unit 42. The position information is, for example, information of latitude, longitude, and altitude. The position information can be calculated based on a GPS signal from the position information sensor 32a, for example. In addition, the position information can be information of a relative position relative to three-dimensional map information called a dynamic map that is pre-maintained by the contracted vehicle. During autonomous driving, the driving position of the vehicle must be controlled so that the above-mentioned relative position information is minimized.

[0151] In addition, the information processing unit 45 senses a target object that becomes an obstacle when the contract vehicle equipped with the driving assistance processing unit 42 is traveling, and calculates the distance to the target object.

[0152] The control unit 46 performs control of generating V2X messages to be sent to surrounding vehicles, etc., control of autonomous driving, control of avoiding emergency situations, etc. based on the processing results of the information processing unit 45. The control unit 46 accesses the base station 6, etc. via the communication unit 33, and regularly or irregularly updates the dynamic map used by the information processing unit 45 to calculate the relative position information relative to the target object. In addition, the control unit 46 generates a V2X message to be broadcast or unicast to the surrounding environment based on the processing results of the information processing unit 45. The V2X message generated by the control unit 46 is sent to other vehicles, the base station 6, the RSU 7, etc. via the communication unit 33. In addition, the control unit 46 receives the V2X message sent from other vehicles or the RSU 7, and performs control of driving assistance corresponding to the type of the received V2X message. The control of driving assistance in this case is, for example, control such as deceleration, stopping, and direction change.

[0153] In addition, the control unit 46 generates safety performance information of the ADAS / AD system mounted on the own vehicle based on the type and identification information of each sensor acquired by the data acquisition unit 32. The safety performance information generated by the control unit 46 is transmitted to the server 5 via the communication unit 33.

[0154] In addition, a plurality of sensors are connected to the driving assistance processing unit 42. Figure 7In the example of FIG. 4 , the position information sensor 32 a, the image capturing unit 32 b, the LiDAR 32 c, and the radar 32 d are connected to the driving assistance processing unit 42. At least some of these sensors may be built in the driving assistance processing unit 42, or sensors other than these sensors may be connected to or built in the driving assistance processing unit 42.

[0155] Figure 8 It is a graphic description Figure 7 1 is a block diagram showing an example of a detailed configuration of the information processing unit 45 in the driving assistance processing unit 42. Figure 8 The information processing unit 45 includes, for example, an input unit 51, a first information acquisition unit 52, an object recognition processing unit 53, a distance measurement unit 54, a comprehensive processing unit 55, an information holding unit 56, an obstacle determination unit 57, an output unit 58, and an information processing control unit (not shown).

[0156] Depend on Figure 7 The output information of each sensor acquired by the data acquisition unit 32 is input to the input unit 51. The first information acquisition unit 52 acquires the output information of each sensor input to the input unit 51, specifically, the output information is the output information from the image capture unit 32b, the LiDAR 32c, and the radar 32d. In addition, the first information acquisition unit 52 also acquires information other than the information from the sensor, such as the identification information of the signal processing LSI that implements the function of the ADAS / AD system and the version information of the software that implements the function of the ADAS / AD system. The information acquired by the first information acquisition unit 52 is sent to the object recognition processing unit 53, the distance measurement unit 54, and the output unit 58 according to the information.

[0157] The object recognition processing unit 53 acquires the captured image information of the image capturing unit 32b and extracts the candidate object from the captured image of the image capturing unit 32b. The candidate object information is sent to the integrated processing unit 55. Note that the candidate object information contains information indicating the position and attribute (vehicle, person, bicycle, motorcycle, etc.) of the candidate object.

[0158] The distance measurement unit 54 calculates the position information of the reflecting object and the information about the distance to the reflecting object based on the signals from the LiDAR 32c and the radar 32d. In addition, the candidate object is extracted by using the signal strength of the reflected signal detected by the radar 32d and the LiDAR 32c. Subsequently, the position information / distance information of the candidate object is output to the integrated processing unit 55 as the candidate object information.

[0159] The integration processing unit 55 acquires the candidate object information (first candidate object information) from the image capturing unit 32b and the candidate object information (second candidate object information) from the distance measuring unit 54. Then, the integration processing unit 55 integrates the first candidate object information and the second candidate object information, and estimates a candidate object with high certainty of being an object as an object.

[0160] For example, the comprehensive processing unit 55 assigns identification parameters (e.g., a1, a2, a3, etc.) for identifying each candidate object and a numerical value (e.g., 0.155, 0.125, 0.576, etc.) proportional to the certainty of being an object to each candidate object extracted by the image capture unit 32b or the distance measurement unit 54. At this time, the numerical value proportional to the certainty of being an object may be a vector value. The comprehensive processing unit 55 calculates a correlation for determining whether the candidate object calculated by the distance measurement unit 54 and the candidate object extracted by the object recognition processing unit 53 are the same object. In the case where the magnitude of the correlation exceeds a threshold value, the comprehensive processing unit 55 determines that the candidate objects based on the output information of each sensor are the same, estimates (detects) the candidate object as an object, and reassigns the same identification parameters. Note that here, the object is estimated based on whether the two candidate objects are the same object, but the object may also be estimated by deleting a candidate object with low certainty of being an object.

[0161] Note that it goes without saying that the attributes of objects include not only people, vehicles, bicycles, and motorcycles, but also a broad concept including roadside trees, guardrails, signs, traffic lights, road icing, road collapse, fallen objects placed on the road, etc.

[0162] Regarding the identification parameters of the object estimated by the integration processing unit 55 and the numerical value proportional to the certainty of being the object, the estimated position information of the object, and the estimated attribute information of the object are sent to the information holding unit 56 .

[0163] The information holding unit 56 holds the time at which the object estimated by the integrated processing unit 55 is detected, identification parameters, a numerical value proportional to the certainty of being an object, position information, attribute information, and time series data output by each sensor.

[0164] The obstacle determination unit 57 determines whether the object is an obstacle on the vehicle's travel path based on the position information of the object held in the information holding unit 56. For the object determined to be an obstacle, its identification parameter is output to the output unit 58.

[0165] The output unit 58 outputs information about the time when the object determined as an obstacle by the obstacle determination unit 57 is detected, information about the position of the obstacle, the relative speed with respect to the vehicle, or information about the absolute speed of the vehicle and the absolute speed of the obstacle based on the identification parameters received from the obstacle determination unit 57. Note that the relative speed with respect to the vehicle is obtained by the time differential of the distance to the detected object. The speed of the vehicle is obtained by acquiring information of the speedometer of the vehicle. The absolute speed of the obstacle is obtained from the relative speed and the absolute speed of the vehicle.

[0166] Here, information about obstacles among detected objects (position, size, attributes, speed, detection time, etc.) is output, however, information about detected objects (position, size, attributes, speed, detection time, etc.) can be output without considering obstacle determination.

[0167] In addition, the output unit 58 outputs the time series data of each sensor retained in the information retaining unit 56 for a certain period of time including the time point when the obstacle determination unit 57 determines that the object is an obstacle. In addition, the output unit 58 outputs information on the position and speed of the vehicle at a constant cycle or a dynamically variable cycle in order to generate a specific V2X message that is expected to be transmitted periodically.

[0168] In addition, in addition to the periodic output, the output unit 58 can also appropriately output based on requests from other processing blocks. For example, when the control unit 46 generates a V2X message, in the case where the V2X message is a specific V2X message, the control unit 46 can instruct the information processing unit 45 to output the relevant sensor information output. For example, once the information processing unit 45 receives the instruction from the control unit 46, the information processing control unit (not shown) extracts the time series data output from each sensor within a certain period of time from the information holding unit 56, and the certain period of time includes the determination time points of each sensor for determining the obstacle that has activated the generation of the specific V2X message. The extracted time series data output from the sensor is provided to the control unit 46 via the output unit 58.

[0169] In the case where a plurality of candidate objects extracted by the object recognition processing unit 53 or the distance measurement unit 54 are close to each other within a set distance, the integration processing unit 55 may combine the plurality of candidate objects into one group and process the one group as one candidate object. In the case where a plurality of candidate objects are regarded as one group, identification parameters of the group, identification parameters of the respective candidate objects constituting the group, numerical values ​​of the respective candidate objects proportional to the certainty of being an object, position information of the respective candidate objects estimated to be objects, and attribute information of the estimated objects are generated in the integration processing unit 55 as information related to the group and sent to the information holding unit 56.

[0170] Here, position information may be assigned to the group as position information representing position information of one object among a plurality of candidate objects included in the group. The representative position may be the position of the object in the group closest to the own vehicle. Alternatively, the representative position may be the centroid position of the positions of the plurality of candidate objects in the group. Note that the set distance for each candidate object in the group that is determined to be close may be dynamically set or updated for each area, time period, group, etc.

[0171] In addition, the constituent elements of the candidate objects included in the group estimated by the integrated processing unit 55 can be changed dynamically. For example, in the case where a bicycle and a pedestrian are waiting within a set distance before a crosswalk, the bicycle and the pedestrian can be estimated as candidate objects of one group. On the other hand, in the case where the bicycle and the pedestrian start to cross the crosswalk at different speeds later and the bicycle deviates from the distance set for the group including the pedestrian, the bicycle is excluded from the constituent elements of the group, and a process of estimating the bicycle as a new candidate object is performed separately.

[0172] In this case, the obstacle determination unit 57 determines whether the object is an obstacle on the vehicle's travel path based on the position information of the object (or group) held in the information holding unit 56. Then, for the object determined to be an obstacle, its identification parameter is output to the output unit 58.

[0173] Furthermore, in addition to the above-mentioned candidate object information, the information sent from the integrated processing unit 55 to the information retaining unit 56 may also include history information. The history information is information about the group that the candidate objects constituted in the past, and is generated when the candidate object is separated from the group. The history information includes the identification parameter of the group, the numerical value of the candidate object proportional to the certainty of being an object (the numerical value when separated from the group), the position information (the position information when separated from the group), and the attribute information (the attribute information when separated from the group). In the case where the number of candidate objects constituting a group changes from two to one through separation processing, the information about the group can be regarded as information about one of the two candidate objects.

[0174] The above describes the process of grouping candidate objects and separating candidate objects from groups in the integration processing unit 55. Similarly, the obstacle determination unit 57 may also perform the process of grouping obstacles or the process of classifying obstacles from groups.

[0175] In the case where a plurality of objects determined as obstacles by the obstacle determination unit 57 approach each other within a set distance, the obstacle determination unit 57 may process the plurality of objects (obstacles) as a group. For example, in the case where a person pushes or pulls a bicycle, the person and the bicycle approach each other, and are thus processed as obstacles of a group. In this case, as information about the group, the position, size, attribute, speed, detection time, etc. are generated for each object (obstacle) constituting the group. This information is output to the information holding unit 56 or the output unit 58. Note that the distance used as a threshold for determining proximity may be dynamically set or updated for each area, time period, group, etc.

[0176] In addition, the obstacle determination unit 57 can dynamically change the constituent elements of the objects (obstacles) included in the group. For example, in the case where a bicycle and a pedestrian are waiting within a set distance in front of a crosswalk, the bicycle and the pedestrian can be processed as objects (obstacles) of a group. On the other hand, in the case where the bicycle and the pedestrian start to cross the crosswalk at different speeds after the bicycle and the pedestrian, and the bicycle deviates from the distance set for the group including the pedestrian, the bicycle is excluded from the constituent elements of the group and processed separately as a new object (obstacle). In this case, in the case where there is position information of each constituent object as information related to the group, the position information is used to perform processing separated from the group. In the case where there is no position information of each constituent object as information related to the group, although not shown in the figure, the position information of each object is obtained separately from the distance measurement unit 54 and processed to be separated from the group.

[0177] In addition to the above information, the information output from the obstacle determination unit 57 to the information holding unit 56 and the output unit 58 may also include historical information about a new obstacle separated from the group. The historical information is information about the group to which the object (obstacle) belonged in the past, and is generated when the object is separated from the group. The historical information includes an identification parameter of the group, a numerical value proportional to the certainty of being an object (obstacle) (the numerical value when separated from the group), position information (position information when separated from the group), and attribute information (attribute information when separated from the group). In the case where the number of objects (obstacles) constituting a group changes from two to one through separation processing, the information about the group can be regarded as information about one of the two objects (obstacles).

[0178] Note that, in the integrated processing unit 55 and the obstacle determination unit 57, the distance as the threshold for determining that objects are in the same group, and the distance as the threshold for determining that any object is separated from the constituent elements in one group may be the same value or different values. In the case of different values, for example, in order to avoid frequent processing of grouping and separating from the constituent elements in the group, one threshold to which a positive or negative offset is assigned may be used as another threshold to which hysteresis is applied.

[0179] In addition, the object recognition processing unit 53 can not only detect individual candidate objects, but also detect a group of candidate objects including a plurality of approaching objects. In this case, information about the group is output as an output of the object recognition processing unit 53. For example, in the case where a person pushes or pulls a bicycle, the person and the bicycle are close to each other and are thus processed as candidate objects of a group. That is, a plurality of attributes are assigned to the group. Note that the distance used as a threshold for determining proximity can be dynamically set or updated for each area, time period, group, etc.

[0180] In addition, the constituent elements of the candidate objects included in the group extracted by the object recognition processing unit 53 can be changed dynamically. For example, in the case where a bicycle and a pedestrian are waiting in front of a crosswalk within a set distance, the bicycle and the pedestrian can be processed as candidate objects of a group. On the other hand, in the case where the bicycle and the pedestrian start to cross the crosswalk at different speeds later, and the bicycle deviates from the distance set for the group including the pedestrian, the bicycle is excluded from the constituent elements of the group and processed separately as a new candidate object. Here, the fact that a new candidate object was a constituent element of the group in the past can be maintained as historical information.

[0181] In addition, although the object detection / recognition function and distance measurement function of the information processing unit 45 are described, signal processing related to environment estimation can also be performed, such as object condition determination of whether the detected object is stopped, traffic congestion processing based on the condition of the detected object, etc., to perform environment estimation / condition determination.

[0182] Fig. 9 It is a graphic description Figure 7 A block diagram of an example of a detailed configuration of the control unit 46 is shown below. Fig. 9 The control unit 46 includes, for example, an input unit 61, a second information acquisition unit 62, a V2X message generation unit 63, an output unit 64, a driving assistance supplementary data acquisition unit 65, a driving assistance control unit 66 and an environment information generation unit 67.

[0183] The second information acquisition unit 62 acquires information about obstacles and information of various sensors from the information processing unit 45 via the input unit 61 .

[0184] The V2X message generation unit 63 generates a V2X message of an appropriate type based on the activation conditions of each V2X message defined in advance, based on the information about the obstacle or the information of each sensor acquired by the second information acquisition unit 62. The generated V2X message is output via the output unit 64 in accordance with the activation conditions. In addition, in the case of generating a specific V2X message, the V2X message generation unit 63 instructs the first information acquisition unit 52 via the output unit 64 to extract time series data output from each sensor for determining an obstacle that has activated the generation of the V2X message.

[0185] In addition, the V2X message generation unit 63 can dynamically switch the type or content of the V2X message to be sent based on at least one of the time period in which the contracted vehicle is traveling or the area in which the contracted vehicle is located. The contracted vehicle communicates with surrounding vehicles and the like, and sends and receives V2X messages when necessary. The accident rate and traffic volume also vary with the time period or area in which the contracted vehicle is traveling. Thus, by dynamically switching the type of V2X message to be sent to the surrounding environment depending on the time period or area, the V2X message generation unit 63 can improve safety performance. In addition, the V2X message generation unit 63 can switch the activation conditions of each predetermined defined V2X message depending on the time period or area.

[0186] The driving assistance supplementary data acquisition unit 65 acquires a V2X message transmitted from another vehicle or the RSU 7 via the input unit 61 , and further acquires a 3D map called a dynamic map as supplementary data for assisting autonomous driving.

[0187] The driving assistance control unit 66 generates control information for driving assistance or autonomous driving by utilizing information about obstacles and information from various sensors acquired by the second information acquisition unit 62, V2X messages sent by other vehicles or RSU 7 acquired from the driving assistance supplementary data acquisition unit 65, dynamic maps, etc.

[0188] Here, the control information for driving assistance or autonomous driving is, for example, control information such as acceleration and deceleration to be provided to the power system, control information such as deceleration and stop to be provided to the braking device, and control information such as left xx [cm] and right yy [cm] to be provided to the steering device. These control information for driving assistance are output to the drive system control unit 37 via the output unit 64.

[0189] The drive system control unit 37 controls the drive system device of the own vehicle based on the information for driving assistance. As a result, when the own vehicle and the obstacle (or the group of obstacles) detected by the driving assistance processing unit 42 are likely to collide, the own vehicle is processed to avoid the obstacle (or the group of obstacles) (processing to change the driving direction of the own vehicle), the own vehicle is decelerated by the braking operation, and the own vehicle is stopped.

[0190] The environment information generation unit 67 generates environment information including output information of various sensors of the ADAS / AD system and output information of the ADAS / AD system (including signal analysis results in the ADAS / AD system) based on the output information of the information processing unit 45 acquired by the second information acquisition unit 62, the output information of various sensors, etc. In addition, if necessary, the environment information may include static safety performance information. The environment information is output from the output unit 64 and is sent to the server 5 via the communication unit 33, for example. The environment information is information included in the dynamic safety performance information.

[0191] If necessary, the V2X message generation unit 63 may send the V2X message together with the vehicle position information ( / GPS information) at the time of event detection, time information (time information at the time of data transmission, time information at the time of event detection, etc.), information about sensors that contribute greatly to event detection, etc. In addition, the V2X message may contain information about the distance to the detected object or the direction relative to the own vehicle, information about the estimated position of the detected object, the speed of the own vehicle, the time when the own vehicle passes near the estimated position of the detected object, or the position information of the own vehicle.

[0192] Furthermore, if necessary, the environment information generation unit 67 may transmit the V2X message together with the vehicle position information ( / GPS information) at the time of event detection, time information (time information at the time of data transmission, time information at the time of event detection, etc.), information about sensors that contribute greatly to event detection, etc. Furthermore, the environment information may include information about the distance to the detected object or the direction relative to the own vehicle, information about the estimated position of the detected object, the speed of the own vehicle, the time when the own vehicle passes near the estimated position of the detected object, or the position information of the own vehicle.

[0193] The V2X module cooperating with the driving assistance processing unit 42 can send and receive V2X messages called decentralized environment notification messages (DENM), cooperative awareness messages (CAM), and basic safety messages (BSM) to implement ADAS / AD systems and autonomous driving. For example, a DENM with specific usage conditions, for example, a condition for activating DENM in the case of a dangerous location or falling is a dangerous location detection or a heavy rain or snow detection passing through the vehicle. The V2X message generation unit 63 generates a V2X message based on the type and performance of the sensor mounted on the contracted vehicle. In addition, when generating the V2X message, the second information acquisition unit 62 can acquire information such as the time when the sensor performs detection, information about the detection location, the type of sensor that has instructed the generation of the V2X message, and the timing data of the sensor. Note that CAM is a technical specification of ETSI TS 102 637-2 and CAR 2CAR Communication Consortium (C2CCC). In addition, BSM is defined by the message standard SAEJ2735.

[0194] Fig.10 The diagram illustrates a use condition, a trigger condition, and a termination condition for transmitting a DENM described in the standard No. 102637-3 of Collaborative Intelligent Transport Systems (C-ITS) of the European Telecommunications Standards Institute (ETSI). Fig.10 In, for each usage condition, such as emergency electronic brake light, wrong way warning, accident with parked vehicle, problem with parked vehicle, traffic jam warning, warning of violation of traffic signal, road construction warning, collision risk warning, hazardous location, precipitation, slippery road, visibility or wind, a trigger condition for activating the sending of V2X messages and a termination condition for the sending of V2X messages are defined. Fig.10 The type of V2X message sent for each usage condition and each trigger condition specified in depends on the type of sensor connected to the driving assistance processing unit 42.

[0195] In addition, the control unit 46 transmits sensor information including the type of activated sensor, for example, as the safety performance information of the contracted vehicle to the server 5 via the communication unit 33 .

[0196] The control unit 46 can group the various V2X messages of DENM, ADAS, BSM or independent implementations according to any indicators. For example, V2X messages can be classified into V2X messages sent regularly and V2X messages for events / triggers. In addition, for example, in V2X messages for events / triggers, for V2X messages triggered in association with the condition of the road surface, dangerous places, falling, and slippery roads can be further grouped. In addition, for example, for V2X messages triggered according to the environment, traffic congestion warnings, vision, and wind can be grouped. This grouping can be used to sort the groups that will be prioritized for processing to determine whether an event is triggered depending on the area and time period.

[0197] Fig.11 is a flowchart illustrating the processing operation of the safety performance evaluation device 1 according to the first embodiment installed on the server 5. For example, for each insurance contract vehicle, each time the insurance premium is renewed, Fig.11 Flowchart of Fig.11 The timing and interval of the processing of the flowchart are arbitrary. First, the information acquisition unit 11 acquires static safety performance information for each contracted vehicle and stores the acquired static safety performance information in the registration information storage unit 12 (step S1). The registration information storage unit 12 can store not only the static safety performance information acquired by the information acquisition unit 11, but also the static safety performance information of each contracted vehicle that is pre-set without the information acquisition unit 11.

[0198] Next, the safety performance evaluation unit 13 evaluates the safety performance of the ADAS / AD system mounted on each contracted vehicle based on the static safety performance information of each contracted vehicle maintained in the registration information maintenance unit 12 (step S2). More specifically, the safety performance evaluation unit 13 evaluates the safety performance of the ADAS / AD system for each contracted vehicle based on the static safety performance information, wherein the static safety performance information includes at least one of the identification information of each contracted vehicle, the identification information of the ADAS / AD system, the identification information of each sensor connected to the ADAS / AD system, the identification information of the signal processing LSI that implements the function of the ADAS / AD system, or the version information of the software that implements the function of the ADAS / AD system. Then, the safety performance evaluation level is determined as the evaluation result.

[0199] Next, the insurance premium determination unit 14 determines the insurance premium for each contract vehicle based on the safety performance evaluation level evaluated by the safety performance evaluation unit 13 (step S3). If the safety performance is determined to be high based on the safety performance evaluation level, the discount amount is increased to reduce the insurance premium.

[0200] As described above, in the first embodiment, based on the static safety performance information of each contracted vehicle in the data sent from each contracted vehicle to the server 5, the safety performance of the ADAS / AD system installed on each contracted vehicle can be evaluated. This evaluation can be performed by the server 5 equipped with the safety performance evaluation device 1. Each contracted vehicle sends the static safety performance information to the server 5 via the V2X module. In the server 5, by receiving the static safety performance information from each contracted vehicle, the safety performance of the ADAS / AD system can be easily and quickly evaluated. In addition, the server 5 can easily calculate the discount rate of the basic insurance premium based on the evaluated safety performance evaluation level. As a result, for contracted vehicles equipped with a driving assistance processing unit 42 with high safety performance, the discount amount of the basic insurance premium can be increased, and the motivation for installing an ADAS / AD system with high safety performance on the vehicle is enhanced, thereby promoting the popularization of ADAS / AD systems with high safety performance.

[0201] In addition, since the safety performance of each contracted vehicle can be evaluated based on the identification information of the signal processing LSI that realizes the functions of the ADAS / AD system and the version information of the software that realizes the functions of the ADAS / AD system, it can be evaluated that the contracted vehicle equipped with an ADAS / AD system with better functions has higher safety performance, thereby further increasing the discount rate of insurance premiums. As a result, the popularization of ADAS / AD systems equipped with high-performance signal processing LSIs can be promoted, and the contractors can be made aware of the importance of frequently updating the software to the latest version.

[0202] Furthermore, in the case where a higher-performance sensor is connected to an ADAS / AD system, safety performance may be evaluated as higher, so that motivation to optionally connect a sensor having higher performance than a standard product may also be enhanced.

[0203] (Second embodiment)

[0204] In each of the second embodiment and subsequent embodiments described below, the safety performance of the ADAS / AD system is evaluated based on the dynamic safety performance information or based on the dynamic safety performance information and the static safety performance information. However, in the second embodiment, not only the static safety performance information but also the dynamic safety performance information is sent from each contracted vehicle to the server 5a.

[0205] Dynamic safety performance information is safety performance information that changes with time, conditions, etc. Specifically, dynamic safety performance information includes output information of various sensors connected to the ADAS / AD system, output information of the ADAS / AD system (including signal analysis results in the ADAS / AD system), V2X messages generated by each contracted vehicle, etc. The server 5a can manage dynamic safety performance information in association with static safety performance information such as identification information (third identification information) of each sensor, identification information of the ADAS / AD system, and identification information of each contracted vehicle. In order to perform such management, the server 5a can receive dynamic safety performance information associated with static safety performance information from each contracted vehicle.

[0206] An example of dynamic safety performance information about sensors included in the safety performance information is sensor output information. Sensors related to the safety performance information of the ADAS / AD system are not limited to the above sensors, and include any sensors that can affect the safety performance of the vehicle, such as acceleration sensors, gyro sensors, air pressure sensors, etc. Each contracted vehicle sends the output of each sensor mounted on its own vehicle to the server 5a via the base station 6 or the RSU 7. The server 5a registers the output of each sensor sent from each contracted vehicle in association with the corresponding contracted vehicle. When multiple sensors of the same type are set in a contracted vehicle, the server 5a can classify the sensors of the same type according to each installation site and register each sensor output. In addition, the server 5a can classify each sensor by product model and register each sensor output by each product model. In addition, the server 5a can register the identification information and output information of each sensor according to the manufacturing time of each sensor.

[0207] In addition, the dynamic safety performance information includes, for example, the time when a specific V2X message is detected, information about the location where the specific V2X message is detected, the specific V2X message, etc. In addition, the server 5a may obtain the dynamic safety performance information together with the static safety performance information related to the dynamic safety performance information, such as information for identifying the specific V2X message, etc. In addition, the dynamic safety performance information may include information such as the location of the detected object, the type of the detected object, the distance between the detected object and the contracted vehicle, the time when the detected object is detected, and the location where the detected object is detected.

[0208] In addition, the control unit 46 may transmit dynamic safety performance information including output information of each sensor when a specific V2X message is transmitted and the speed of the contracting vehicle to the server 5 a .

[0209] Note that information on the type of sensor that has activated the V2X message may be included in static safety performance information such as a product model of the sensor, an identifier assigned to the product model, and transmitted to the server 5 a , for example.

[0210] In the safety performance evaluation system 3 according to the second embodiment, a part of the internal structure of the safety performance evaluation device 1a installed on the server 5a is similar to Figure 6 Different from the information processing device 2 installed in each contract vehicle, Figures 7 to 9 The composition in is similar to the composition in .

[0211] Fig.12 1 is a block diagram illustrating the internal structure of the safety performance evaluation device 1a according to the second embodiment installed on the server 5a. Figure 6 In addition to the configuration of the safety performance evaluation device 1, Fig.12 The safety performance evaluation device 1a also includes a collection information holding unit 16. The collection information holding unit 16 holds the dynamic safety performance information acquired by the information acquisition unit 11. The dynamic safety performance information includes, for example, the output of each sensor mounted on each contracted vehicle. As a result, the server 5a can grasp the fact that the contracted vehicle has a malfunction based on the output of each sensor mounted on the contracted vehicle. In addition, the server 5a can also grasp the fact that the contracted vehicle has entered an accident-prone area based on the position information output from a specific sensor mounted on the contracted vehicle or the V2X information sent by the contracted vehicle. Note that it is assumed that the location in the accident-prone area is known in advance based on the accident occurrence information. As described above, since dynamic safety performance information such as the output of the sensor, the V2X message, etc. affects the safety performance of the contracted vehicle, the dynamic safety performance information is sent from the collection information holding unit 16 to the safety performance evaluation unit 13a in the server 5a. After being sent to the safety performance evaluation unit 13a, the dynamic safety performance information held in the collection information holding unit 16 can be appropriately deleted or updated with new information.

[0212] also, Fig.12 The safety performance evaluation unit 13a in the safety performance evaluation device 1a is different from Figure 6 Safety performance evaluation unit 13. Fig.12 The safety performance evaluation unit 13a appropriately refers not only to the dynamic safety performance information maintained in the collected information maintenance unit 16, but also to the static safety performance information maintained in the registered information maintenance unit 12 to evaluate the safety performance of the ADAS / AD system mounted on each contracted vehicle. More specifically, Fig.12 The safety performance evaluation unit 13 a includes a number measurement unit 17 and a safety performance determination unit 18 .

[0213] The number measurement unit 17 measures the number of times the driving assistance processing unit 42 sends a specific V2X message. For example, the specific V2X message is a message for notifying the presence of an obstacle. Since it can be determined that the more times the specific V2X message is sent, the higher the safety performance, when the number of times measured by the number measurement unit 17 is large, the safety performance determination unit 18 determines that the safety performance of the driving assistance processing unit 42 is high. Alternatively, another example of a specific V2X message is a specific V2X message sent from a contracting vehicle to surrounding vehicles, etc., among a plurality of types of V2X messages that can be sent and received between a contracting vehicle and surrounding vehicles, etc.

[0214] Note that, for example, the fact that the contracted vehicle has sent a specific V2X message is notified to the server 5a via the base station 6 or RSU 7 that has received the V2X message. That is, the V2X message is sent through vehicle-to-vehicle communication via the base station 6 or RSU 7, and is also sent by the base station 6 or RSU 7 to the server 5a including the safety performance evaluation device 1a.

[0215] In addition, the driving assistance processing unit 42 connected to the V2X module mounted on the contracted vehicle can notify the server 5a of the number of times the contracted vehicle has sent a specific V2X message.

[0216] The safety performance determination unit 18 determines the safety performance of the driving assistance processing unit 42 based on the number of transmissions of a specific V2X message per unit time. The number of transmissions of a specific V2X message per unit time can be calculated by statistical processing such as averaging. The registration information holding unit 12 holds information related to the number of transmissions of V2X messages regarding multiple contracted vehicles. Then, the safety performance determination unit 18 compares the number of transmissions of the V2X message measured by the number measurement unit 17 regarding the specific contracted vehicle with the number of transmissions of the V2X message of other contracted vehicles, determines the safety performance of the ADAS / AD system mounted on the specific contracted vehicle, and sets the safety performance level. As the number of transmissions of a specific V2X message per unit time increases, the safety performance level is set to a higher level.

[0217] The safety performance level set by the safety performance determination unit 18 is input as the evaluation result of the safety performance evaluation unit 13a to the insurance premium determination unit 14. The insurance premium determination unit 14 determines the discount rate based on the safety performance level so that the discount rate of the basic insurance premium increases as the number of times the specific V2X message is sent increases.

[0218] Fig.13It is a flowchart illustrating the processing operation of the safety performance evaluation device 1 according to the second embodiment mounted on the server 5a. First, for each contracted vehicle, the number of times a specific V2X message is received within a predetermined time is measured (step S11). In step S11, the number measurement unit 17 in the safety performance evaluation unit 13 measures the number. For example, the number measurement unit 17 starts measuring the number at the timing when a specific V2X message is first received for each contracted vehicle, and measures the number of times a specific V2X message is received within a predetermined time from the timing. Alternatively, the number of times a specific V2X message is received between a preset first time and a second time can be measured for each contracted vehicle.

[0219] Next, the safety performance determination unit 18 in the safety performance evaluation unit 13a determines the safety performance of the ADAS / AD system based on the number of measurements (step S12). It is believed that the more times a specific V2X message is measured, the higher the sensing capability of the sensor that generates the specific V2X message. Therefore, in the case where the number of measurements is large, the safety performance determination unit 18 determines that the safety performance of the contracted vehicle is high. In addition, the safety performance determination unit 18 can determine the safety performance of the contracted vehicle as the evaluation object by comparing the number of transmissions of the specific V2X message with that of other contracted vehicles.

[0220] Next, the insurance premium determination unit 14 determines the insurance premium based on the safety performance evaluation level as the safety performance evaluation result (step S13). The processing in step S13 is the same as that in step S14. Fig.11 The same as step S2 etc. in.

[0221] As described above, in the second embodiment, it can be said that the safety performance of the ADAS / AD system is evaluated based on the number of times the contracted vehicle sends a specific V2X message, and the ability to detect a specific event is evaluated. In addition, in the case where the safety performance of the ADAS / AD system is evaluated based on the number of times the contracted vehicle sends a V2X message to the surrounding environment, the safety performance of the ADAS / AD system can be evaluated based on whether the V2X message for attracting attention is sent more actively to surrounding vehicles, etc.

[0222] (Third Embodiment)

[0223] In the safety performance evaluation system 3 according to the third embodiment, a part of the internal structure of the safety performance evaluation device 1b mounted on the server 5b is similar to Figure 6 and 12 The information processing device 2 installed in each contracted vehicle has the same Figures 7 to 9 However, in the third embodiment, not only static safety performance information but also dynamic safety performance information is transmitted from each contracted vehicle to the server 5b.

[0224] Fig.14 It is a block diagram illustrating the internal structure of a safety performance evaluation device 1b according to the third embodiment mounted on a server 5b. Fig.14 The safety performance evaluation unit 13b of the safety performance evaluation device 1b is different from Fig.12 The safety performance evaluation unit 13a. The safety performance evaluation unit 13b evaluates the safety performance of the ADAS / AD system based on the characteristics of the sensors of the ADAS / AD system connected to each contracted vehicle, that is, the detection capability. More specifically, the safety performance evaluation unit 13b can evaluate the safety performance of the driving assistance function of the contracted vehicle based on the time difference information from the detection of the object at the reference location to the contracted vehicle passing the reference location, or the position of the object at the reference location based on the sensors of the ADAS / AD system connected to the contracted vehicle. More specifically, Fig.14 The safety performance evaluation unit 13b includes a detection sensitivity calculation unit 19 and a safety performance determination unit 18a.

[0225] The detection sensitivity calculation unit 19 calculates the detection sensitivity of the ADAS / AD system in object detection based on the output of a specific sensor for each contracted vehicle.

[0226] The safety performance determination unit 18a compares the object detection speed of the ADAS / AD system based on the output of the evaluation object sensor calculated by the detection sensitivity calculation unit 19 for each contracted vehicle, and determines the safety performance of the ADAS / AD system installed in each contracted vehicle. The safety performance evaluation unit 13b outputs the determination result of the safety performance determination unit 18a as the evaluation result of the safety performance of the ADAS / AD system.

[0227] Fig.15 The flowchart illustrates the processing operation of the safety performance evaluation device 1b according to the third embodiment mounted on the server 5b. The server 5b starts when it receives a V2X message sent from any contracted vehicle. Fig.15 Server 5b starts processing when receiving a specific V2X message Fig.15 processing.

[0228] The safety performance evaluation unit 13b refers to the output information of each sensor maintained in the collected information retention unit 16 (step S21). Based on the type of V2X message generated by the driving assistance processing unit 42 of the contracted vehicle, a reference location is designated (step S22). For example, since the DENM associated with a dangerous location is a V2X message generated by sensing a certain dangerous location, it is considered that a similar V2X message is sent in association with the dangerous location. That is, the safety performance evaluation unit 13b designates the dangerous location as a reference location based on the DNEM associated with the dangerous location. Note that the safety performance evaluation unit 13b may designate as a reference location only a location that can obtain a sufficient number of overall parameters for the statistical processing to be performed later.

[0229] Next, the safety performance evaluation unit 13b specifies the evaluation object sensor based on the type of the generated V2X message (step S23). In step S23, for example, the type of sensor such as LiDAR32c, radar 32d, image capture unit 32b can be specified, or some sensors classified for product models can be specified.

[0230] Next, the safety performance evaluation unit 13 b calculates the object detection speed (object detection sensitivity) of the ADAS / AD system based on the output of the sensor based on the designated reference point and the output information of the designated sensor (step S24 ).

[0231] Fig.16 It is a graphic description Fig.15 FIG. 1 is a diagram of a first example of the processing procedure of step S24. Fig.16 The diagram illustrates the location where three contracted vehicles 4c, 4d, and 4e detect an obstacle 30 at a reference location A. Fig.16 The diagram illustrates an example in which the contract vehicle 4c detects the obstacle 30 at the location B closest to the reference location A, the contract vehicle 4d detects the obstacle 30 at the location C farther from the reference location A than the location B, and the contract vehicle 4e detects the obstacle 30 at the location D farther from the reference location A than the location C. Fig.16 In the example, the distance between the detection location and the reference location is used as Fig.15 The object detection speed (object detection sensitivity) of the ADAS / AD system based on the output of the sensors of the contracted vehicles 4c to 4e in step S24 is determined. Here, it is assumed that the sensor of the contracted vehicle 4e, which is farthest from the reference point A, has the highest safety performance. In this way, the safety performance level of the ADAS / AD system to be evaluated is determined based on the distance from the detection point to the reference point A.

[0232] Fig.16The diagram illustrates an example of using the distance between the detection point and the reference point as an example of calculating the object detection speed (object detection sensitivity) of the ADAS / AD system based on the output of each sensor. However, the object detection speed may be calculated in terms of time.

[0233] Fig.17 It is a graphic description Fig.15 FIG. 2 is a diagram showing a second example of the processing procedure of step S24. Fig.17 The diagram illustrates a situation in which contract vehicles 4c and 4d are traveling at a substantially constant speed on a highway or the like. Fig.15 In step S24, the time difference (T2-T1) from the time T1 when the contracted vehicle 4c detects the obstacle 30 at the reference location A and sends the V2X message to the time T2 when the contracted vehicle 4c passes the reference location A is calculated. In addition, the time difference (T4-T3) from the time T3 when the contracted vehicle 4d detects the obstacle 30 at the reference location A and sends the V2X message to the time T4 when the contracted vehicle 4d passes the reference location A is calculated. Since the time difference (T4-T3) is greater than the time difference (T2-T1), the sensor of the contracted vehicle 4d can ensure a longer response time margin compared to the contracted vehicle 4c, and it is determined that the safety performance is higher.

[0234] Fig.18 is a diagram illustrating an example of data distribution related to object detection speed based on the output of the sensor. Fig.18 , the horizontal axis represents the period from the time when the ADAS / AD system of the contracted vehicle (ADAS / AD system based on the output of the evaluation object sensor) detects the obstacle 30 at the reference location A to the time when the contracted vehicle passes the reference location A, and the vertical axis represents the number of instances of object detection. Fig.18 The distribution diagram illustrates an example where the average amount of time for the ADAS / AD system is 10 seconds. Fig.18 In the example, the ADAS / AD system of contract vehicle 4d (ADAS / AD system based on the output of the evaluation target sensor) has a detection speed of about 13 seconds, while the ADAS / AD system of contract vehicle 4c (ADAS / AD system based on the output of the evaluation target sensor) has a detection speed of about 9 seconds. Therefore, the ADAS / AD system of contract vehicle 4d is evaluated to have higher safety performance than that of contract vehicle 4c. Fig.18 The distribution diagram illustrates the data distribution for multiple contracted vehicles. The data distribution can be created using only data from the same location sent from the contracted vehicles, or can be created using data from multiple locations. The time period or period for generating data can be limited to a predetermined time period or predetermined period, although the data can be used to create the data distribution without such limitations.

[0235] Fig.17 The diagram illustrates an example in which the detection speed of the ADAS / AD system is calculated based on the time difference from the time when the ADAS / AD system of each contracting vehicle detects the obstacle 30 at the reference location to the time when the contracting vehicle passes the reference location. However, the detection speed of the ADAS / AD system (ADAS / AD system based on the output of the evaluation object sensor) may be calculated taking into account the speed of the contracting vehicle. For example, Fig.19 In the example, the speed of the contracted vehicle 4c is v1, and the speed of the contracted vehicle 4d is v2. When the distance v1 (T2-T1) represented by the product of the speed v1 of the contracted vehicle 4c and the above time difference (T2-T1) is smaller than the distance v2 (T4-T3) represented by the product of the speed v2 of the contracted vehicle 4d and the above time difference (T4-T3), it can be evaluated that the safety performance of the sensor of the contracted vehicle 4d is higher than that of the contracted vehicle 4c.

[0236] In addition, as for the detection speed of the ADAS / AD system based on the evaluation object sensor, such as Fig. 20 As shown in the diagram, a reference point A set at an arbitrary position, for example, a point corresponding to the average value of the detection speed of the evaluation object sensor can be set as the reference point A, and the safety performance of the ADAS / AD system (ADAS / AD system based on the output of the evaluation object sensor) can be evaluated based on the length of the relative distance relative to the reference point A. Fig. 20 In the example, the ADAS / AD system of the contracted vehicle 4c detects that the length of the relative distance of the location B of the obstacle 30 at the location E relative to the reference location A is -X. In addition, the ADAS / AD system of the contracted vehicle 4d detects that the length of the relative distance of the location C of the obstacle 30 at the location E relative to the reference location A is Y. In addition, the ADAS / AD system of the contracted vehicle 4e detects that the length of the relative distance of the location D of the obstacle 30 at the location E relative to the reference location A is Z. Therefore, the safety performance of the ADAS / AD system of the contracted vehicle 4e having the longest relative distance is evaluated to be the highest, the safety performance of the ADAS / AD system of the contracted vehicle 4d is the second highest, and the safety performance of the ADAS / AD system of the contracted vehicle 4c is the lowest.

[0237] once Fig.15 After the processing of step S24 is completed, the safety performance evaluation unit 13b then performs statistical processing based on the values ​​calculated in step S24 (step S25). The statistical processing performed in step S25 includes, for example, the processing of calculating the average value and standard deviation of the values ​​calculated in step S24. The safety performance evaluation unit 13b performs the statistical processing at any period, for example, every day or every month. Fig.15The data distribution may be created using only data of the same location sent from the contracted vehicles, or may be created using data of multiple locations. In addition, as data for statistical processing, the time period or period for generating data may be limited to a predetermined time period or a predetermined period, but the data distribution may be created using data without such limitations.

[0238] In step S26, based on the stored values, the safety performance of the ADAS / AD system of the contracted vehicle for which the insurance premium is to be calculated is evaluated, and the safety performance level is calculated (step S26). Specifically, for the frequency distribution of the detection speed of the ADAS / AD system based on the output of the evaluation object sensor, the standard deviation is obtained, and different safety performance levels are set in sections based on the standard deviation, such as 0 to +σ, +σ to +2σ, +2σ to +3σ, +3σ to +4σ, etc.

[0239] Next, the insurance premium is calculated based on the value indicating the evaluation result of the safety performance (step S27).

[0240] When conducting Fig.15 When processing step S23, the evaluation object sensor can be specified taking into account not only the type of V2X message but also other conditions. For example, under conditions of poor visibility such as at night, weighting can be performed so that radar 32d or LiDAR 32c is selected in priority to image capture unit 32b. In addition, the weighting of the object sensor can be set for each time period or each area. For example, in the case where a result indicating that contracted vehicles equipped with a specific type of sensor or a sensor of a specific product model have fewer accidents at a specific intersection is obtained as a result of statistical processing, the evaluation result of the system using a specific type of sensor or a sensor of a specific product model can be weighted in any area including the intersection.

[0241] Fig.21 14 is a flowchart illustrating an example of detailed processing operation of the insurance premium determination unit 14. Fig.21 The flow chart is Fig.15 An example of the processing operation of step S27 in .

[0242] First, the insurance premium determination unit 14 obtains the safety performance level as evaluation information of the ADAS / AD system (ADAS / AD system based on the output of the evaluation object sensor) connected to the contracted vehicle whose insurance premium is to be determined (step S31). Here, information indicating the result of the evaluation performed by the safety performance evaluation unit 13b is obtained (hereinafter referred to as the safety performance level). When determining the insurance premium, the insurance premium determination unit 14 can select a main sensor, or can reflect the evaluation information of multiple sensors by weighting. For example, in the case where the image capture unit 32b is selected as a main sensor and the detection speed is evaluated based on the detection distance, the size of the discount amount can be calculated based on the length of the forward detection distance relative to the average distance.

[0243] Based on each safety performance level, different discount amounts such as 500 yen, 750 yen, 1000 yen, and 1250 yen are set for each safety performance level in stages (step S32). In this case, a discount amount of b yen is applied to the monthly standard insurance premium of A yen, so that the insurance premium for a certain month is calculated as (Ab) yen (step S33). The discount amount may be different every month based on the evaluation information of the previous month, or the discount amount for the insurance period may be set as a fixed amount by finding the average value of the evaluation information, etc.

[0244] As described above, in the third embodiment, based on the object detection information transmitted by the contract vehicle, the evaluation target ADAS / AD system mounted on the contract vehicle (ADAS / AD system based on the output of the evaluation target sensor) is specified, and the safety performance is evaluated based on the object detection speed (object detection sensitivity) of the specified ADAS / AD system. Then, the safety performance is evaluated in consideration of the performance of the ADAS / AD system, and the insurance premium of the contract vehicle can be determined based on the evaluation result.

[0245] Here, an example of safety performance evaluation of an ADAS / AD system based on the output of an evaluation object sensor is described. On the other hand, in the case of a system that performs object detection by integrating the outputs of multiple sensors of the ADAS / AD system without limiting the evaluation object sensor, the safety performance evaluation of the ADAS / AD system can be performed based on the output of the object detection results of the ADAS / AD system based on multiple sensors.

[0246] (Fourth embodiment)

[0247] In the safety performance evaluation system 3 according to the fourth embodiment, a part of the internal structure of the safety performance evaluation device 1c installed on the server 5c is similar to Figure 6 , 12 Different from that in 14, the information processing device 2 mounted on each contracted vehicle has Figures 7 to 9 However, in the fourth embodiment, not only static safety performance information but also dynamic safety performance information is transmitted from each contracted vehicle to the server 5c.

[0248] In the fourth embodiment, the safety performance of the ADAS / AD system mounted on each contract vehicle is evaluated while limiting the area.

[0249] Fig. 22 This is a block diagram illustrating the internal structure of the safety performance evaluation device 1c according to the fourth embodiment installed on the server 5c. In addition to the information acquisition unit 11, the registration information holding unit 12, the collection information holding unit 16, the safety performance evaluation unit 13c, the insurance premium determination unit 14 and the insurance premium holding unit 15, Fig. 22 The safety performance evaluation device 1 c further includes an area setting unit 20 and an information extraction unit 21 .

[0250] The area setting unit 20 sets a predetermined area. The predetermined area is an area where the contracted vehicle sends dynamic safety performance information such as V2X messages and sensor outputs, such as an area with a high accident rate, a specific intersection with poor visibility, an area with many pedestrians and bicycles, etc.

[0251] The information extraction unit 21 extracts dynamic safety performance information such as V2X messages and sensor outputs generated in a predetermined area from the information acquired by the information acquisition unit 11. Since the V2X messages, sensor outputs, etc. are received by the server 5c via the base station 6 or the RSU 7, the information extraction unit 21 can extract dynamic safety performance information such as V2X messages and sensor outputs generated in a predetermined area according to the location of the base station 6 or the RSU 7 that receives the V2X messages or sensor outputs.

[0252] The safety performance evaluation unit 13c evaluates the safety performance of the ADAS / AD system mounted on the contracted vehicle that sends sensor outputs, V2X messages, etc., based on the dynamic safety performance information (safety performance information generated in a predetermined area) extracted by the information extraction unit 21. As the specific processing content of the safety performance evaluation unit 13c, processing similar to that of the safety performance evaluation unit 13a or 13b according to the second or third embodiment can be performed in a state restricted to a predetermined area. That is, the safety performance evaluation unit 13c can evaluate the safety performance of the ADAS / AD system based on the number of times the V2X message is sent in a state restricted to a predetermined area. Alternatively, the safety performance evaluation unit 13c can evaluate the safety performance based on the detection speed of the ADAS / AD system based on the output of the evaluation object sensor in a state restricted to a predetermined area.

[0253] Fig.23 4 is a flowchart illustrating the processing operation of the safety performance evaluation device 1c according to the fourth embodiment mounted on the server 5c. First, the area setting unit 20 sets a predetermined area (step S41).

[0254] Next, for each contracted vehicle, it is determined whether the received dynamic safety performance information such as V2X messages and sensor outputs is information generated in a predetermined area (step S42). The determination process of step S42 is performed by the safety performance evaluation unit 13c based on the information extracted by the information extraction unit 21. The information extraction unit 21 extracts dynamic safety performance information such as V2X messages and sensor outputs generated in a predetermined area based on information about the location of the base station 6 or RSU 7 that receives the V2X messages, sensor outputs, etc. Alternatively, in the case where additional information such as V2X messages contains information about the area, it can be determined based on the information whether the V2X messages, etc. are information generated in the predetermined area. The safety performance evaluation unit 13c determines that the information extracted by the information extraction unit 21 is information generated in the predetermined area.

[0255] Next, the safety performance evaluation unit 13c evaluates the safety performance of the ADAS / AD system mounted on the corresponding contracted vehicle based on dynamic safety performance information such as V2X messages and sensor outputs generated in the predetermined area. Then, the safety performance evaluation level representing the corresponding high safety performance is calculated (step S43). For example, the safety performance evaluation unit 13c evaluates that the ADAS / AD system in which the number of outputs of each sensor in the predetermined area or the number of transmissions of the V2X message is large has a higher safety performance. In addition, similar to the third embodiment, the safety performance evaluation unit 13c can evaluate the safety performance based on the object detection speed of the ADAS / AD system based on the output of the evaluation object sensor.

[0256] Next, the insurance premium determination unit 14 determines the insurance premium of the corresponding contract vehicle based on the safety performance evaluation level of the safety performance evaluation unit 13c (step S44).

[0257] As described above, in the fourth embodiment, the safety performance of the ADAS / AD system is evaluated based on dynamic safety performance information such as V2X messages and sensor outputs generated in a predetermined area. As a result, the safety performance evaluation device 1c can objectively evaluate the safety performance of the ADAS / AD system installed in each contracted vehicle with a small amount of data.

[0258] (Fifth Embodiment)

[0259] In the safety performance evaluation system 3 according to the fifth embodiment, a part of the internal structure of the safety performance evaluation device 1d mounted on the server 5d is similar to Figure 6 , 12 Different from that in 14, the information processing device 2 mounted on each contracted vehicle has Figures 7 to 9 However, in the fifth embodiment, not only static safety performance information but also dynamic safety performance information is sent from each contracted vehicle to the server.

[0260] In the fifth embodiment, the safety performance of the ADAS / AD system mounted on each contract vehicle is evaluated while limiting the time period.

[0261] Fig.24 1 is a block diagram illustrating the internal structure of the safety performance evaluation device 1d according to the fifth embodiment mounted on the server 5d. In addition to the information acquisition unit 11, the registration information holding unit 12, the collected information holding unit 16, the safety performance evaluation unit 13d, the insurance premium determination unit 14 and the insurance premium holding unit 15, Fig.24 The safety performance evaluation device 1d further includes a time period setting unit 22 and an information extraction unit 21a.

[0262] The time period setting unit 22 sets a predetermined time period. The predetermined time period is arbitrary, and may be, for example, a time period with heavy traffic such as rush hour, a time period at night when visibility is poor, a time period during the day on weekdays, or the like.

[0263] The information extraction unit 21a extracts dynamic safety performance information such as outputs of various sensors and V2X messages generated within a predetermined time period from the information acquired by the information acquisition unit 11. The dynamic safety performance information such as outputs of various sensors and V2X messages are received by the server 5d via the base station 6 or the RSU 7. The information extraction unit 21a can extract the dynamic safety performance information such as outputs of sensors and V2X messages generated within a predetermined time period based on the reception time information of the base station 6 or the RSU 7 that received the dynamic safety performance information and the time information in the vehicle.

[0264] The safety performance evaluation unit 13d evaluates the safety performance of the ADAS / AD system mounted on the contracted vehicle that sends the dynamic safety performance information based on the dynamic safety performance information generated within the predetermined time period extracted by the information extraction unit 21a. As the processing of the safety performance evaluation unit 13d of this embodiment, processing similar to the processing of the safety performance evaluation unit 13a or 13b according to the second or third embodiment can be performed in a state limited to a predetermined time period.

[0265] Fig.251 is a flowchart illustrating the processing operation of the safety performance evaluation device 1d according to the fifth embodiment mounted on the server 5d. First, the time period setting unit 22 sets a predetermined time period (step S51).

[0266] Next, for each contracted vehicle, it is determined whether the received dynamic safety performance information such as V2X messages and sensor outputs is information generated within a predetermined time period (step S52). The determination process of step S52 is performed by the safety performance evaluation unit 13d based on the information extracted by the information extraction unit 21a. The information extraction unit 21a extracts dynamic safety performance information such as V2X messages and sensor outputs generated within a predetermined time period based on the reception time information of the base station 6 or RSU 7 that receives the V2X message or sensor output and the time information in the vehicle. The safety performance evaluation unit 13d determines that the information extracted by the information extraction unit 21a is information generated within a predetermined time period.

[0267] Next, the safety performance evaluation unit 13d evaluates the safety performance of the ADAS / AD system mounted on the corresponding contracted vehicle based on the dynamic safety performance information such as V2X messages and sensor outputs generated within a predetermined time period, and determines the safety performance level corresponding to the evaluated performance (step S53). For example, the safety performance evaluation unit 13d evaluates that the ADAS / AD system with a larger number of outputs of each sensor or a larger number of transmissions of V2X messages within a predetermined time period has a higher safety performance. In addition, similar to the third embodiment, the safety performance evaluation unit 13d can evaluate the safety performance based on the object detection speed (object detection sensitivity) of the ADAS / AD system based on the output of the evaluation object sensor.

[0268] Next, the driving time or driving distance of the corresponding contracted vehicle within the set time period is measured. The safety performance level is corrected based on the safety performance level determined in step S53 and the driving time or driving distance within the set time period. For example, in the case where the set time period is a time period with a high accident rate such as the evening time period, correction is performed so that the longer the driving time or driving distance within the set time period relative to the total driving time or total driving distance, the lower the safety performance level (step S54). Next, the insurance premium determination unit 14 determines the insurance premium of the corresponding contracted vehicle based on the corrected safety performance level (step S55). For example, in the case where the set time period is a time period with a high accident rate such as the evening time period, the longer the driving time or driving distance within the set time period, the lower the discount rate of the basic insurance premium.

[0269] Here, although the insurance premium is determined based on the corrected safety performance level in step S55, the insurance premium calculation / insurance premium discount rate calculation may be performed based on the safety performance level determined in step S53 without performing the processing of step S54.

[0270] As described above, in the fifth embodiment, the safety performance of the ADAS / AD system is evaluated based on dynamic safety performance information such as V2X messages and sensor outputs generated within a predetermined period of time. As a result, the safety performance evaluation device 1d can objectively evaluate the safety performance of the ADAS / AD system installed in each contracted vehicle with a small amount of data.

[0271] (Sixth Embodiment)

[0272] In the case where the server 5 receives all V2X messages generated by each contracted vehicle, the communication load between each contracted vehicle and the server 5 may be too large. In addition, in the case where the number of V2X messages received by the server 5 is large, it takes a long time to search for the required V2X message from the V2X messages. In this context, in the above-mentioned fourth to fifth embodiments, examples are described in which the number of V2X messages received by the server 5 or the number of sensor outputs is reduced by limiting the area and time period. On the other hand, in the sixth embodiment, the number of V2X messages sent by each contracted vehicle is limited.

[0273] The safety performance evaluation system 3 according to the sixth embodiment includes Figure 7 The server 5 may have an information processing device 2a different from the information processing device 2. Figure 6 or may have a similar structure to Fig.12 , 14 , 22 or 24 have similar compositions.

[0274] Fig.26 It is a block diagram illustrating the schematic structure of the information processing device 2a according to the sixth embodiment installed in each contract vehicle. Fig.26 The communication unit 33a of the system transmits dynamic safety performance information such as a V2X message generated when a predetermined event occurs when the contracted vehicle is traveling in a predetermined area. Therefore, even when dynamic safety performance information such as a V2X message is generated due to the occurrence of an event, if the contracted vehicle is not traveling in the predetermined area, the communication unit 33a does not transmit the dynamic safety performance information. As a result, the number of times each contracted vehicle transmits dynamic safety performance information such as a V2X message can be suppressed.

[0275] Here, the predetermined event is, for example, a situation where an obstacle is found in front of the vehicle in the direction of travel. Fig.10 The trigger condition for DENM transmission is not necessarily limited to one. Whether an event has occurred is determined based on output information of any sensor connected to the driving assistance processing unit 42.

[0276] An arbitrary area is set as the predetermined area. For example, an area with a high event occurrence rate can be set as the predetermined area.

[0277] After detecting the occurrence of an event, if it is determined that the own vehicle is traveling in a predetermined area, the V2X message generation unit 63 in the control unit 46 provides a V2X message to the output unit 64. The V2X message is transmitted to the base station 6 or the RSU 7 via the communication unit 33a.

[0278] Fig. 27 is a flowchart illustrating the processing operation of the information processing device 2a according to the sixth embodiment installed in each contract vehicle. When the engine is running, the information processing device 2a of each contract vehicle repeats Fig. 27 Flowchart of the process.

[0279] First, it is determined whether a predetermined event has occurred (step S61: first determination unit). If no event has occurred, the process of step S61 is repeated.

[0280] In the event that a predetermined event occurs, a V2X message corresponding to the occurred event is generated (step S62). In step S62, it is assumed that the generated V2X message is different for each type of event.

[0281] Next, it is determined whether the vehicle is traveling in the predetermined area (step S63: second determination unit). For example, the position information sensor 32a is used to determine whether the vehicle is traveling in the predetermined area. If the vehicle is traveling in the predetermined area, the V2X message generated in step S62 is sent (step S64), and if the vehicle is not traveling in the predetermined area, the V2X message is terminated. Fig. 27 processing.

[0282] In this way, Fig. 27 In the flowchart of , when the vehicle is traveling in the predetermined area, a V2X message generated in response to a predetermined event is sent. As a result, the number of times the V2X message is sent, that is, the sending frequency, can be reduced. Therefore, the server 5 can evaluate the safety performance of each contracted vehicle based on the V2X messages from each contracted vehicle traveling in the pre-set area. For example, in the case where the predetermined area is an accident-prone area, the server 5 can evaluate the safety performance of the ADAS / AD system installed on each contracted vehicle based on the number of times each contracted vehicle sends V2X messages in the predetermined area.

[0283] According to the present embodiment, the amount of communication between each contracted vehicle and the base station 6 or RSU 7 can be reduced, and the amount of communication between the base station 6 or RSU 7 and the server 5 can also be reduced. In addition, the number of V2X messages retained in the server 5 can be reduced, and the server 5 can easily search for a desired V2X message.

[0284] Fig. 27 The diagram illustrates an example in which, when a predetermined event occurs, a specific V2X message is generated and transmitted when each contracted vehicle is traveling in a predetermined area. However, when a predetermined event occurs, a specific V2X message may be generated and transmitted when each contracted vehicle is traveling within a predetermined time period. The block configuration of the information processing device 2b in this case is, for example, as shown in FIG. Fig.28 As shown in the diagram.

[0285] Fig.28 The communication unit 33b of the embodiment transmits the V2X message generated when the predetermined event occurs when the contracted vehicle is traveling within the predetermined time period. Therefore, even when the V2X message is generated due to the occurrence of the event, when the contracted vehicle is not traveling within the predetermined time period, the communication unit 33b does not transmit the V2X message. As a result, the number of V2X messages transmitted by each contracted vehicle can be reduced.

[0286] Fig.29 It is a graphic description Fig.28 Flow chart of the processing operation of the information processing device 2b. Fig.29 The processing of step S73 in Fig. 27 After the V2X message is generated due to the occurrence of the predetermined event (step S72), in step S73, it is determined whether the own vehicle is traveling within the predetermined time period (step S73). If the vehicle is traveling within the predetermined time period, the V2X message is sent (step S74), and if the vehicle is not traveling within the predetermined time period, the process ends. Fig.28 processing.

[0287] As described above, in the sixth embodiment, once a predetermined event occurs in each contracted vehicle, a V2X message corresponding to the event is generated, and when the corresponding contracted vehicle is traveling in a predetermined area or traveling within a predetermined time period, the generated V2X message is transmitted. As a result, the number of V2X messages received by the server 5 can be limited, and the server 5 can easily manage the V2X messages. As a result, the server 5 can evaluate the safety performance of the contracted vehicle that has transmitted the V2X message using a small number of V2X messages.

[0288] (Seventh Embodiment)

[0289] In the seventh embodiment, the insurance premium is determined by evaluating the safety performance of the ADAS / AD system in consideration of accident information of the contracted vehicle.

[0290] Fig.30 It is a block diagram illustrating the internal structure of a server 5e equipped with a safety performance evaluation device 1e according to the seventh embodiment. Fig.30 In, with Figure 6 The same components are denoted by the same reference numerals, and the differences will be mainly described below. Fig.30 The server 5e includes an accident information acquisition unit 23, an accident history information storage unit 24, a registration information storage unit 12, a safety performance evaluation unit 13e, an insurance premium determination unit 14, and an insurance premium storage unit 15. Fig.30 In addition to the composition of Fig.12 Similar number measuring unit 17 and safety performance determination unit 18 can be set with Fig.14 Similar detection sensitivity calculation unit 19 and safety performance determination unit 18a can be set with Fig. 22 A similar area setting unit 20 and information extraction unit 21 may be provided. Fig.24 Similar to the time period setting unit 22 and the information extracting unit 21a.

[0291] The accident information acquisition unit 23 acquires accident information. In the event that an accident occurs with a contracted vehicle, the insurance company will pay compensation or indemnity depending on the severity of the accident. On the other hand, for a contracted vehicle that has an accident, the insurance premium for the second year will also increase. In this embodiment, the insurance premium for the contracted vehicle is determined by taking into account whether an accident has occurred with the contracted vehicle. In the event that an accident occurs with the contracted vehicle, the accident information acquisition unit 23 acquires information about the accident. The acquired accident information includes the date or place of the accident, the content of the accident, whether insurance compensation has been paid, the amount of compensation or indemnity, etc.

[0292] The accident information about the contracted vehicle acquired by the accident information acquisition unit 23 may be information input by an entity that owns the contracted vehicle having an insurance contract with the insurance company, or information input by the insurance company after confirming the accident after receiving a call from the driver of the contracted vehicle, etc. In addition, the information may also be information input by a person at a repair shop when the repair of the vehicle in the accident is completed. In addition, the occurrence of an accident may be detected using various sensors mounted on the contracted vehicle, and the accident information acquisition unit 23 may acquire the accident information sent to the server 5e via the base station 6 or the RSU 7 through, for example, wireless communication.

[0293] In addition to retaining the accident information obtained by the accident information acquisition unit 23, the accident history information retention unit 24 also retains past accident history information. In addition, the accident history information retention unit 24 obtains information of each sensor mounted on the contracted vehicle in which the accident occurred from the registration information retention unit 12 and retains the information. The reason for obtaining the information of each sensor is that the frequency of accident occurrence and the type of accident may change depending on the type of sensor mounted on the contracted vehicle. Generally, it is believed that a contracted vehicle equipped with a sensor with high safety performance has a lower frequency of accident occurrence.

[0294] The safety performance evaluation unit 13e generates statistical information of each sensor and accident rate based on the accident history information and the information of each sensor mounted on the contracted vehicle, evaluates the safety performance of the ADAS / AD system mounted on the contracted vehicle based on the generated statistical information, and sets the safety performance level. Here, for example, the accident rate is calculated for each product model of the sensor. The insurance premium determination unit 14 determines the discount amount of the basic insurance premium based on the safety performance level set by the safety performance evaluation unit 13e.

[0295] Through Fig.30 Server 5e increased Fig.12 The information acquisition unit 11 and the collected information storage unit 16 may be provided with a server 5e having the functions of the first to sixth embodiments and the seventh embodiment. That is, the server 5e may acquire the safety performance information of the driving assistance processing unit 42 mounted on the contracted vehicle and acquire the accident information. In this case, the safety performance evaluation unit 13e may comprehensively consider the safety performance information and accident history information of the contracted vehicle, evaluate the safety performance of the ADAS / AD system mounted on the contracted vehicle, and determine the insurance premium based on the evaluation result.

[0296] As described above, in the seventh embodiment, the information of the sensor mounted on the contracted vehicle is obtained together with the accident information of the contracted vehicle, statistical information of the sensor and the accident rate is generated, and the safety performance of the ADAS / AD system mounted on the contracted vehicle is evaluated based on the statistical information to determine the discount amount of the insurance premium. As a result, the insurance premium can be determined in consideration of the accident rate, etc., and the popularization of the ADAS / AD system with high safety performance that can reduce the accident rate can be promoted.

[0297] (Eighth Embodiment)

[0298] In the eighth embodiment, the server 5, 5a, 5b, 5c, 5d or 5e having any one of the functions of the first to fifth and seventh embodiments further has an additional function related to maintenance. In the eighth embodiment, not only static safety performance information but also dynamic safety performance information is sent from each contracted vehicle to the server 5f.

[0299] Fig.31 It is a block diagram illustrating the internal structure of a server 5f equipped with a safety performance evaluation device 1f according to the eighth embodiment. Fig.31 The safety performance evaluation device 1f includes an information acquisition unit 11, a collected information holding unit 16, a registered information holding unit 12, a safety performance evaluation unit 13f, an insurance premium determination unit 14, and an insurance premium holding unit 15. The safety performance evaluation unit 13f includes, for example, Fig.12 The number of measurement units 17, similar to Fig.13 The detection sensitivity calculation unit 19 and the safety performance determination unit 18. In addition, Fig.31 The safety performance evaluation device 1f includes a device similar to Fig. 22 The area setting unit 20 is similar to Fig.23 The time period setting unit 22 and the information extraction unit 21b. Fig.31 However, the safety performance evaluation unit 13f may include Fig.12 The number of measurement units 17 and the safety performance determination unit 18, or may include Fig.14 The detection sensitivity calculation unit 19 and the safety performance determination unit 18a. Note that the area setting unit 20, the time period setting unit 22 or the information extraction unit 21b may be omitted as appropriate. Fig.31 The safety performance evaluation device 1f includes a safety performance standard determination unit 25 and a maintenance alarm unit 26.

[0300] The safety performance standard determination unit 25 determines whether the safety performance level evaluated by the safety performance evaluation unit 13f reaches a predetermined standard. The predetermined standard is a standard for determining whether maintenance of the driving assistance processing unit 42 is required. For example, the safety performance evaluation unit 13f can quantify the safety of the ADAS / AD system based on the output of each sensor connected to the driving assistance processing unit 42 into a safety performance level, and for each contracted vehicle, the added value or average value of the safety performance of all sensors of the driving assistance processing unit 42 is compared with a reference value, and it is determined whether the predetermined standard is reached. Instead of evaluating the safety performance of the ADAS / AD system for each sensor output, the safety performance evaluation unit 13f can evaluate the safety performance of the entire ADAS / AD system and set an overall safety performance level.

[0301] Note that the processing performed by the safety performance evaluation unit 13f is a combination of the processing performed by the safety performance evaluation units 13c and 13d described in Embodiments 4 and 5.

[0302] The safety performance standard determination unit 25 may provide a plurality of reference values, and classify and determine the safety performance of the contract vehicle into a plurality of levels.

[0303] When the safety performance standard determination unit 25 determines that the predetermined standard has not been reached, the maintenance warning unit 26 urges maintenance of the driving assistance processing unit 42. For example, the owner or user of the contract vehicle equipped with the driving assistance processing unit 42 may be requested to repair the driving assistance processing unit 42. In this case, it is assumed that the contact information of the owner or user of the contract vehicle is stored in advance.

[0304] In addition, when the safety performance standard determination unit 25 determines that the contracted vehicle does not meet the predetermined standard during driving, the maintenance alarm unit 26 can issue an instruction from the server 5f to the target contracted vehicle to issue an alarm to the driver.

[0305] In addition, in the case where the safety performance standard determination unit 25 determines that the contracted vehicle does not meet the predetermined standard during driving, the maintenance alarm unit 26 can issue an instruction from the server 5f to the target contracted vehicle to control the contracted vehicle to move to a safe place such as a shoulder of the road, thereby prompting the engine to stop. As described above, in the case where the safety performance standard determination unit 25 provides multiple reference values ​​and classifies the safety performance of the contracted vehicle into multiple levels, the maintenance alarm unit 26 can take maintenance measures corresponding to the classified levels. For example, for a contracted vehicle whose safety performance is classified as the lowest level, measures such as forced stopping of driving can be taken as described above. In addition, in the case where the level of safety performance is not the lowest level, it may only be necessary to contact the owner or user of the contracted vehicle.

[0306] Fig.32 is a flowchart illustrating the processing operation of the safety performance evaluation device 1f according to the eighth embodiment. Steps S81 to S82 are similar to Fig.11 Steps S1 to S2. Once the insurance premium is determined in step S82, it is next determined whether the safety performance evaluated by the safety performance evaluation unit 13f meets the predetermined standard (step S83). For example, the safety performance evaluation unit 13f sets a safety performance level. More specifically, the safety performance evaluation unit 13f outputs numerical data that increases as the safety performance improves as the safety performance level. In step S83, it is determined whether the safety performance level output from the safety performance evaluation unit 13f is less than a predetermined reference value. When the safety performance level is equal to or greater than the reference value, it is considered that the safety performance has met the standard, and the process ends. Fig.32On the other hand, when the safety performance level is less than the benchmark value, it is considered that the safety performance does not meet the standard, and the process of urging the maintenance of the driving assistance processing unit 42 is performed (step S84). Here, the server 5f can notify the contracted vehicle of the request to repair the driving assistance processing unit 42 via the base station 6 or RSU7. In this case, for example, a notification suggesting the maintenance of the driving assistance processing unit 42 can be made on the monitor of the dashboard of the contracted vehicle. Alternatively, the server 5f can issue a notification so that the insurance company requests the maintenance of the driving assistance processing unit 42 from the contracted vehicle. In this case, the insurance company notifies the contractor or user of the contracted vehicle of the request to repair the driving assistance processing unit 42 by mail, e-mail, etc. Here, the request to repair the driving assistance processing unit 42 notified from the insurance company to the contractor or user of the contracted vehicle may include, for example, the location or contact information of the candidate repair shop, the candidate time period for maintenance reception, etc.

[0307] Note that you can Figure 6 Server 5, Fig.12 Server 5a, Fig.14 Server 5b, Fig. 22 Server 5c or Fig.24 The server 5d is provided with a safety performance standard determination unit 25 and a maintenance alarm unit 26, and can be used in Fig.13 , Fig.15 , Fig.21 , Fig.23 or Fig.25 Add the following to the flowchart: Fig.32 The same processing is performed as in steps S93 to S94.

[0308] As described above, in the eighth embodiment, when the safety performance of the ADAS / AD system installed in the contracted vehicle does not meet the predetermined standard, the ADAS / AD system is urged to be repaired, so that the contracted vehicle can be prevented from continuing to drive in a state where the ADAS / AD system is insufficiently repaired. In addition, when the safety performance of the ADAS / AD system is already low, the user can be prompted to replace it with an ADAS / AD system with high safety performance. For example, when urging the maintenance of the ADAS / AD system, by prompting how much the insurance premium can be reduced by replacing it with an ADAS / AD system with high safety performance, the popularization of ADAS / AD systems with high safety performance can be promoted.

[0309] Note that in the first to eighth embodiments described above, it is not necessary to activate the ADAS / AD system for a vehicle equipped with a low-safety vehicle system. In addition, when a vehicle equipped with a low-safety vehicle system is driving, the vehicle can be safely stopped by remote vehicle control or the like. In this case, although not shown in the figure, a control command is sent from the server 5 to the vehicle via the network. The vehicle passes Figure 7 The communication unit 33 receives the control command. The vehicle is controlled by the drive system control unit 37 based on the control command and stops in a safe area such as a road shoulder.

[0310] (Ninth Embodiment)

[0311] In the ninth embodiment, the server 5, 5a, 5b, 5c, 5d, 5e or 5f having the functions of any one of the first to fifth, seventh and eighth embodiments further has an additional function related to sending control information to the vehicle.

[0312] Fig.33 1 is a block diagram illustrating the internal structure of a server 5g equipped with a safety performance evaluation device 1g according to the ninth embodiment. Fig.31 Safety performance evaluation device 1f, Fig.33 The safety performance evaluation device 1g includes an information acquisition unit 11, a collection information holding unit 16, a registration information holding unit 12, a safety performance evaluation unit 13f, an insurance premium determination unit 14, an insurance premium holding unit 15, an area setting unit 20, a time period setting unit 22 and a safety performance standard determination unit 25.

[0313] in addition, Fig.33 The safety performance evaluation device 1g includes a control information sending unit 27 instead of Fig.31 Maintenance alarm unit 26. Note that Fig.33 A maintenance alarm unit 26 may be additionally provided in the safety performance evaluation device 1g. The control information sending unit 27 sends control information for limiting the autonomous driving function or not allowing autonomous driving to the vehicle whose evaluated safety performance is determined to not meet the predetermined standard. For example, in the case of autonomous driving, the vehicle that receives the control information indicating that autonomous driving is not allowed notifies the driver to switch to manual driving. In the case of not switching to manual driving, the vehicle that receives the control information is controlled to stop in the lane or shoulder where the vehicle is traveling.

[0314] In addition, the control information may be information for controlling the vehicle so that low-function autonomous driving (or ADAS processing) can be performed, but high-function autonomous driving (or ADAS processing) cannot be performed. In this case, in the vehicle receiving the control information, when the vehicle is performing high-function autonomous driving, the autonomous driving level is changed to low-function autonomous driving. Then, the occupants such as the driver are notified that the autonomous driving level has been changed to a lower level of autonomous driving than the function (permitted function) that can be performed. In the case of manual driving, when switching from manual driving to autonomous driving mode is performed, the driving of the vehicle is controlled by low-function autonomous driving ( / ADAS processing) instead of high-function autonomous driving ( / ADAS processing). In this case, the driver cannot select (or perform) high-function autonomous driving ( / ADAS processing). For example, in high-function autonomous driving, the vehicle can use the automatic lane change function, while in low-function autonomous driving, the vehicle cannot use the automatic lane change function. That is, the autonomous driving function can only be performed in the same lane. In addition, in high-function autonomous driving ( / ADAS processing), autonomous driving at a faster speed (for example, up to the legal speed) than low-function autonomous driving can be performed (permitted), while in low-function autonomous driving ( / ADAS processing), autonomous driving at a slower speed (for example, up to 40 km / h) than high-function autonomous driving can only be performed (permitted). Here, high-function autonomous driving ( / ADAS processing) and low-function autonomous driving ( / ADAS processing) are performed, but the function of autonomous driving ( / ADAS processing) can be divided into three or more levels, and the safety performance evaluation results can be associated with each level. In this case, the association can be made so that a vehicle evaluated as having high safety performance (safer) can perform high-function autonomous driving ( / ADAS processing).

[0315] Fig.34 is a flowchart illustrating the processing operation of the safety performance evaluation device 1g according to the ninth embodiment. Steps S91 to S92 are similar to Fig.32 Once the insurance premium is determined in step S92, it is next determined whether control information needs to be sent by the control information sending unit 27 (step S93). In step S93, it is determined that control information needs to be sent to a vehicle whose safety evaluation is determined to not meet the predetermined standard, and the control information is sent to the vehicle (step S94). As described above, the control information is, for example, information for switching from autonomous driving to manual driving, or from high-function autonomous driving to low-function autonomous driving. On the other hand, when it is determined in step S93 that control information does not need to be sent, the process ends. Fig.34 processing without sending control information.

[0316] Fig.35It is a block diagram illustrating the schematic structure of the information processing device 2c according to the ninth embodiment installed in each contract vehicle. Fig.35 The information processing device 2c has Fig.28 The information processing device 2b is similar to the block structure of the driving assistance processing unit 42a, but the operation of the control unit 46a in the driving assistance processing unit 42a is the same as that of the driving assistance processing unit 42a. Fig.28 The operation of the control unit 46 is different.

[0317] Fig.35 The control unit 46a is based on Fig.33 The vehicle is controlled by the control information sent by the server 5g (safety performance evaluation device 1g).

[0318] Fig.36 It is a graphic description Fig.35 A block diagram of an example of a detailed configuration of the control unit 46a. Fig.36 The control unit 46a has Fig. 9 The control unit 46 is similar to the block structure of the control unit 46, but includes operations and Fig. 9 The driving assistance supplementary data acquisition unit 65 and the driving assistance control unit 66 are different from the driving assistance supplementary data acquisition unit 65a and the driving assistance control unit 66a.

[0319] The driving assistance supplementary data acquisition unit 65a acquires control information sent from the server 5g (safety performance evaluation device 1g). The acquired control information is, for example, autonomous driving level control information for controlling the autonomous driving level allowed for the vehicle. In this case, the driving assistance control unit 66a generates vehicle control information based on the autonomous driving level allowed based on the autonomous driving level control information.

[0320] In addition, in the case where the acquired control information includes the safety performance evaluation result, the driving assistance control unit 66a determines the allowed autonomous driving level based on the safety performance evaluation result, and generates vehicle control information based on the determined autonomous driving level. For example, the driving assistance control unit 66a maintains relationship information indicating the correspondence between the allowed autonomous driving level and the safety performance evaluation result, and determines the autonomous driving level from the safety performance evaluation result based on the relationship information. The driving assistance control unit 66a can perform driving assistance based on the function corresponding to the allowed autonomous driving level. In addition, the driving assistance control unit 66a generates vehicle control information for autonomous driving based on the function corresponding to the allowed autonomous driving level.

[0321] When the permitted autonomous driving level is not autonomous driving but manual driving, and the vehicle is performing autonomous driving, the driving assistance control unit 66a prompts the driver to switch to manual driving via the in-vehicle devices such as the display and speakers inside the vehicle. When the driver does not switch to manual driving, the driving assistance control unit 66a generates vehicle control information to automatically stop the vehicle, or to move the vehicle to a safe place such as a road shoulder and stop the vehicle.

[0322] Fig.37 It is a graphic description Fig.36 Flow chart of the operation of the control unit 46a. First, information about the surrounding environment of the vehicle is obtained (step S101). Here, information about the conditions around the vehicle (for example, 3D map information) is obtained, such as object recognition results of various sensors, etc. The information about the surrounding environment of the vehicle may include Fig.36 The environmental information generated by the environmental information generating unit 67.

[0323] Next, the autonomous driving level control information transmitted from the server 5g (safety performance evaluation device 1g) is acquired (step S102). Next, based on the information about the surrounding environment of the vehicle and the autonomous driving level control information, the permitted autonomous driving level is specified (step S103). Next, vehicle control information is generated based on the specified autonomous driving level (step S104). Next, based on the generated vehicle control information, the drive system device of the vehicle is controlled (step S105).

[0324] As described above, in the ninth embodiment, based on the safety performance of the vehicle evaluated by the server 5g (safety performance evaluation device 1g), autonomous driving level control information is generated and sent to the vehicle, and in the vehicle, the autonomous driving level is designated based on the received autonomous driving level control information to control the vehicle. As a result, the vehicle can be driven more safely, and accidents caused by automatic driving in a situation where safety performance cannot be guaranteed can be prevented in advance.

[0325] As a ninth embodiment, in addition to the above examples, a server can also be used, in which a safety performance standard determination unit 25 to which the safety performance evaluation level or the safety performance level is input from the safety performance determination unit 18 or 18a or the safety performance evaluation unit 18 or 18a, and a control information sending unit 27 to which information indicating whether the safety performance meets a predetermined standard is input from the safety performance standard determination unit 25 is added to the server 5, 5a, 5b, 5c, 5d, 5e or 5f having the functions of any one of the first to fifth, seventh and eighth embodiments.

[0326] At least some of the safety performance evaluation devices 1, 1a, 1b, 1c, 1d, 1e, 1f, and 1g, the information processing devices 2, 2a, 2b, and 2c, and the safety performance evaluation system 3 described in the above-mentioned embodiments may be configured by hardware or software. In the case of configuring by software, a program that implements the functions of at least some of the safety performance evaluation devices 1, 1a, 1b, 1c, 1d, 1e, 1f, and 1g, the information processing devices 2, 2a, 2b, and 2c, and the safety performance evaluation system 3 may be stored in a recording medium such as a semiconductor memory, a hard disk, software, or a CD-ROM, and may be read and executed by a computer. In addition, a program that implements the functions of at least some of the safety performance evaluation devices 1, 1a, 1b, 1c, 1d, 1e, 1f, and 1g, the information processing devices 2, 2a, 2b, and 2c, and the safety performance evaluation system 3 may be dynamically downloaded from the base station 6 or the RSU 7 and stored in the above-mentioned recording medium.

[0327] Fig.38 It is a block diagram illustrating an example of the hardware configuration of a computer 70 that executes a program to perform a series of processes for the above-mentioned safety performance evaluation devices 1, 1a, 1b, 1c, 1d, 1e, 1f and 1g, information processing devices 2, 2a, 2b and 2c, and safety performance evaluation system 3.

[0328] Fig.38 The computer 70 includes a central processing unit (CPU) 72 , a read only memory (ROM) 73 , a random access memory (RAM) 74 , and an input / output interface 75 , which are interconnected via a bus 71 .

[0329] An input unit 76 , an output unit 77 , a recording unit 78 , a communication unit 79 , and a drive 80 are connected to the input / output interface 75 .

[0330] The input unit 76 includes an input switch, a button, a microphone, an image capture element, etc. The output unit 77 includes a display, a speaker, etc. The recording unit 78 includes a hard disk, a non-volatile storage device, etc. The communication unit 79 includes a wired or wireless communication interface and can access a public network such as the Internet, or a private network. The drive 80 is a device that drives a removable medium 81 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc.

[0331] Fig.38 The CPU 72 of the computer 70 performs the above-described series of processing by, for example, loading a program recorded in the recording unit 78 into the RAM 74 via the input / output interface 75 and the bus 71 and executing the program.

[0332] The program executed by computer 70, ie, CPU 72, can be provided by being recorded on removable medium 81 as package medium, etc. In addition, the program can be provided via a wired or wireless transmission medium such as a local area network, the Internet, digital satellite broadcasting, or a cellular network.

[0333] The program executed by the computer 70 can be installed in the recording unit 78 via the input / output interface 75 by mounting the removable medium 81 on the drive 80. In addition, the program can be received by the communication unit 79 via a wired or wireless transmission medium and installed in the recording unit 78. In addition, the program can be pre-installed in the ROM 73 or the recording unit 78. In addition, the program can be distributed in an encrypted, modulated or compressed state via a wired line or a wireless line such as the Internet, or distributed by being stored in the removable medium 81.

[0334] Note that the program executed by the computer 70 may be a program that is processed in time series in the order described in this specification, or may be a program that is processed in parallel or at necessary timing (such as when a call is made, etc.).

[0335] In addition, in the above description, a system means a group of multiple components (devices, modules (components), etc.), and it is not important whether all components are in the same housing. Thus, multiple devices housed in separate housings and connected via a network, and one device in which multiple modules are housed in one housing are both systems.

[0336] Note that the present technology can have the following configurations.

[0337] (1) A safety performance evaluation device comprising:

[0338] an acquisition unit that acquires information on a driving assist function of a moving object; and

[0339] An evaluation unit evaluates safety performance of a driving assistance function of the mobile object based on the acquired information.

[0340] (2) The safety performance evaluation device according to (1),

[0341] The information about the driving assistance function of the mobile body includes identification information of a driving assistance processing unit mounted on the mobile body, and

[0342] The evaluation unit evaluates safety performance of the driving assistance function of the mobile object based on identification information of the driving assistance processing unit.

[0343] (3) The safety performance evaluation device according to (2),

[0344] The information about the driving assistance function of the mobile object includes safety performance information of the driving assistance processing unit, and

[0345] The evaluation unit evaluates the safety performance of the driving assistance function of the mobile object based on the identification information and the safety performance information of the driving assistance processing unit.

[0346] (4) The safety performance evaluation device according to (3), wherein the safety performance information includes at least one of identification information or output information of a sensor built into or connected to the driving assistance processing unit.

[0347] (5) A safety performance evaluation device according to (3) or (4), wherein the safety performance information includes identification information of a signal processing large-scale integrated circuit (LSI) that implements the function of the driving assistance processing unit, version information of software that implements the function of the driving assistance processing unit, or at least one of accident information of the mobile body.

[0348] (6) The safety performance evaluation device according to any one of (2) to (5), wherein the evaluation unit evaluates the safety performance of the driving assistance function of the mobile body based on the detection capability of a sensor built into or connected to the driving assistance processing unit.

[0349] (7) A safety performance evaluation device according to (6), wherein the evaluation unit evaluates the safety performance of the driving assistance function of the mobile body based on time difference information from the time when a sensor built into or connected to the driving assistance processing unit detects an object at a reference location to the time when the mobile body passes through the reference location.

[0350] (8) The safety performance evaluation device according to any one of (2) to (5), further comprising

[0351] a number measurement unit, the number measurement unit measuring the number of times the driving assistance processing unit sends a specific message,

[0352] The evaluation unit evaluates safety performance of the driving assistance function of the mobile object based on the number of times measured by the number of times measuring unit.

[0353] (9) A safety performance evaluation device according to any one of (2) to (5), wherein the evaluation unit evaluates the safety performance of the driving assistance function of the mobile body based on output information of a sensor built into or connected to the driving assistance processing unit when the mobile body sends a message.

[0354] (10) The safety performance evaluation device according to any one of (1) to (9), further comprising:

[0355] an area setting unit, the area setting unit setting a predetermined area; and

[0356] an information extraction unit that extracts information about the driving assistance function of the mobile body acquired by the acquisition unit in the predetermined area,

[0357] The evaluation unit evaluates the safety performance of the driving assistance function of the mobile object based on the information extracted by the information extraction unit.

[0358] (11) The safety performance evaluation device according to any one of (1) to (9), further comprising:

[0359] a time period setting unit, the time period setting unit setting a predetermined time period; and

[0360] an information extraction unit that extracts the information on the driving assistance function of the mobile body acquired by the acquisition unit within the predetermined time period,

[0361] The evaluation unit evaluates the safety performance of the driving assistance function of the mobile object based on the information extracted by the information extraction unit.

[0362] (12) The safety performance evaluation device according to any one of (1) to (11), further comprising a determination unit configured to determine an insurance premium for the moving object based on the safety performance evaluated by the evaluation unit.

[0363] (13) The safety performance evaluation device according to any one of (1) to (12), further comprising:

[0364] a safety performance standard determination unit that determines whether the safety performance evaluated by the evaluation unit meets a predetermined standard; and

[0365] A maintenance warning unit is configured to urge maintenance of the driving assist function of the mobile body when the safety performance standard determination unit determines that the predetermined standard is not met.

[0366] (14) A safety performance evaluation method comprising:

[0367] Acquiring information about a driving assistance function of a mobile object; and

[0368] Based on the acquired information, the safety performance of the driving assistance function of the mobile object is evaluated.

[0369] (15) An information processing device comprising:

[0370] a driving assistance processing unit that generates information related to a safety performance evaluation of a driving assistance function; and

[0371] a communication unit, wherein the communication unit sends the information,

[0372] The information sent from the communication unit includes first identification information for identifying the driving assistance processing unit and second identification information for identifying a moving object carrying the driving assistance processing unit and the communication unit.

[0373] (16) The information processing device according to (15),

[0374] One or more sensors are built into or connected to the driving assistance processing unit, and

[0375] The information includes output information of the one or more sensors and third identification information for identifying the one or more sensors.

[0376] (17) An information processing device according to (16), wherein the information includes at least one of identification information of a signal processing LSI that implements the function of the driving assistance processing unit, version information of software that implements the function of the driving assistance processing unit, or accident information of the mobile body.

[0377] (18) An information processing device according to any one of (15) to (17), wherein the driving assistance processing unit dynamically sets the type of specific message according to at least one of the area where the mobile body is located or the time period during which the communication unit communicates.

[0378] (19) The information processing device according to any one of (15) to (18), further comprising:

[0379] a first determination unit configured to determine whether a predetermined event has occurred; and

[0380] a second determination unit, the second determination unit determining whether the moving body is traveling in a predetermined area or a predetermined time period,

[0381] wherein, when it is determined that a predetermined event has occurred, the driving assistance processing unit generates dynamic information on safety performance corresponding to the event, and

[0382] When it is determined that a predetermined event has occurred and when it is determined that the moving body is traveling in a predetermined area or within a predetermined time period, the transmitting unit transmits dynamic information corresponding to the event.

[0383] (20) An information processing method comprising:

[0384] generating information related to a safety performance evaluation of a driving assistance function for a mobile object; and

[0385] sending a plurality of messages and said information from a communication unit,

[0386] Wherein, in the case where the communication unit sends a specific message among the multiple messages, the information sent from the communication unit includes first identification information for identifying a driving assistance processing unit carried on the mobile body, and second identification information for identifying the mobile body carrying the driving assistance processing unit and the communication unit.

[0387] (21) A program that causes a computer to:

[0388] Acquiring information about a driving assistance function of a mobile object; and

[0389] The safety performance of the driving assistance function of the mobile object is evaluated based on the acquired information.

[0390] (22) A program that causes a computer to:

[0391] causing a driving assistance processing unit to generate information related to a safety performance evaluation of a driving assistance function; and

[0392] sending a plurality of messages and said information from a communication unit,

[0393] In the case where the communication unit sends a specific message among the multiple messages, the information sent from the communication unit includes first identification information for identifying the driving assistance processing unit, and second identification information for identifying the mobile body carrying the driving assistance processing unit and the communication unit.

[0394] (23) An information processing device for assisting driving of a mobile object, the information processing device comprising:

[0395] Multiple sensors;

[0396] An acquisition unit for acquiring detection data of the plurality of sensors;

[0397] A computing unit for performing computational processing on the detection data;

[0398] an identification unit for identifying an object based on the detection data; and

[0399] a movement control unit for controlling movement of the moving body based on the data subjected to the calculation processing by the calculation unit,

[0400] wherein the plurality of sensors include a first sensor that detects image data of an object as a first target, and a second sensor that detects information related to a distance to an object as a second target,

[0401] the recognition unit determines whether the object as the first object and the object as the second object are the same based on the image data and the information about the distance, and recognizes the first object and the second object as one object if the objects are determined to be the same, and

[0402] The calculation unit estimates a change in the relative distance between the one object identified by the identification unit and the moving body, and changes at least one of the moving speed or the driving direction of the moving body with respect to the movement control unit when it is determined that the moving body will collide with the one object.

[0403] (24) The information processing device according to (23), further comprising:

[0404] a threshold setting unit, the threshold setting unit setting a first threshold related to the distance; and

[0405] a group management unit, wherein the group management unit manages two or more objects recognized by the recognition unit as a group according to a condition,

[0406] wherein in the case where the recognition unit recognizes a different object in addition to the one object, the calculation unit calculates the distance between the one object and the different object, and

[0407] The group management unit manages the one object and the one different object as the one group in a case where a condition that the distance calculated by the calculation unit is equal to or smaller than the first threshold is satisfied.

[0408] (25) An information processing device according to (24), wherein the calculation unit estimates a change in the relative distance between the group managed by the group management unit and the mobile body, and when it is determined that the mobile body will collide with the group, changes at least one of the moving speed or the driving direction of the mobile body with respect to the mobile control unit.

[0409] (26) The information processing device according to (24) or (25),

[0410] wherein the threshold setting unit sets a second threshold,

[0411] the calculation unit calculates a distance between the one group managed by the group management unit and the one object managed as the one group, and

[0412] In a case where the distance is equal to or greater than the second threshold, the group management unit removes the one object from the one group.

[0413] (27) The information processing device according to (24) or (25),

[0414] wherein the threshold setting unit sets a second threshold,

[0415] the calculating unit calculates a distance between the one object managed as the one group by the group managing unit and the one different object, and

[0416] In a case where a distance between the one object managed as the one group and the one different object is equal to or larger than the second threshold, the group management unit removes the one different object from the one group.

[0417] (28) The information processing device according to (26) or (27), wherein the threshold setting unit sets the second threshold by adding a positive or negative offset to the first threshold.

[0418] (29) An information processing device according to any one of (24) to (28), wherein, when the object managed as the one group is only the one object or the one different object, the group management unit associates historical information indicating constituent elements of the objects included in the one group with the one object or the one different object.

[0419] (30) A safety performance evaluation device comprising:

[0420] an acquisition unit that acquires information on a driving assist function of a moving object; and

[0421] an evaluation unit that evaluates the safety performance of the driving assistance function of the mobile body based on the acquired information,

[0422] Based on the safety performance, autonomous driving level control information related to the autonomous driving level allowed for the mobile body is generated.

[0423] (31) The safety performance evaluation device according to (30), wherein the autonomous driving level control information indicates an autonomous driving level permitted for the mobile object.

[0424] (32) The safety performance evaluation device according to (30), wherein the autonomous driving level control information includes a safety performance evaluation result (safety performance evaluation level) for determining an autonomous driving level permitted for the mobile body.

[0425] The various aspects of the present disclosure are not limited to the above-mentioned embodiments, but include various modifications that can be thought of by those skilled in the art, and the effects of the present disclosure are not limited to the above-mentioned contents. That is, various additions, modifications and partial deletions can be made without departing from the conceptual ideas and spirit of the present disclosure derived from the contents defined in the claims and their equivalents.

[0426] Reference numerals list

[0427] 1 Safety performance evaluation device

[0428] 2 Information processing device

[0429] 3 Safety performance evaluation system

[0430] 4a First contract vehicle

[0431] 4b Second contract vehicle

[0432] 5 Server

[0433] 6 Base Station

[0434] 7 RSU

[0435] 8 Traffic lights

[0436] 11 Information acquisition unit

[0437] 12 Registration information holding unit

[0438] 13,13a,13b,13c,13d,13e,13f Safety performance evaluation unit

[0439] 14 Insurance premium determination unit

[0440] 15 Insurance Premium Maintenance Unit

[0441] 16 Collection information storage unit

[0442] 17 times measurement unit

[0443] 18,18a Safety performance evaluation unit

[0444] 19 Detection sensitivity calculation unit

[0445] 20 Area Setting Unit

[0446] 21,21a,21b Information extraction unit

[0447] 22 Time period setting unit

[0448] 23 Accident Information Acquisition Unit

[0449] 24 Accident history information storage unit

[0450] 25 Safety performance standard determination unit

[0451] 26 Maintenance alarm unit

[0452] 27 Control information sending unit

[0453] 31 Input unit

[0454] 32 Data acquisition unit

[0455] 33,33a,33b Communication unit

[0456] 34 Vehicle Equipment

[0457] 35 Output control unit

[0458] 36 Output Units

[0459] 37 Drive system control unit

[0460] 38 Drive system

[0461] 39 Body system control unit

[0462] 40 Body Systems

[0463] 41 Storage Units

[0464] 42,42a Driver assistance processing unit

[0465] 43 Communication Network

[0466] 45 Information Processing Unit

[0467] 46,46a Control unit

[0468] 51 Input unit

[0469] 52 First information acquisition unit

[0470] 53 Object recognition processing unit

[0471] 54 Distance measurement unit

[0472] 55 Integrated processing unit

[0473] 56 Information retention unit

[0474] 57 Obstacle determination unit

[0475] 58 Output Units

[0476] 61 Input unit

[0477] 62 Second information acquisition unit

[0478] 63 V2X message generation unit

[0479] 64 output units

[0480] 65,65a Driving assistance supplementary data acquisition unit

[0481] 66,66b Driver assistance control unit

[0482] 67 Environmental information generation unit

[0483] 70 Computer

[0484] 71 Bus

[0485] 72 CPU

[0486] 73 ROM

[0487] 74 RAM

[0488] 75 Input / Output Interface

[0489] 76 Input Unit

[0490] 77 Output Unit

[0491] 78 Recording Units

[0492] 79 Communication Unit

[0493] 80 Drive

[0494] 81 Removable Media

Claims

1. A safety performance evaluation device, comprising: an acquisition unit that acquires information about a driving assistance function of a mobile object; an evaluation unit that evaluates the safety performance of the driving assistance function of the mobile body based on the acquired information including the dynamic safety performance information; a safety performance standard determination unit, the safety performance standard determination unit determining whether the safety performance evaluated by the evaluation unit reaches a predetermined standard; as well as a maintenance warning unit, which urges maintenance of the driving assistance function of the mobile body when the safety performance standard determination unit determines that the predetermined standard is not met, The evaluation unit evaluates the safety performance of the driving assistance function of the mobile body based on the time difference from the time when the sensor built into or connected to the driving assistance processing unit detects the object at a reference location to the time when the mobile body passes the reference location, and the moving speed of the mobile body, wherein the greater the product of the time difference and the moving speed, the higher the safety performance of the driving assistance function of the mobile body is evaluated to be.

2. The safety performance evaluation device according to claim 1, The information about the driving assistance function of the mobile object includes identification information of a driving assistance processing unit mounted on the mobile object, and The evaluation unit evaluates safety performance of the driving assistance function of the mobile object based on identification information of the driving assistance processing unit.

3. The safety performance evaluation device according to claim 2, The information about the driving assistance function of the mobile object includes the safety performance information of the driving assistance processing unit, and The evaluation unit evaluates the safety performance of the driving assistance function of the mobile object based on the identification information and the safety performance information of the driving assistance processing unit.

4. The safety performance evaluation device according to claim 3, wherein the safety performance information includes at least one of identification information or output information of a sensor built into or connected to the driving assistance processing unit.

5. A safety performance evaluation device according to claim 3, wherein the safety performance information includes identification information of a signal processing large-scale integrated circuit (LSI) that implements the function of the driving assistance processing unit, version information of software that implements the function of the driving assistance processing unit, and at least one of the accident information of the mobile body.

6. The safety performance evaluation device according to claim 2, wherein the evaluation unit evaluates the safety performance of the driving assistance function of the mobile body based on the detection capability of a sensor built into or connected to the driving assistance processing unit.

7. The safety performance evaluation device according to claim 2 further comprises a number measurement unit, the number measurement unit measuring the number of times the driving assistance processing unit sends a specific message, The evaluation unit evaluates safety performance of the driving assistance function of the mobile object based on the number of times measured by the number of times measuring unit.

8. The safety performance evaluation device according to claim 2, wherein the evaluation unit evaluates the safety performance of the driving assistance function of the mobile body based on output information of a sensor built into or connected to the driving assistance processing unit when the mobile body sends a message.

9. The safety performance evaluation device according to claim 1, further comprising: an area setting unit, wherein the area setting unit sets a predetermined area; as well as an information extraction unit that extracts information about the driving assistance function of the mobile body acquired by the acquisition unit in the predetermined area, The evaluation unit evaluates the safety performance of the driving assistance function of the mobile object based on the information extracted by the information extraction unit.

10. The safety performance evaluation device according to claim 1, further comprising: a time period setting unit, wherein the time period setting unit sets a predetermined time period; as well as an information extraction unit that extracts the information on the driving assistance function of the mobile body acquired by the acquisition unit within the predetermined time period, The evaluation unit evaluates the safety performance of the driving assistance function of the mobile object based on the information extracted by the information extraction unit.

11. The safety performance evaluation device according to claim 1, further comprising a determination unit that determines an insurance premium for the mobile body based on the safety performance evaluated by the evaluation unit.

12. A safety performance evaluation method comprising: obtaining information about driving assistance functions of a mobile object; evaluating the safety performance of the driving assistance function of the mobile body based on the acquired information including the dynamic safety performance information; Determine whether the evaluated safety performance meets the predetermined standards; as well as If it is determined that the predetermined standard is not met, urging maintenance of the driving assistance function of the mobile body, The safety performance of the driving assistance function of the mobile body is evaluated based on the time difference from the time when the sensor built into or connected to the driving assistance processing unit detects the object at a reference location to the time when the mobile body passes the reference location, and the moving speed of the mobile body, wherein the greater the product of the time difference and the moving speed, the higher the safety performance of the driving assistance function of the mobile body is evaluated.

13. An information processing device, comprising: a driving assistance processing unit that generates information related to a safety performance evaluation of a driving assistance function; as well as a communication unit, wherein the communication unit sends the information, The information sent from the communication unit includes first identification information for identifying the driving assistance processing unit and second identification information for identifying a mobile body carrying the driving assistance processing unit and the communication unit. The information processing device is configured to receive a notification requesting maintenance of the driving assistance processing unit when it is determined that the safety performance of the driving assistance function does not meet the predetermined standard, The safety performance of the driving assistance function is determined based on the time difference from the time when the sensor built into or connected to the driving assistance processing unit detects the object at a reference location to the time when the moving body passes the reference location, and the moving speed of the moving body, wherein the greater the product of the time difference and the moving speed, the higher the safety performance of the driving assistance function is determined to be.

14. The information processing device according to claim 13, One or more sensors are built into or connected to the driving assistance processing unit, and The information includes output information of the one or more sensors and third identification information for identifying the one or more sensors.

15. An information processing device according to claim 14, wherein the information includes at least one of identification information of a signal processing LSI that implements the function of the driving assistance processing unit, version information of software that implements the function of the driving assistance processing unit, and accident information of the moving body. 16 . The information processing device according to claim 13 , wherein the driving assistance processing unit dynamically sets the type of the specific message according to at least one of an area where the mobile body is located or a time period during which the communication unit performs communication.

17. The information processing apparatus according to claim 13, further comprising: a first determination unit, the first determination unit determining whether a predetermined event occurs; as well as a second determination unit, the second determination unit determining whether the moving body is traveling in a predetermined area or a predetermined time period, wherein, when it is determined that a predetermined event has occurred, the driving assistance processing unit generates dynamic information on safety performance corresponding to the event, and When it is determined that a predetermined event has occurred and when it is determined that the moving body is traveling in a predetermined area or within a predetermined time period, the communication unit transmits dynamic information corresponding to the event.

18. An information processing method, comprising: generating information related to a safety performance evaluation of a driving assistance function for a mobile object; as well as sending a plurality of messages and said information from a communication unit, wherein, in the case where the communication unit sends a specific message among the plurality of messages, the information sent from the communication unit includes first identification information for identifying a driving assistance processing unit carried on the mobile body, and second identification information for identifying the mobile body carrying the driving assistance processing unit and the communication unit, wherein, when it is determined that the safety performance of the driving assistance function does not meet the predetermined standard, receiving a notification requesting maintenance of the driving assistance processing unit, The safety performance of the driving assistance function is determined based on the time difference from the time when the sensor built into or connected to the driving assistance processing unit detects the object at a reference location to the time when the moving body passes the reference location, and the moving speed of the moving body, wherein the greater the product of the time difference and the moving speed, the higher the safety performance of the driving assistance function is determined to be.

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