Information processing device, information processing system and information processing method

Abstract

The information processing device (100) includes a storage unit (120) which stores parameter information (D1) related to parameters for detecting the surrounding environment of a moving body (500), and a setting unit (132) which sets the parameters for detecting the surrounding environment of a moving body (500) based on dynamic information (dynamic map D100) detected outside the moving body (500) and the parameter information (D1).

Description

Technical Field

[0001] The present disclosure relates to an information processing device, an information processing system, and an information processing method. Background Art

[0002] A moving body improves the safety of movement by using the detection results of the surrounding environment. Patent Document 1 discloses a technique for controlling processing based on the comparison result between the information about the moving body detected by a detection unit and the information about the moving body detected by an external device.

[0003] Citation List

[0004] Patent Document

[0005] Patent Document 1: WO 2017 / 029847 A Summary of the Invention

[0006] Technical Problem

[0007] In the above conventional technology, when parameters are used for detecting the surrounding environment of a moving body, the parameters are divided into parameters suitable for the environment and conditions of the moving body and parameters not suitable for the environment and conditions of the moving body. Therefore, in the prior art, it is desirable to use parameters suitable for the environment and conditions in which the moving body moves to detect the surrounding environment of the moving body.

[0008] Thus, the present disclosure provides an information processing device, an information processing system, and an information processing method capable of setting parameters suitable for detecting the surrounding environment of a moving body.

[0009] Solution to the Problem

[0010] To solve the above problems, an information processing device according to an embodiment of the present disclosure includes: a storage unit that stores parameter information related to parameters for detecting the surrounding environment of a moving body; and a setting unit that sets parameters for detecting the surrounding environment of the moving body based on dynamic information detected outside the moving body and the parameter information.

[0011] In addition, an information processing system according to an embodiment of the present disclosure includes: an information processing device; and a providing device that provides the information processing device with parameter information related to parameters for detecting the surrounding environment of a moving body, where the information processing device includes: a storage unit that stores the parameter information provided by the providing device; and a setting unit that sets the parameters for detecting the surrounding environment of the moving body based on dynamic information detected outside the moving body and the parameter information.

[0012] In addition, the information processing method according to an embodiment of the present disclosure includes: storing, by a computer, parameter information related to parameters for detecting the surrounding environment of a moving body in a storage unit; and setting the parameters for detecting the surrounding environment of the moving body based on dynamic information detected outside the moving body and the parameter information. Description of the Drawings

[0013] Figure 1 is a diagram for explaining an example of implementing the information processing method according to the first embodiment.

[0014] Figure 2 is a diagram for explaining an example of a dynamic map used in the information processing method.

[0015] Figure 3 is a configuration diagram for schematically explaining an example of the configuration of a moving body and an information processing device according to the first embodiment.

[0016] Figure 4 is a configuration diagram for schematically explaining an example of the configuration of the first server according to the first embodiment.

[0017] Figure 5 is a configuration diagram for schematically explaining an example of the configuration of the second server according to the first embodiment.

[0018] Figure 6 is a diagram for schematically explaining an example of the parameters of the parameter information according to the first embodiment.

[0019] Figure 7 is a diagram for schematically explaining an example of a table of the parameter information according to the first embodiment.

[0020] Figure 8 is a sequence diagram for schematically explaining an example of the processing procedure of the information processing system according to the first embodiment.

[0021] Figure 9 is a flowchart for schematically explaining an example of the processing procedure for changing parameters of the information processing device according to the first embodiment.

[0022] Figure 10 is a diagram for explaining an example of the changed parameters and importance according to the first embodiment.

[0023] Figure 11 is a diagram for explaining an example of changing the importance by risk determination of the information processing device according to the first embodiment.

[0024] Figure 12 is a sequence diagram for schematically explaining an example of the feedback of the information processing system according to the first embodiment.

[0025] Figure 13 It is a flowchart illustrating an example of a processing procedure reflecting parameter information of an information processing apparatus according to the first embodiment.

[0026] Figure 14 It is a diagram for explaining an example of parameter information to be reflected.

[0027] Figure 15 It is a flowchart illustrating an example of a processing procedure reflecting parameter information of an information processing apparatus according to a modification of the first embodiment.

[0028] Figure 16 It is a diagram for explaining an example of implementing the information processing method according to the second embodiment.

[0029] Figure 17 It is a configuration diagram illustrating an example of the configuration of a roadside apparatus according to the second embodiment.

[0030] Figure 18 It is a sequence diagram illustrating an example of feedback of an information processing system according to the second embodiment.

[0031] Figure 19 It is a hardware configuration diagram illustrating an example of a computer that implements the functions of an information processing apparatus. DETAILED DESCRIPTION

[0032] Embodiments of the present disclosure will be described below with reference to the accompanying drawings. Note that, in the embodiments described below, redundant descriptions are omitted by designating the same parts with the same reference numerals and symbols.

[0033] (First Embodiment)

[0034] [Overview of Information Processing System According to First Embodiment]

[0035] Figure 1 It is a diagram for explaining an example of implementing the information processing method according to the first embodiment. Figure 2 It is a diagram for explaining an example of a dynamic map used in the information processing method.

[0036] As Figure 1 illustrated in the figure, the information processing system 1 includes an information processing apparatus 100 mounted on a mobile body 500, a first server 200A, and a second server 200B. The mobile body 500 includes, for example, vehicles (automobiles, electric vehicles, motorcycles, bicycles, etc.), mobile robots, and flying robots (such as drones). Note that, in the present embodiment, the case where the mobile body 500 is a four-wheeled vehicle will be described. The information processing apparatus 100, the first server 200A, and the second server 200B are configured to be able to communicate via a network or directly without using a network.

[0037] Note that the information processing system 1 according to this embodiment can use V2X communication. V2X communication is communication between the moving body 500 and "something". In the information processing system 1, communication between the moving bodies 500 is V2V (vehicle-to-vehicle) communication. In the information processing system 1, communication between the moving body 500 and the infrastructure is V2I (vehicle-to-infrastructure) communication. In the information processing system 1, communication between the moving body 500 and the network is V2N (vehicle-to-network) communication. In the information processing system 1, communication between the moving body 500 and pedestrians is V2P (vehicle-to-pedestrian) communication.

[0038] The moving body 500 is equipped with on-board equipment 530. The on-board equipment 530 includes, for example, electronic devices such as sensors, cameras, and communication devices. The electronic devices of the on-board equipment 530 detect the surrounding environment of the moving body 500. The on-board equipment 530 operates based on parameters. The parameters are used for detecting the surrounding environment of the moving body 500. The parameters include, for example, parameters such as the effective viewing angle, the number of sensors, exposure correction, image processing filters, and MIMO (multiple input multiple output). The on-board equipment 530 has a configuration capable of exchanging information with, for example, the information processing device 100, etc. The on-board equipment 530 detects external and internal information of the moving body 500 and provides the detection results to the moving body 500, the information processing device 100, etc. The moving body 500 performs driving support, autonomous driving, etc. by using the detection results of the on-board equipment 530.

[0039] The first server 200A is, for example, a so-called cloud server, and is a server device that cooperates with the information processing device 100 to perform information processing. The first server 200A is a device provided outside the moving body 500. The first server 200A has, for example, a function of providing parameter information D1 used in the moving body 500. The first server 200A is a server device and is an example of a providing device.

[0040] The parameter information D1 is information indicating parameters corresponding to static factors and dynamic factors. The parameter information D1 has, for example, a plurality of tables D10. The plurality of tables D10 are tables corresponding to static factors. Static factors include factors that do not change at any time, such as countries, regions, seasons, and weather. Each of the plurality of tables D10 has items corresponding to dynamic factors and parameters corresponding to control objects. Dynamic factors include factors that change at any time, such as traffic rules, road conditions, pedestrians, and the positions of other moving bodies 500.

[0041] In Figure 1In the example shown in the figure, table 100 has a plurality of parameters obtained by combining items of traffic control, road surface, and pedestrians with the objects to which the parameters are applied. The objects to which the parameters are applied include, for example, cameras, LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), and radars. In table D10, the items corresponding to the dynamic factors and the objects to which the parameters are applied do not have to be associated in a one-to-one relationship. For example, table D10 can be configured such that a camera is associated with the road surface and pedestrians, but not with traffic control. Figure 1 In this case, the details of the parameters of table D10 are omitted. Examples of the parameters of table D10 are described later.

[0042] The second server 200B is, for example, a cloud server, which is a server device that exchanges various information with the information processing device 100. The second server 200B is a device provided outside the moving body 500. The second server 200B has, for example, a function of managing the dynamic map D100. The second server 200B has, for example, a function of providing information such as the information of the dynamic map D100 to the information processing device 100. The second server 200B is a server device and is an example of a providing device.

[0043] As Figure 2 As shown in the figure, the dynamic map D100 is a database-like map in which vehicle and various traffic information are added to a three-dimensional map and the information is classified according to the update frequency of the information. The dynamic map D100 has three-dimensional geospatial information D110 and additional information D120 that can support the automatic driving of vehicles. The geospatial information D110 and the additional information D120 are associated with each other. Information whose status changes at any time can be utilized in real time.

[0044] The geospatial information D110 includes high-precision information that can specify the position of the host vehicle related to the road and its surroundings at the lane level. The geospatial information D110 is a spatial map information that records various information such as lanes, guardrails, road signs, crosswalks, and roads at an accurate position. The geospatial information D110 is static information in which various information such as roads, buildings on the roads, lanes, road surfaces, and permanent regulations are updated within one month.

[0045] The additional information D120 has quasi-static information D121, quasi-dynamic information D122, and dynamic information D123. The quasi-static information D121 includes, for example, traffic control information, road construction information, wide-area weather information, etc., and is information updated within 1 hour. The quasi-dynamic information D122 is information that includes, for example, accident information, congestion information, and narrow-area weather information at an observation point, and is information updated within 1 minute. The dynamic information D123 includes, for example, ITS (Intelligent Transportation System) prediction information and is updated within 1 second. The prediction information includes, for example, distant information that cannot be detected by a vehicle. The dynamic information D123 includes, for example, information sent / exchanged between moving bodies, signal display information, pedestrian information at intersections, bicycle information at intersections, and straight-ahead vehicle information at intersections.

[0046] In this embodiment, as examples of static information, the geospatial information D110 and the quasi-static information D121 are illustrated. As examples of dynamic information, the quasi-dynamic information D122 and the dynamic information D123 are illustrated.

[0047] Return to reference Figure 1 , the first server 200A communicates with the information processing device 100 to exchange information. The first server 200A, for example, sends the parameter information D1 to the information processing device 100 when the set timing and the parameter information D1 are updated. For example, when the parameter information D1 is updated, the first server 200A may send change information indicating the difference from the parameter information D1 before the change to the information processing device 100.

[0048] The second server 200B communicates with the information processing device 100 to exchange information. The second server 200B provides information on the dynamic map D100 to the information processing device 100, for example, at a predetermined timing. The predetermined timing includes, for example, a preset time and the update of the dynamic map D100.

[0049] The information processing device 100 sets the parameters necessary for the movement of the moving body 500 based on the parameter information D1. As a result, the moving body 500 controls driving devices, sensors, etc. with the set parameters to perform a movement operation. In addition, the information processing device 100 has a function of changing the parameters for detecting the surrounding environment of the moving body 500 based on the dynamic map D100 obtained from the second server 200B and the parameter information D1 of the moving body 500.

[0050] Note that in this embodiment, the case where the information processing system 1 uses the first server 200A and the second server 200B to provide information to the information processing device 100 is illustrated. However, the present disclosure is not limited thereto. For example, the information processing system 1 may use one server device to implement both the first and second servers 200A and 200B.

[0051] [Example of the configuration of the information processing system according to the first embodiment]

[0052] Subsequently, an example of the configuration of the information processing system 1 according to the first embodiment will be described. Figure 3 It is a configuration diagram illustrating an example of the configuration of the mobile body 500 and the information processing device 100 according to the first embodiment.

[0053] As Figure 3 illustrated in the figure, the mobile body 500 includes a plurality of electronic control units connected via a communication network 501. The communication network 501 is composed of, for example, an in-vehicle communication network or bus conforming to any standard such as CAN (Controller Area Network), LIN (Local Interconnect Network), LAN (Local Area Network), or FlexRay (registered trademark). Note that each unit of the mobile body 500 may sometimes be directly connected without passing through the communication network 501. The direct connection configuration includes a configuration connected by D2D (Device-to-Device) communication.

[0054] In Figure 3 the example illustrated in the figure, the mobile body 500 includes a drive system control unit 510, a vehicle body system control unit 520, a mounted device 530, and an information processing device 100. In the present embodiment, the case where the mounted device 530 and the information processing device 100 are connected via the communication network 501 will be described. However, the mounted device 530 and the information processing device 100 may be directly connected via, for example, an interface. In the present embodiment, the case where the mobile body 500 includes one mounted device 530 is described. However, the mobile body 500 may include a plurality of mounted devices 530.

[0055] The drive system control unit 510 controls the operation of devices related to the drive system of the mobile body 500 according to various programs. For example, the drive system control unit 510 functions as a controller for a driving force generation device for generating the driving force of the mobile body 500, such as an internal combustion engine or a drive motor, a driving force transmission mechanism for transmitting the driving force to the wheels, a steering mechanism for adjusting the steering angle of the mobile body 500, and a braking device for generating the braking force of the mobile body 500.

[0056] The vehicle body system control unit 520 controls the operation of various devices mounted on the vehicle body according to various programs. For example, the vehicle body system control unit 520 functions as a control device for a keyless entry system, a smart key system, an electric window device, or various vehicle lamps such as headlamps, tail lamps, brake lamps, turn signals, or fog lamps. In this case, radio waves transmitted from a portable device substituting for a key or signals from respective switches can be input to the vehicle body system control unit 520. The vehicle body system control unit 520 receives the input of the radio waves or signals and controls a door lock device, an electric window device, vehicle lamps, etc. In addition, the vehicle body system control unit 520 can control static or dynamic information displayed on a display device mounted in the vehicle body.

[0057] The mounted device 530 detects information related to the surrounding environment (outside) of the moving body 500. The mounted device 530 obtains environmental information indicating the surrounding environment of the moving body 500. The mounted device 530 includes, for example, various sensors and imaging devices. The mounted device 530 can detect the environment around the mounted device 530 as information related to the outside. The periphery of the mounted device 55630 indicates, for example, an area that can be detected by the mounted device 5630. The mounted device 530 can use, for example, at least one of a camera, a distance sensor, an acceleration sensor, a gyro sensor, an acoustic wave sensor, a position sensor, a temperature sensor, a humidity sensor, and a barometric pressure sensor. In addition, the mounted device 530 can detect a position using, for example, GNSS (Global Navigation Satellite System) represented by GPS (Global Positioning System), map matching, Wi-Fi (registered trademark) positioning, magnetic positioning, BLE (Bluetooth Low Energy (registered trademark)) positioning, or beacon positioning. The mounted device 530 provides the detected information to the information processing device 100.

[0058] In Figure 3 In the example illustrated in the figure, a case is described in which the mounted device 530 includes a camera 531 and a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) 532, a radar 533, an identifier 534, a coupling unit 535, and a detection unit 536. However, the mounted device 530 is not limited thereto.

[0059] The camera 531 includes imaging devices such as a ToF (Time of Flight) camera, a stereo camera, a single-lens camera, an infrared camera, a depth camera, and other cameras. The camera is set so that parameters such as a set direction, a viewing angle, a resolution, an exposure time, a sensor gain, and a reflection cutoff setting (in the case of a polarized light camera) can be changed. The LiDAR 532 measures scattered light irradiated by a laser emitted in a pulse shape and detects the distance to an object located at a long distance and the characteristics of the object. The LiDAR 532 is set so that parameters such as a set direction, a horizontal resolution, a vertical resolution, a measurement distance, and a laser output can be changed. The radar 533 detects external objects using, for example, infrared rays, millimeter waves, or ultrasonic waves. The radar 533 is set so that parameters such as a viewing angle, a resolution, a speed resolution, the number of antennas, a measurement distance, and multipath prevention can be changed. The camera 531, the LiDAR 532, and the radar 533 are examples of sensors. The camera 531, the LiDAR 532, and the radar 533 provide detection information indicating the detection results detected based on the parameters to the corresponding recognizers 534, for example.

[0060] The recognizer 534 recognizes the detection results of the connected sensors and provides the recognition results to the coupling unit 535. The coupling unit 535 integrates the recognition importance indicated by the parameters and the detection results of the sensors and provides the recognition importance to the detection unit 536. For example, assume that when the event is traffic control, as parameters, the importance of the camera 531 is "1", the importance of the LiDAR 532 is "5", and the importance of the radar 533 is "8". In this case, the coupling unit 535 provides the detection result with the highest set importance of the detection results of the radar 533 to the detection unit 536. The detection unit 536 detects external information based on the provided detection results and provides the detection information indicating the detection results to the information processing device 100 or the like via the communication network 501. As described above, the mounted device 530 can set the importance of the detected information according to the parameters.

[0061] Note that in this embodiment, the case where the moving body 500 includes one mounted device 530 is described. However, the present disclosure is not limited to this. For example, the moving body 500 may be configured to include a plurality of mounted devices 530. In addition, the coupling unit 535 may use machine learning to integrate the recognition results of the recognizer 534.

[0062] [Example of the configuration of the information processing device according to the first embodiment]

[0063] Subsequently, an example of the functional configuration of the information processing device 100 according to the first embodiment will be described. As Figure 3As shown in the figure, the information processing apparatus 100 includes a communication unit 110, a storage unit 120, and a control unit 130. The control unit 130 is electrically connected to the communication unit 110 and the storage unit 120.

[0064] The communication unit 110 communicates with in-vehicle devices such as the mounted device 530 of the moving body 500, various external electronic devices, the first server 200A, the second server 200B, a base station, and the like. The communication unit 110 outputs the data received from the first server 200A to the control unit 130, and transmits the data received from the control unit 130 to the first server 200A, the second server 200B, and the like. The communication unit 110 outputs the information included in the received data to the control unit 130, and transmits the information included in the data received from the control unit 130 to the first server 200A, the second server 200B, and the like. The communication unit 110 outputs the data received from the in-vehicle device to the control unit 130, and transmits the data received from the control unit 130 to the relevant in-vehicle device. Note that the communication protocol supported by the communication unit 110 is not particularly limited. The communication unit 110 is also capable of supporting multiple communication protocols. In addition, the communication unit 110 may support multiple wireless interfaces.

[0065] For example, the communication unit 110 performs wireless communication with the information processing apparatus 100 mounted on other moving bodies 500 via wireless LAN, Bluetooth (registered trademark), NFC (Near Field Communication), WUSB (Wireless USB), or the like.

[0066] For example, the communication unit 110 communicates with the first server 200A existing on an external network (for example, the Internet, a cloud network, or a provider-specific network) via a base station or an access point. In addition, for example, the communication unit 110 performs V2X communication, such as vehicle-to-vehicle (V2V) communication, road-to-vehicle (V2I) communication, vehicle-to-network communication, vehicle-to-home communication, and pedestrian-to-vehicle (V2P) communication. That is, through V2X communication, the communication unit 110 can communicate with the communication unit 110 mounted on other moving bodies 500, an RSU (Road Side Unit), a base station or an access point, a wireless communication terminal carried by a pedestrian (for example, a smart phone or a wearable device), a personal computer in a house, a tablet terminal, and the like. In addition, for example, the communication unit 110 includes a beacon receiving unit that receives radio waves or electromagnetic waves transmitted from a wireless station or the like installed on a road, and acquires information such as the current location, traffic congestion, traffic control, and required time.

[0067] The storage unit 120 stores various data and programs. The storage unit 120 is, for example, a semiconductor memory such as a RAM (Random Access Memory) or a flash memory, a hard disk, or an optical disk. The storage unit 120 stores the information received via the communication unit 110. The storage unit 120 stores various information such as parameter information D1 and a dynamic map D100. For example, the storage unit 120 stores the parameter information D1 received from the first server 200A. For example, the storage unit 120 stores part or all of the information of the dynamic map D100 received from the second server 200B.

[0068] The control unit 130 is, for example, a dedicated or general-purpose computer. The control unit 130 is, for example, an integrated control unit that controls the moving body 500. The control unit 130 can calculate the control target values of the driving force generation device, the steering mechanism, or the braking device based on the information inside and outside the vehicle detected by the on-vehicle device 530, and output control information indicating a control command to the drive system control unit 510. For example, the control unit 130 can perform cooperative control for the purpose of realizing the functions of an ADAS (Advanced Driver Assistance System) including collision avoidance or shock mitigation of the moving body 500, following driving based on the inter-vehicle distance, constant-speed driving, vehicle collision warning, or vehicle lane departure warning.

[0069] The control unit 130 controls the driving force generation device, the steering mechanism, the braking device, etc. based on the information of the periphery (outside world) of the moving body 500 detected by the on-vehicle device 530. Thus, the control unit 130 can perform cooperative control for the purpose of autonomous driving such as driving autonomously without depending on the driver's operation.

[0070] The control unit 130 can output control information to the vehicle body system control unit 520 based on the information outside the vehicle detected by the on-vehicle device 530. For example, the control unit 130 can perform cooperative control for the purpose of controlling the headlamp according to the position of the preceding vehicle or the oncoming vehicle detected by the on-vehicle device 530 and realizing glare prevention, for example, switching the high beam to the low beam.

[0071] The control unit 130 includes an acquisition unit 131, a setting unit 132, a determination unit 133, a generation unit 134, an operation control unit 135, a transmission unit 136, and a reflection unit 137. Each functional unit of the acquisition unit 131, the setting unit 132, the determination unit 133, the generation unit 134, the operation control unit 135, the transmission unit 136, and the reflection unit 137 is implemented by a program stored inside the information processing device 100 and executed by a CPU (Central Processing Unit), an MPU (Micro-Processing Unit), etc. using a RAM or the like as a work area. In addition, each functional unit can be implemented by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0072] The acquisition unit 131 acquires various information via the communication unit 110 and stores the acquired information in the storage unit 120. For example, the acquisition unit 131 acquires parameter information D1 provided by the first server 200A and stores the parameter information D1 in the storage unit 120. For example, the acquisition unit 131 acquires the dynamic map D100 from the second server 200B and stores the dynamic map D100 in the storage unit 120. The acquisition unit 131 may request the first server 200A to provide the parameter information D1 and acquire the parameter information D1. The acquisition unit 131 provides the acquired information to the setting unit 132 and the like.

[0073] The setting unit 132 sets parameters for detecting the surrounding environment of the mobile body 500 based on the dynamic information and the parameter information D1 detected outside the mobile body 500. That is, the setting unit 132 dynamically changes and sets the parameters for detecting the surrounding environment of the mobile body 500 based on the dynamic information and the parameter information D1 detected outside the mobile body 500. Dynamically setting parameters means, for example, switching and setting multiple parameters. The parameters for detecting the surrounding environment of the mobile body 500 are, for example, the parameters used by the mobile body 500, the mounted device 530, etc. when detecting the surrounding environment of the mobile body 500. The parameters for detecting the surrounding environment of the mobile body 500 are parameters that can be changed according to the state of the mobile body 500, the conditions detected outside, etc. The parameters for detecting the surrounding environment of the mobile body 500 include, for example, the parameters used in each sensor, electronic device, etc. of the mounted device 530. In the present embodiment, for the sake of simplicity of explanation, the case where the objects for which parameters are set are the camera 531, the LiDAR 532, and the radar 533 of the mounted device 530 is described.

[0074] The setting unit 132 dynamically changes the parameters for detecting the surrounding environment of the mobile body 500 based on the dynamic information acquired by the acquisition unit 131. The setting unit 132 dynamically changes the parameters for detecting the surrounding environment of the mobile body 500 based on at least one of the quasi-dynamic information D122 and the dynamic information D123 of the dynamic map D100 acquired by the acquisition unit 131. As a result, the setting unit 132 can change the parameters to parameters suitable for detecting the surrounding environment based on, for example, ITS prediction information, accident information, traffic congestion information, ambient weather information, etc.

[0075] The setting unit 132 dynamically changes the parameters for detecting the surrounding environment of the moving body 500 based on the static information of the dynamic map D100 acquired by the acquisition unit 131. For example, the setting unit 132 dynamically changes the parameters for detecting the surrounding environment of the moving body 500 based on at least one of the geospatial information D110 and the quasi-static information D121 of the dynamic map D100. Thus, the setting unit 132 can change the parameters to parameters suitable for detecting the surrounding environment based on, for example, road surface information, lane information, three-dimensional building information, traffic control information, road construction information, wide-area weather information, etc.

[0076] The setting unit 132 changes the parameter information D1 based on the risk level determined by the determination unit 133. For example, the setting unit 132 changes the parameters, importance, etc. of the parameter information D1 set in the case of a high risk level. For example, the parameter information D1 includes importance. The importance indicates, for example, the importance of an object, parameter, etc. corresponding to an item. The importance can indicate, for example, the importance of the camera 531, LiDAR 532, and radar 533 of the mounted device 530 that is used in the movement control of the moving body 500. In this case, the setting unit 132 dynamically changes the importance of the recognition result of the mounted device 530 based on at least one of the dynamic information and the static information. Examples of methods for changing the importance will be described later. In addition, the setting unit 132 can change the parameters of the parameter information D1 using, for example, a change table, the result of machine learning, etc.

[0077] The determination unit 133 determines the risk level of the moving body 500 based on the detection result of the detection unit 536 of the mounted device 530. For example, the determination unit 133 determines the risk level of the moving body 500 based on the predicted damage value and importance of the moving body 500. The risk level determined by the determination unit 133 can be expressed by Equation (1).

[0078] Risk level = Σ(Predicted damage value) × (Importance) Equation (1)

[0079] The determination unit 133 provides the determination result to the setting unit 132, the generation unit 134, etc. When the risk level is at a certain level or higher, the determination result of the determination unit 133 can be used for scenarios such as the emergency stop and avoidance of the moving body 500. By outputting the risk level as a continuous value, the determination unit 133 can use the risk level for the route planning of the operation module.

[0080] The generation unit 134 generates control information for controlling the mobile body 500 based on the determination result of the determination unit 133. That is, the generation unit 134 creates control information for controlling the movement of the mobile body 500 based on the detection result of the on-board device 530 based on parameters. The generation unit 134 has functions such as route plan, motion plan, and operation plan. As a route plan, the generation unit 134 plans a route to the target value of the mobile body 500, for example. As a motion plan, the generation unit 134 plans the motion of the mobile body 500 to safely travel on the planned route within the planned time, for example. Specifically, the generation unit 134 plans starting, stopping, traveling direction (e.g., forward, backward, left turn, right turn, and direction change), traveling lane, traveling speed, and overtaking, for example. As an operation plan, the generation unit 134 plans the operation of the mobile body 500 to achieve the planned motion, for example. Specifically, the generation unit 134 plans acceleration, deceleration, and traveling trajectory of the mobile body 500, for example. The generation unit 134 plans the operation of the mobile body 500 to avoid emergency situations such as sudden stop or sharp turn based on the determination result of the risk level. Then, when the generation unit 134 generates control information based on the plan, the generation unit 134 provides the control information to the operation control unit 135.

[0081] The operation control unit 135 controls the operation of the mobile body 500 based on the control information (plan) of the generation unit 134. The operation control unit 135 controls the drive system control unit 510 based on the control information. For example, the operation control unit 135 performs control of the mobile body 500 to implement the control information of the generation unit 134. Then, the operation control unit 135 sends an operation command for driving the mobile body 500 and the like to the drive system control unit 510. As a result, the mobile body 500 moves by the driving force generated by the control of the drive system control unit 510.

[0082] The sending unit 136 sends the change information obtained based on the risk level change parameter information D1 to the outside of the mobile body 500. The change information includes, for example, the difference information between the parameter information D1 before and after the change, and the parameter information D1 after the change. For example, the sending unit 136 sends the change information to a sending destination such as the surrounding mobile body 500 and the first server 200A via the communication unit 110. For example, when generating the change information, the sending unit 136 sends the change information to the sending destination at a timing such as regularly.

[0083] The reflection unit 137 reflects the parameter information D1 transmitted by the other mobile body 500 on the parameter information D1 stored in the storage unit 120. The reflection unit 137 reflects the parameter information D1 changed outside the mobile body 500 on the parameter information D1 of its own device. For example, based on the update frequency of the parameter information D1 stored in the storage unit 120, the reflection unit 137 reflects the parameter information D1 provided by the first server 200A on the parameter information stored in the storage unit 120. An example of the method for reflecting the parameter information D1 will be described below.

[0084] The example of the functional configuration of the information processing device 100 according to the first embodiment has been described above. Referring to Figure 3 The configuration described above is merely an example. The functional configuration of the information processing device 100 according to the first embodiment is not limited to such an example. The functional configuration of the information processing device 100 according to the first embodiment can be flexibly modified according to the specifications and applications.

[0085] [Example of the configuration of the first server according to the first embodiment]

[0086] Figure 4 FIG. is a configuration diagram illustrating an example of the configuration of the first server 200A according to the first embodiment. As Figure 4 illustrated in the figure, the first server 200A includes a communication unit 210, a storage unit 220, and a control unit 230. The control unit 230 is electrically connected to the communication unit 210 and the storage unit 220.

[0087] The communication unit 210 has a function of supporting the above communication protocol and communicating with the information processing device 100, the base station, the server device, etc. of the mobile body 500. The communication unit 210 outputs the data received from the information processing device 100 to the control unit 230, and transmits the data received from the control unit 230 to the information processing device 100.

[0088] The storage unit 220 is implemented by, for example, a semiconductor storage element such as a RAM or a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 220 stores various information such as parameter information D1 and change information D200 provided to the plurality of information processing devices 100. For example, the parameter information D1 of the storage unit 220 includes first information D1A for each vehicle type and second information D1B for each preference. The first information D1A includes information such as a parameter table corresponding to items and objects corresponding to the vehicle type. The second information D1B includes information such as a parameter table corresponding to items and objects corresponding to the preference. Preferences include elements such as driving distance, driving time, average speed, and frequency of driver takeover of automatic control. The change information D200 is information received from the information processing device 100 of the moving body 500. The change information D200 is information capable of specifying the change content of the parameter information D1 changed by the information processing device 100.

[0089] The control unit 230 controls the operation of the first server 200A. The control unit 230 includes a providing unit 231 and a changing unit 232. The functional units of the providing unit 231 and the changing unit 232 are implemented, for example, by the control unit 230 using a RAM or the like as a work area and executing a program stored in the control unit 230.

[0090] Based on the type and / or driving preference of the moving body 500, the providing unit 231 provides the parameter information D1 related to the parameters for detecting the surrounding environment of the moving body 500 to the moving body 500 via the communication unit 210. The providing unit 231 has a function of providing the parameter information D1 in response to a request from the information processing device 100 (moving body 500). The providing unit 231 has a function of providing the changed parameter information D1 when the parameter information D1 is changed.

[0091] Based on the change information of the information processing device 100, the changing unit 232 changes the parameter information D1 provided to the information processing device 100. The changing unit 232 stores the change information of the plurality of moving bodies 500 in the storage unit 220 and periodically changes the parameter information D1 based on the change information. "Periodically" includes, for example, every weekend, every set time, and every vehicle inspection time. For example, when it is determined that the risk level is equal to or higher than the threshold set in the moving body 500, the changing unit 232 changes the parameter information D1 based on the change information of the moving body 500.

[0092] The functional configuration example of the first server 200A according to the first embodiment has been described above. Referring to the above Figure 4The configuration of the description is just an example. The functional configuration of the first server 200A according to the first embodiment is not limited to such an example. The functional configuration of the first server 200A according to the first embodiment can be flexibly modified according to the specifications and applications.

[0093] [Example of the configuration of the second server according to the first embodiment]

[0094] Figure 5 It is a configuration diagram illustrating an example of the configuration of the second server 200B according to the first embodiment. As Figure 5 shown in the illustration, similar to the first server 200A, the second server 200B includes a communication unit 210, a storage unit 220, and a control unit 230.

[0095] The storage unit 220 stores, for example, a dynamic map 300 provided to the information processing device 100, the first server 200A, and the like.

[0096] The control unit 230 controls the operation of the second server 200B. The control unit 230 includes a generation unit 233 and a transmission unit 234. The functional units of the generation unit 233 and the transmission unit 234 are implemented, for example, by the control unit 230 using a RAM or the like as a work area and executing a program stored in the control unit 230.

[0097] The generation unit 233 generates a real-time dynamic map D100. The generation unit 233 generates (updates) additional information D120, for example, based on traffic information and traffic control information received via the communication unit 210, and associates the additional information D120 with the geospatial information D110 to generate an up-to-date dynamic map D100. The generation unit 233 stores the generated dynamic map D100 in the storage unit 220.

[0098] The transmission unit 234 transmits the dynamic map D100 to the information processing device 100 and the like via the communication unit 210. The transmission unit 234 can transmit, for example, the dynamic map D100 generated or updated by the generation unit 233 to the information processing device 100 and the like. For example, the transmission unit 234 can broadcast the dynamic map D100 on the network.

[0099] The above has described an example of the functional configuration of the second server 200B according to the first embodiment. The above reference Figure 5 The configuration of the description is just an example. The functional configuration of the second server 200B according to the first embodiment is not limited to such an example. The functional configuration of the second server 200B according to the first embodiment can be flexibly modified according to the specifications and applications.

[0100] [Example of parameter information according to the first embodiment]

[0101] Figure 6 This is a diagram illustrating an example of the parameters of the parameter information D1 according to the first embodiment. Figure 6 The parameter information D1 shown in the figure represents an example of the parameters of the camera 531, LiDAR 532, and radar 533 of the mounted device 530. The parameter information D1 indicates that the control object parameters of the camera 531 are, for example, the set direction, viewing angle, resolution, exposure time, sensor gain, and reflection cut-off setting (in the case of a polarized light camera). The parameter information D1 indicates that the control object parameters of the LiDAR 532 are, for example, the set direction, horizontal resolution, vertical resolution, measurement distance, and laser output. The parameter information D1 indicates that the control object parameters of the radar 533 are, for example, the viewing angle, resolution, velocity resolution, number of antennas, measurement distance, and multipath prevention. The parameter information D1 indicates the corresponding importance of the camera 531, LiDAR 532, and radar 533 in contributing to the risk level of the moving body 500.

[0102] The parameter information D1 can set parameters for control object electronic devices, sensors, etc. For example, in the case of a microphone, the parameter information D1 can be configured to indicate the importance of the microphone by setting parameters such as the set direction and effective frequency band as the control object.

[0103] [Example of the table according to the first embodiment]

[0104] Figure 7 This is a diagram illustrating an example of the table D10 of the parameter information D1 according to the first embodiment. Note that in Figure 7 for simplicity of explanation, the table D10 shows a part of the parameters.

[0105] As Figure 7 shown in the figure, the parameter information D1 has a table D10 in which the static factor corresponds to "fog". For example, when the surrounding environment is fog, since it is difficult for the camera 531 and LiDAR 532 to sense the moving body 500, the importance of the camera 531 and LiDAR 532 is relatively reduced, and the importance of the radar 533 is increased. Thus, the moving object 500 can perform detection of the surrounding environment mainly using the radar 533. For example, during traffic control, it is necessary to pay attention to the relatively short distance of the moving body 500. Therefore, for the items of traffic control, the parameter information D1 is set such that the effective viewing angle of the camera 531 is set wider, and the laser output of the LiDAR 532 is set lower than the standard.

[0106] In Figure 7In the example shown in the figure, table D10 of parameter information D1 represents parameters and importance levels corresponding to camera 531, LiDAR 532, and radar 533 for traffic control. As a parameter of camera 531, the effective viewing angle is set to "100°", and the brightness setting is set to "±0". The importance level of the camera is set to the value "3". As a parameter of LiDAR 532, the laser output is set to "Standard - 1". The importance level of LiDAR 532 is set to the value "3". As a parameter of radar 533, the viewing angle is set to "100°", the resolution is set to "Standard × 2", and the number of antennas is set to "Standard × 2". The importance level of radar 533 is set to the value "5".

[0107] In this embodiment, table D10 of parameter information D1 has parameters and importance levels. However, the present disclosure is not limited thereto. For example, when the table is applied to machine learning, the table D10 may include coefficients for machine learning, etc.

[0108] [Processing Procedure of Information Processing System According to the First Embodiment]

[0109] Subsequently, with reference to Figure 8 the processing procedure of information processing system 1 according to the first embodiment will be described. Figure 8 FIG. is a sequence diagram illustrating an example of the processing procedure of information processing system 1 according to the first embodiment. Figure 8 The processing procedure shown in the figure is implemented by the control unit 130 of information processing device 100 and the control unit 230 of second server 200B executing programs.

[0110] As Figure 8 shown in the figure, second server 200B generates dynamic map D100 reflecting static changes (step S21). For example, second server 200B generates dynamic map D100 based on road surface information, lane information, weather information, etc. received via communication unit 210. Second server 200B sends dynamic map D100 whose static information has been changed to information processing device 100 (step S22). For example, second server 200B sends part or all of the information of dynamic map 300 to each of multiple information processing devices 100 via communication unit 210.

[0111] Information processing device 100 stores dynamic map 300 received from second server 200B via communication unit 110 in storage unit 120 (step S11). Information processing device 100 specifies table D10 from parameter information D1 based on dynamic map D110 (step S12). For example, information processing device 100 specifies table D10 corresponding to the static factors indicated by dynamic map D100.

[0112] After that, the second server 200B generates a dynamic map D100 that reflects the dynamic changes (step S23). For example, the second server 200B generates the dynamic map D100 in which the dynamic changes are determined based on the ITS prediction information, traffic control information, road construction information, accident information, etc. received via the communication unit 210. The second server 200B sends the dynamic map D100 whose dynamic information has been changed to the information processing device 100 (step S24).

[0113] The information processing device 100 stores the dynamic map 300 received from the second server 200B via the communication unit 110 in the storage unit 120 (step S13). The information processing device 100 specifies the parameters and importance levels from the parameter information D1 based on the dynamic map D100 (step S14). For example, the information processing device 100 specifies the parameters and importance levels corresponding to the dynamic factors from the table D10 corresponding to the static factors indicated by the dynamic map D100.

[0114] In this embodiment, the case where the information processing device 100 obtains the dynamic map D100 from the second server 200B has been described. However, the present disclosure is not limited thereto. For example, the second server 200B may send the dynamic map D100 to the first server 200A. The first server 200A may send the dynamic map D100 to the information processing device 100.

[0115] [Example of parameter change process of information processing device according to the first embodiment]

[0116] Figure 9 It is a flowchart illustrating an example of the process of changing parameters of the information processing device according to the first embodiment. Figure 9 The process shown in the diagram is implemented by the control unit 130 of the information processing device 100 executing a program. For example, at the start of the movement of the moving body 500, the control unit 130 executes Figure 9 the process shown in the diagram.

[0117] As Figure 9 shown in the diagram, the control unit 130 of the information processing device 100 determines whether the dynamic map D100 has been obtained (step S101). For example, when the dynamic map D100 is received from the second server 200B via the communication unit 110, the control unit 130 determines that the dynamic map D100 has been obtained. When it is determined that the dynamic map D100 has not been obtained (step S101: No), the control unit 130 advances the process to step S106 described below. When it is determined that the dynamic map D100 has been obtained (step S101: Yes), the control unit 130 advances the process to step S102.

[0118] The control unit 130 estimates dynamic factors and static factors based on the dynamic map D100 (step S102). For example, the control unit 130 estimates dynamic factors and static factors based on the three-dimensional geospatial information D110 of the dynamic map D100 and additional information D120 that can support the automatic driving of the moving body 500, etc. When the control unit 130 stores the estimation result in the storage unit 120, the control unit 130 advances the process to step S103.

[0119] The control unit 130 extracts a relevant table from the parameter information D1 in the storage unit 120 (step S103). For example, the control unit 130 extracts a table D10 corresponding to the static factors estimated in step S102 from the parameter information D1. For example, when the static factor is fog, the control unit 130 extracts the table D10 corresponding to fog from the parameter information D1. When the process of step S103 ends, the control unit 130 advances the process to step S104.

[0120] The control unit 130 specifies the parameters and importance of the object from the extracted table D10 (step S104). For example, the control unit 130 specifies the parameters and importance of the object in the table D10 according to the relationship between the items corresponding to the dynamic factors estimated in step S102 and the object. When the process of step S104 ends, the control unit 130 advances the process to step S105.

[0121] The control unit 130 changes the parameters and importance of the object based on the specified result (step S105). For example, when the object is an electronic device of the mounted device 530, the control unit 130 requests the mounted device 530 to change at least one of the parameters and importance of the object via the communication unit 110. For example, when the object is the drive system control unit 510, the control unit 130 requests the drive system control unit 510 to change at least one of the parameters and importance via the communication unit 110. When the process of step S105 ends, the control unit 130 advances the process to step S106.

[0122] The control unit 130 determines whether the moving body 500 has finished moving (step S106). For example, when the control unit 130 confirms that the movement of the moving body 500 has ended based on the movement state, movement plan, control information, driving condition, etc. of the moving body 500, the control unit 130 determines that the moving body 500 has finished moving. When it is determined that the moving body 500 has not finished moving (step S106: No), the control unit 130 returns the process to the above step S101 and continues the process. In addition, when it is determined that the moving body 500 has finished moving (step S106: Yes), the control unit 130 ends Figure 9 the processing procedure shown in the figure.

[0123] In Figure 9 the processing shown in the diagram, a case is illustrated in which the control unit 130 changes parameters and importance levels triggered by the acquisition of the dynamic map D100. However, the present disclosure is not limited to this. For example, the control unit 130 may also set, for example, the detection of a set event, state, etc. by the mounted device 530 or the acquisition of change information by the mounted device 530 from another moving body 500 as a trigger for changing parameters and importance levels.

[0124] [Example of changing parameters of the information processing device according to the first embodiment]

[0125] Figure 10 is a diagram for explaining an example of changing parameters and importance levels according to the first embodiment. In Figure 10 the scenario shown in the diagram, in the mounted device 530 of the moving body 500, the parameters and importance levels of the camera 531, LiDAR 532, and radar 533 corresponding to the movement of the moving body 500 are set by the information processing device 100. In this case, the mounted device 530 is based on the premise that the camera 531, LiDAR 532, and radar 533 detect external information with the same importance level.

[0126] The information processing device 100 estimates, for example, based on the dynamic map D100, that the static factor of the moving body 500 is fog, and the dynamic factor of the moving body 500 is traffic control. The information processing device 100 extracts a table in which the static factor is fog from the parameter information D1 in the storage unit 120, and designates the parameters and importance levels of the items corresponding to the dynamic factors. The information processing device 100 changes the parameters of the camera 531, LiDAR 532, and radar 533 of the mounted device 530 to the designated parameters. The information processing device 100 changes the importance level of the coupling unit 535 of the mounted device 530 to the designated importance level. As a result, in the mounted device 530, the camera 531, LiDAR 532, and radar 533 perform detection operations with the changed parameters. The mounted device 530 combines the detection results of the camera 531, LiDAR 532, and radar 533 based on the importance level. The detection unit 536 detects external information.

[0127] In Figure 10 the example shown in the diagram, in the mounted device 530, the importance level of the radar 533 is set to the highest. Thus, the detection result is mainly obtained through the radar 533. In addition, during traffic control, it is necessary to pay attention to the relatively short distance from the moving body 500. Thus, since the effective viewing angle of the camera 531 is enlarged using the changed parameters, the mounted device 530 can effectively image objects around the moving body 500. The mounted device 530 provides the detection result to the information processing device 100 etc. via the communication network 501.

[0128] [Example of changing importance by risk determination of information processing apparatus according to the first embodiment]

[0129] Figure 11 This is a diagram for explaining an example of changing importance by risk determination of the information processing apparatus 100 according to the first embodiment. In Figure 11 the example illustrated in the figure, in the mounted apparatus 530 of the moving body 500, the importance levels of the camera 531, the LiDAR 532, and the radar 533 are set by the information processing apparatus 100. The importance levels of the camera 531 and the LiDAR 532 are set to "3". The importance level of the radar 533 is set to "5".

[0130] The information processing apparatus 100 determines the risk level of the moving body 500 by the determination unit 133 based on the detection results of the detection unit 536 of the mounted apparatus 530. The information processing apparatus 100 designates the detection results of the camera 531, the LiDAR 532, and the radar 533 based on the detection results. In Figure 11 the example illustrated in the figure, the information processing apparatus 100 designates that a risk is detected by the camera 531 and the radar 533, and no risk is detected by the LiDAR 532. In this case, the information processing apparatus 100 increases the importance level of the camera 531 from "3" to "4", increases the importance level of the radar 533 from "5" to "6", and decreases the importance level of the LiDAR 532 from "3" to "1".

[0131] When the information processing apparatus 100 detects a failure of an electronic device of the mounted apparatus 530, the information processing apparatus 100 may set the importance level of the failed electronic device to "0" so as not to use the electronic device for risk determination. In addition, the information processing apparatus 100 may change the importance level based on a comparison result between external information received via the communication unit 110 and the risk determination result. In addition, when the importance level of the parameter information D1 is changed, the information processing apparatus 100 may change the parameter. For example, when the importance level of the camera 531 increases, the information processing apparatus 100 may make changes such as expanding the effective viewing angle of the parameter and increasing the brightness setting.

[0132] [Example of parameter feedback according to the first embodiment]

[0133] Next, an example of feedback of parameters of the information processing system 1 according to the first embodiment will be described with reference to Figure 12 This is a sequence diagram for explaining an example of feedback of the information processing system 1 according to the first embodiment. Figure 12 Figure 12 ​The processing sequence shown in the figure is implemented by the control unit 130 of the information processing device 100 and the control unit 230 of the first server 200A executing programs.

[0134] As Figure 12 As shown in the figure, the information processing device 100 determines the risk level of the moving body 500 based on the detection results of the mounted device 530 (step S111). The information processing device 100 changes parameters and importance levels based on the risk level (step S112). For example, the information processing device 100 detects the fitness of the detection results of the mounted device 530 and customizes parameters and importance levels based on this fitness. For example, the information processing device 100 can detect the fitness of the detection results of the mounted device 530 based on the detection results of the mounted device 530 and the detection results of the external sensing devices of the moving body 500. The external sensing devices include various sensing devices of other moving bodies 500 and infrastructure, for example. As a result, the generation unit 134 starts generating control information based on the changed parameters. The operation control unit 135 controls the operation of the moving body 500 based on the control information.

[0135] The information processing device 100 generates change information D200 indicating the change results (step S113). The information processing device 100 sends the change information D200 to the first server 200A via the communication unit 110 (step S114). Note that the timing at which the information processing device 100 sends the change information D200 to the first server 200A includes, for example, regular intervals, and cases where the set risk level is determined.

[0136] The first server 200A stores the change information D200 received from the information processing device 100 via the communication unit 210 in the storage unit 220 (step S211). The first server 200A changes the parameter information D1 based on the change information D200 (step S212). For example, the first server 200A classifies the change information D200 according to predetermined conditions, and summarizes and generalizes the change information D200. The predetermined conditions include conditions such as travel distance, travel time, average speed, and the frequency of the driver taking over automatic control. The first server 200A changes the parameters, importance levels, etc. of the first information D1A and the second information D1B of the parameter information D1 based on the summary results. The first server 200A adds new parameters to the parameter information D1 or deletes parameters from the parameter information D1 based on the summary results, etc.

[0137] [Example of the information processing device according to the first embodiment reflecting parameter information]

[0138] Figure 13 It is a flowchart illustrating an example of the processing procedure of the information processing device 100 according to the first embodiment reflecting the parameter information D1. Figure 14It is a diagram showing an example of the reflection of parameter information D1. Figure 13 The processing procedure shown in the diagram is implemented by the control unit 130 of the information processing device 100 executing a program. Figure 13 The processing procedure shown in the diagram is executed by the control unit 130 during the operation of the information processing device 100, for example.

[0139] As Figure 13 As shown in the diagram, the control unit 130 of the information processing device 100 determines whether parameter information D1 has been acquired from the first server 200A (step S121). For example, when the parameter information D1 is received from the first server 200A via the communication unit 110, the control unit 130 determines that the parameter information D1 has been acquired. When it is determined that the parameter information D1 has not been acquired (step S121: No), the control unit 130 advances the processing to step S123 described below. When it is determined that the parameter information D1 has been acquired (step S121: Yes), the control unit 130 advances the processing to step S122.

[0140] The control unit 130 reflects the acquired parameter information D1 on the parameter information D1 in the storage unit 120 (step S122). For example, as Figure 14 shown in the diagram, the control unit 130 uses the reflection rate α to reflect the parameter information D1. When the value of the reflection rate α is 1, the reflection rate α means that the parameter information D1 is completely rewritten. When the reflection rate α is, for example, greater than 0 and equal to or less than 1, the reflection rate α means that the parameter information D1 is not rewritten. For example, in the case of the moving body 500 of a person with a high driving frequency, by setting a higher value as the reflection rate α, the possibility that the customization result of the parameter information D1, etc. is rewritten can be reduced. The control unit 130 compares the result of multiplying the parameter information D1 before the change by (1 - α) and the result of multiplying the parameter information D1' acquired from the first server 200A by the reflection rate α, and updates the parameter information D1 according to the reflection rate. For example, when the parameter before the change and the parameter after the change are different, the control unit 130 determines whether to update the parameter information D1 according to the reflection rate α. The control unit 130 also changes the importance in the same way.

[0141] Note that for each item in the table D10, the reflection rate α can be set to different values. Examples of items for which the reflection rate α should be set to a relatively high value include items in the table D10 for which the information processing device 100 has a low update frequency because the dynamic map D100 information is not frequently received. Examples of items for which the reflection rate α should be set to a relatively high value include items with a large deviation between the table D10 held by the information processing device 100 and the table D10 received from the first server 200A. Return to Figure 13 , when the processing of step S122 ends, the control unit 130 advances the processing to step S123.

[0142] The control unit 130 determines whether the moving body 500 has finished moving (step S123). When it is determined that the moving body 500 has not finished moving (step S123: No), the control unit 130 returns the process to the above step S121 and continues the process. In addition, when it is determined that the moving body 500 has finished moving (step S123: Yes), the control unit 130 ends Figure 13 the processing procedure illustrated in the figure.

[0143] As described above, in the information processing system 1 according to the first embodiment, the information processing device 100 dynamically sets the parameters for detecting the surrounding environment of the moving body 500 based on the dynamic information detected outside the moving body 500 and the parameter information D1 of its own device. Thus, the information processing system 1 can optimize the parameters for detecting the surrounding environment of the moving body 500 by setting the parameters corresponding to the external environment of the moving body 500 with the information processing device 100, thereby contributing to improving the safety during the movement of the moving body 500.

[0144] Note that the first embodiment described above represents an example, and various modifications and applications are possible. The information processing system 1 in the first embodiment can be applied to other embodiments and the like.

[0145] [Modification Example of the First Embodiment]

[0146] In the first embodiment, the case where the information processing device 100 changes the parameter information D1 of its own device based on the parameter information D1 obtained from the first server 200A is described. However, the present disclosure is not limited thereto. For example, the information processing device 100 can change the parameter information D1 of its own device based on the parameter information D1 obtained from other moving bodies 500, change information D200, etc. In the modification example of the first embodiment, an example where the information processing device 100 changes the parameter information D1 of its own device based on the change information D200 obtained from other moving bodies 500 will be described.

[0147] [Example of the Information Processing Device Reflecting Parameter Information According to the Modification Example of the First Embodiment]

[0148] Figure 15 is a flowchart showing an example of the processing procedure of the information processing device 100 reflecting the parameter information D1 according to the modification example of the first embodiment. Figure 15 The processing procedure illustrated in the figure is implemented by the control unit 130 of the information processing device 100 executing a program. Figure 15 The processing procedure illustrated in the figure is executed by the control unit 130, for example, during the operation of the information processing device 100.

[0149] AsFigure 15 As shown in the figure, the control unit 130 of the information processing device 100 determines whether change information D200 has been obtained from another mobile body 500 (step S131). For example, when the control unit 130 receives the change information D200 from the other mobile body 500 and the information processing device 100 mounted on the mobile body 500 via the communication unit 110, the control unit 130 determines that the change information D200 has been obtained. When it is determined that the change information D200 has not been obtained (step S131: No), the control unit 130 advances the process to step S133 described below. When it is determined that the change information D200 has been obtained (step S131: Yes), the control unit 130 advances the process to step S132.

[0150] The control unit 130 reflects the obtained change information D200 on the parameter information D1 in the storage unit 120 (step S132). For example, the control unit 130 changes the parameter and importance based on the change condition through the change information D200. The change conditions include, for example, that the update weights of the parameters and importance of the change object are lower than the threshold, the types of the mobile bodies 500 are the same, and the preferences of the parameter information D1 are the same. The control unit 130 changes at least one of the parameters and importance that satisfy the change conditions based on the change information D200. When the process of step S132 ends, the control unit 130 advances the process to step S133.

[0151] The control unit 130 determines whether the mobile body 500 has finished moving (step S133). When it is determined that the mobile body 500 has not finished moving (step S133: No), the control unit 130 returns the process to the above step S131 and continues the process. In addition, when it is determined that the mobile body 500 has finished moving (step S133: Yes), the control unit 130 ends Figure 15 the processing process shown in the figure.

[0152] (Second Embodiment)

[0153] [Example of the configuration of the information processing system according to the second embodiment]

[0154] Subsequently, the second embodiment will be described. Figure 16 is a diagram for explaining an example of implementing the information processing method according to the second embodiment. As Figure 16 shown in the figure, the information processing system 1 includes an information processing device 100 mounted on a mobile body 500, a first server 200A that provides parameter information D1, and a roadside machine 700. In the configuration, the information processing system 1 may include the second server 200B described above.

[0155] The roadside device 700 is, for example, an electronic device that is provided outside the moving body 500 and can communicate with the moving body 500. That is, the roadside device 700 is an example of an external device provided outside the moving body 500. The roadside device 700 is installed as infrastructure, for example, in roads, intersections, traffic lights, parking lots, and the like. For example, the roadside device 700 has a configuration that can exchange various information with an unspecified number of moving bodies 500 approaching the roadside device 700.

[0156] A case where the information processing device 100 has Figure 3 the configuration of the information processing device 100 shown in the diagram will be described. A case where the first server 200A has Figure 4 the configuration of the first server 200A shown in the diagram will be described. That is, the information processing system 1 is a system in which the roadside device 700 is added to the information processing system 1 according to the first embodiment.

[0157] [Example of the configuration of the roadside device according to the second embodiment]

[0158] Figure 17 is a configuration diagram for illustrating an example of the configuration of the roadside device 700 according to the second embodiment. As Figure 17 shown in the diagram, the roadside device 700 includes a communication unit 710, a storage unit 720, a control unit 730, and a sensor unit 740.

[0159] The communication unit 710 has a function of supporting the communication protocol described above and communicating with, for example, the first server 200A, the information processing device 100 of the moving body 500, and the base station. The communication unit 710 outputs the data received from the information processing device 100 to the control unit 730, and sends the data received from the control unit 730 to the information processing device 100. The communication unit 710 outputs the data received from the first server 200A to the control unit 730, and sends the data received from the control unit 730 to the first server 200A.

[0160] The storage unit 720 is implemented by, for example, a semiconductor storage element such as a RAM or a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 720 stores various information, such as condition information 721 and determination information 722. The condition information 721 includes, for example, information indicating conditions for determining the risk level of the moving body 500. The determination information 722 includes, for example, information indicating the determination result of the risk level of the roadside device 700.

[0161] The control unit 730 is, for example, a dedicated or general-purpose computer. The control unit 730 controls the operation of the roadside machine 700. The control unit 730 includes a determination unit 731 and a transmission unit 732. The functional units of the determination unit 731 and the transmission unit 732 are implemented, for example, by a CPU or an MPU using a RAM or the like as a work area and executing a program stored in the roadside machine 700. In addition, each functional unit can be implemented by an integrated circuit such as an ASIC or an FPGA.

[0162] The determination unit 731 has a function of determining the risk level of the moving body 500. The determination unit 731 determines the risk level of the moving body 500, for example, based on the detection result of the sensor unit 740. The determination unit 731 determines the risk level of the moving body 500, for example, based on the image of the moving body 500 captured by the imaging device, the speed of the moving body 500 detected by the sensing device, etc. The determination unit 731 generates determination information 722 indicating the determination result of the risk level of the moving body 500, associates the determination information 722 with the moving body 500, and stores the determination information 722 in the storage unit 720. Note that the determination unit 731 can determine the risk level of the moving body 500 based on the dynamic map D100 of the second server 200B. The determination unit 731 can obtain detection information from the moving body 500 and determine the risk level of the moving body 500 based on the detection information.

[0163] The transmission unit 732 transmits the determination information 722 generated by the determination unit 731 to the moving body 500 via the communication unit 710. For example, the transmission unit 732 can broadcast the determination information 722 via the communication unit 710, or can transmit the determination information 722 to the specified moving body 500.

[0164] The sensor unit 740 obtains environment information indicating the surrounding environment of its own device. The sensor unit 740 includes various sensors, such as sensors for detecting objects such as the moving body 500 and people, and sensors for detecting road surface conditions. The sensor unit 740 detects the surrounding environment according to parameters that can be changed. The parameters include parameters such as the detection range, the sensors to be used, and the number of sensors. The sensor unit 740 obtains, for example, environment information of a position that is difficult to detect by a driver, the moving body 500, etc. The sensor unit 740 provides, for example, environment information indicating the surrounding environment of its own device to the control unit 730.

[0165] The functional configuration example of the roadside machine 700 according to the second embodiment has been described above. Referenced above Figure 17 The described configuration is only an example, and the functional configuration of the roadside machine 700 according to the second embodiment is not limited to such an example. The functional configuration of the roadside machine 700 according to the second embodiment can be flexibly modified according to specifications and applications.

[0166] [Example of Feedback of Parameters According to the Second Embodiment]

[0167] Subsequently, with reference to Figure 18 an example of feedback of parameters of the information processing system 1 according to the second embodiment will be described. Figure 18 is a sequence diagram illustrating an example of feedback of the information processing system 1 according to the second embodiment. Figure 18 The processing procedures illustrated in the figure are implemented by the control unit 130 of the information processing device 100, the control unit 730 of the roadside machine 700, and the control unit 230 of the first server 200A executing programs.

[0168] As Figure 18 illustrated in the figure, the information processing device 100 determines the risk level of the moving body 500 based on the detection result of the on-board device 530 (step S111).

[0169] The roadside machine 700 determines the risk level of the moving body 500 (step S711). For example, the roadside machine 700 determines the risk level of the moving body 500 located around its own machine. The roadside machine 700 generates determination information 722 indicating the determination result and stores the determination information 722 in the storage unit 720. The roadside machine 700 sends the determination information to the moving body 500 via the communication unit 710 (step S712).

[0170] When the information processing device 100 receives the determination information 722 from the roadside machine 700 via the communication unit 110, the information processing device 100 changes the parameters and importance levels based on the determination information 722 and the risk level determined by its own device (step S141). For example, the information processing device 100 detects the fitness of the detection result of the on-board device 530 based on the comparison result between the risk level determination result indicated by the determination information 722 of the roadside machine 700 and the risk level determination result of its own device, and customizes the parameters and importance levels based on the fitness. As a result, the generation unit 134 starts generating control information based on the changed parameters. The operation control unit 135 controls the operation of the moving body 500 based on the control information.

[0171] The information processing device 100 generates change information D200 indicating the change result (step S142). The information processing device 100 sends the change information D200 to the first server 200A via the communication unit 110 (step S143). Note that the timing at which the information processing device 100 sends the change information D200 to the first server 200A includes, for example, regular intervals, as well as cases where the set risk level is determined.

[0172] The first server 200A stores the change information D200 received from the information processing device 100 via the communication unit 210 in the storage unit 220 (step S211). The first server 200A changes the parameter information D1 based on the change information D200 (step S212).

[0173] As described above, in the information processing system 1 according to the second embodiment, the information processing device 100 can change the parameters to parameters suitable for the moving body 500 based on the determination result of the risk level of its own device and the determination result of the risk level of the roadside machine 700. As a result, the information processing system 1 can optimize the parameters for detecting the surrounding environment of the moving body 500 by changing the parameters to parameters corresponding to the external environment of the moving body 500 using the information processing device 100, thereby contributing to improving the safety during the movement of the moving body 500.

[0174] Note that the second embodiment described above represents examples, and various modifications and applications are possible. The information processing system 1 in the second embodiment can be applied to other embodiments and the like.

[0175] [Hardware Configuration]

[0176] The information processing device according to the present embodiment described above can be implemented, for example, by a computer 1000 having the Figure 19 configuration illustrated in the figure. In the following description, the information processing device 100 according to the embodiment will be described as an example. Figure 19 FIG. is a hardware configuration diagram illustrating an example of a computer 1000 that implements the functions of the information processing device 100. The computer 1000 includes a CPU 1100, a RAM 1200, a ROM (read only memory) 1300, an HDD (hard disk drive) 1400, a communication interface 1500, and an input / output interface 1600. Each unit of the computer 1000 is connected via a bus 1050.

[0177] The CPU 1100 operates based on programs stored in the ROM 1300 or the HDD 1400 and controls each unit. For example, the CPU 1100 expands the programs stored in the ROM 1300 or the HDD 1400 into the RAM 1200 and executes processes corresponding to various programs.

[0178] The ROM 1300 stores boot programs such as BIOS (basic input / output system) executed by the CPU 1100 when the computer 1000 starts up, programs depending on the hardware of the computer 1000, and the like.

[0179] The HDD 1400 is a computer-readable recording medium that non-temporarily records programs executed by the CPU 1100 and data used by such programs. Specifically, the HDD 1400 is a recording medium that records an information processing program according to the present disclosure as an example of the program data 1450.

[0180] The communication interface 1500 is an interface for connecting the computer 1000 to an external network 1550 (e.g., the Internet). For example, the CPU 1100 receives data from other devices via the communication interface 1500, or sends data generated by the CPU 1100 to other devices.

[0181] The input / output interface 1600 is an interface for connecting an input / output device 1650 and the computer 1000. For example, the CPU 1100 receives data from an input device such as a keyboard or a mouse via the input / output interface 1600. In addition, the CPU 1100 sends data to an output device such as a display, a speaker, or a printer via the input / output interface 1600. In addition, the input / output interface 1600 can function as a medium interface for reading programs and the like recorded on a predetermined recording medium. The medium is, for example, an optical recording medium such as a DVD (Digital Versatile Disc), a magneto-optical recording medium such as an MO (Magneto-Optical Disc), a tape medium, a magnetic recording medium, or a semiconductor memory.

[0182] For example, when the computer 1000 functions as the information processing device 100 according to the embodiment, the CPU 1100 of the computer 1000 executes a program loaded onto the RAM 1200, thereby implementing functions of the acquisition unit 131, the setting unit 132, the determination unit 133, the generation unit 134, the operation control unit 135, the transmission unit 136, the reflection unit 137, etc. of the control unit 130. In addition, the HDD 1400 stores programs related to the present disclosure and data in the storage unit 120. The CPU 1100 reads the program data 1450 from the HDD 1400 and executes the program data 1450. However, as another example, these programs can be acquired from other devices via the external network 1550.

[0183] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the technical scope of the present disclosure is not limited to such examples. Obviously, those of ordinary skill in the technical field of the present disclosure can make various changes or modifications within the scope of the technical idea described in the claims. It should be understood that these changes and modifications naturally belong to the technical scope of the present disclosure.

[0184] The effects described in this specification are merely illustrative or exemplary, not restrictive. That is, together with or instead of the described effects, other effects obvious to those skilled in the art according to the description of this specification can be achieved by the technology of this disclosure.

[0185] In addition, a program can be created to make hardware such as a CPU, ROM, and RAM built into a computer perform the same functions as the components included in the information processing device 100. A computer-readable recording medium recording the program can also be provided.

[0186] In addition, the steps related to the processing of the information processing system 1 in this specification do not always need to be processed in the order described in the sequence. For example, the steps related to the processing of the information processing system 1 can be processed in an order different from the order described in the sequence, or can be processed in parallel.

[0187] Furthermore, in this specification, a case where the information processing device 100 is implemented by the electronic control unit of the moving body 500 is described. However, the present disclosure is not limited thereto. The information processing device 100 can be implemented by other electronic control units such as mounting devices, communication devices, the drive system control unit 510, and the vehicle body system control unit 520 mounted on the moving body 500.

[0188] (Effect)

[0189] The information processing device 100 includes a storage unit 120 that stores parameter information D1 related to parameters for detecting the surrounding environment of the moving body 500, and a setting unit 132 that sets parameters for detecting the surrounding environment of the moving body 500 based on dynamic information detected outside the moving body 500 and the parameter information D1.

[0190] As a result, the information processing device 100 can set parameters for detecting the surrounding environment of the moving body 500 based on dynamic information detected outside the moving body 500 that the moving body 500 cannot detect and the parameter information D1 of its own device. As a result, the information processing device 100 can achieve optimization of the parameters for detecting the surrounding environment of the moving body 500 according to the external environment of the moving body 500. Thus, the information processing device 100 can contribute to improving the safety during the movement of the moving body 500.

[0191] In the information processing device 100, the parameter information D1 includes a plurality of parameters corresponding to dynamic factors and static factors. The setting unit 132 dynamically sets parameters for detecting the surrounding environment of the moving body 500 based on the dynamic information and the plurality of parameters.

[0192] Accordingly, the information processing device 100 can set parameters for detecting the surrounding environment of the moving body from among a plurality of parameters corresponding to dynamic factors and static factors. As a result, the information processing device 100 can set parameters suitable for the dynamic factors and static factors as parameters for detecting the surrounding environment of the moving body 500. Thus, the information processing device 100 can contribute to further improving the safety during the movement of the moving body 500.

[0193] The information processing device 100 further includes an acquisition unit 131 that acquires a dynamic map D100. The setting unit 132 dynamically sets parameters for detecting the surrounding environment of the moving body 500 based on the dynamic information included in the acquired dynamic map D100.

[0194] Accordingly, the information processing device 100 can set parameters for detecting the surrounding environment of the moving body 500 based on the dynamic information of the dynamic map D100 detected outside the moving body 500 and the parameter information D1 of its own device. As a result, the information processing device 100 can set parameters suitable for detecting the surrounding environment of the moving body 500 according to the dynamic information of the dynamic map D100. Thus, the information processing device 100 can contribute to improving the safety during the movement of the moving body 500.

[0195] In the information processing device 100, the setting unit 132 sets parameters for detecting the surrounding environment of the moving body 500 based on the static information included in the acquired dynamic map D100.

[0196] Accordingly, the information processing device 100 can set parameters for detecting the surrounding environment of the moving body 500 based on the static information of the dynamic map D100 detected outside the moving body 500 and the parameter information D1 of its own device. As a result, the information processing device 100 can set parameters suitable for detecting the surrounding environment of the moving body 500 according to the static information of the dynamic map D100. Thus, the information processing device 100 can improve the convenience of a plurality of parameters for controlling the moving body 500. That is, the information processing device 100 can set parameters suitable for detecting the surrounding environment of the moving body 500 according to the dynamic information and static information of the dynamic map D100. Thus, the information processing device 100 can set more optimal parameters.

[0197] In the information processing device 100, when the dynamic map D100 is updated, the setting unit 132 sets parameters for detecting the surrounding environment of the moving body 500.

[0198] Thus, the information processing device 100 can dynamically set parameters for detecting the surrounding environment of the moving body 500 based on the updated dynamic map D100. As a result, the information processing device 100 can reflect the changes in the dynamic map D100 in the parameters of the moving body 500. Then, the information processing device 100 can improve the detection accuracy of the surrounding environment of the moving body 500.

[0199] In the information processing device 100, the parameter information D1 includes parameters and the importance of the detection results of sensors for detecting the surrounding environment. The setting unit 132 changes the importance of the parameter information D1 based on at least one of the dynamic information and the static information.

[0200] Thus, the information processing device 100 can change the importance of the detection results of the sensors based on the parameters based on at least one of the dynamic information and the static information in the dynamic map D100. As a result, the information processing device 100 can improve the reliability of the detection results by using the detection results of the sensors based on the importance.

[0201] The information processing device 100 further includes a determination unit 133 that determines the risk level of the moving body 500 based on the detection results. The setting unit 132 changes the parameter information D1 based on the risk level determined by the determination unit 133.

[0202] Thus, the information processing device 100 can customize the parameter information D1 by determining the risk level of the moving body 500 based on the detection results of the sensors and changing the parameter information D1 based on the risk level. As a result, the information processing device 100 can set the parameters according to the risk level of the moving body 500. Then, the information processing device 100 can further improve the safety during the movement of the moving body 500.

[0203] The information processing device 100 further includes a generation unit 134 that generates control information for controlling the moving body 500 based on the determination result of the determination unit 133.

[0204] Thus, when the information processing device 100 determines the risk level of the moving body 500, the information processing device 100 can generate control information corresponding to the determination result. For example, when a person is driving the moving body 500, the information processing device 100 can control the movement of the moving body 500 through the person by providing the control information to the driver. As a result, the information processing device 100 can further improve the safety during the movement by generating control information for improving the risk level of the moving body 500 to contribute to the improvement of the risk level of the moving body 500.

[0205] The information processing device 100 further includes an operation control unit 135 that controls the operation of the moving body 500 based on the control information.

[0206] Accordingly, the information processing device 100 can control the operation of the mobile body 500 based on the control information generated according to the determination of the risk level. As a result, the information processing device 100 can suppress an increase in the risk level of the mobile body 500 by improving the control information of the risk level of the mobile body 500. Thus, the information processing device can further improve the safety during movement.

[0207] The information processing device 100 further includes a transmission unit 136 that transmits the change information D200 obtained by changing the parameter information D1 based on the risk level to the outside of the mobile body 500.

[0208] Accordingly, when based on the risk level change parameter information D1, the information processing device 100 can transmit the change information D200 indicating the change to the outside of the mobile body 500. As a result, the information processing device 100 can assist in the change, optimization, etc. of the parameter information D1 by the transmitted change information D200. Thus, the information processing device 100 can improve the safety during movement of the mobile body 500 by the changed parameter information D1.

[0209] The information processing device 100 further includes a reflection unit 137 that reflects the change information D200 transmitted by another mobile body 500 on the parameter information D1 stored in the storage unit 120.

[0210] Accordingly, the information processing device 100 can reflect the change information D200 of another mobile body 500 on its own parameter information D1. As a result, the information processing device 100 can further improve the safety during movement by reflecting the change result corresponding to the risk level of another mobile body 500 on the parameter information D1.

[0211] The information processing system 1 includes an information processing device 100 and a first server (providing device) 200A that provides the information processing device 100 with parameter information related to parameters for detecting the surrounding environment of the mobile body 500. The information processing device 100 includes a storage unit 120 that stores the parameter information D1 provided by the first server 200A, and a setting unit 132 that sets parameters for detecting the surrounding environment of the mobile body 500 based on the dynamic information detected outside the mobile body 500 and the parameter information D1.

[0212] Thus, in the information processing system 1, the information processing device 100 can dynamically set parameters for detecting the surrounding environment of the moving body 500 based on the dynamic information detected outside the moving body 500 that cannot be detected by the moving body 500 and the parameter information D1 of its own device. As a result, the information processing system 1 can optimize the parameters for detecting the surrounding environment of the moving body 500 according to the external environment of the moving body 500. Thus, the information processing system 1 can contribute to improving the safety during the movement of the moving body 500.

[0213] In the information processing system 1, the first server 200A provides the information processing device 100 with parameter information D1 corresponding to at least one of the type and driving preference of the moving body 500.

[0214] Thus, in the information processing system 1, the information processing device 100 can set parameters suitable for the dynamic information from the parameter information D1 suitable for the type and driving preference of the moving body 500. As a result, the information processing system 1 can optimize the parameters suitable for the movement of the moving body 500 according to the external environment of the moving body 500. Thus, the information processing system 1 can contribute to improving the safety during the movement of the moving body 500.

[0215] In the information processing system 1, the information processing device 100 further includes a sending unit 136, and the sending unit 136 sends the change information D200 obtained by changing the parameter information D1 stored in the storage unit 120 to the first server 200A. The first server 200A includes a change unit 232, and the change unit 232 changes the parameter information D1 provided to the information processing device 100 based on the change information D200 of the information processing device 100.

[0216] Thus, the information processing system 1 can change the parameter information D1 provided to the information processing device 100 based on the change information D200 of the information processing device 100 of the moving body 500. As a result, the information processing system 1 can optimize the parameter information D1 provided to the information processing device 100. Thus, the information processing system 1 can further improve the safety during movement.

[0217] In the information processing system 1, the information processing device 100 further includes a reflecting unit 137, and the reflecting unit 137 reflects the parameter information D1 provided by the first server 200A on the parameter information D stored in the storage unit 120 based on the update frequency of the parameter information D1 stored in the storage unit 120.

[0218] Thus, in the information processing system 1, the information processing device 100 can reflect the parameter information D1 from the first server 200A based on the update frequency of the parameter information D1 of its own device. As a result, the information processing system 1 can avoid changing the parameter information D1 changed by the information processing device 100 with the parameter information D1 from the first server 200A. Then, the information processing system 1 can improve the convenience of the parameter information D1.

[0219] The information processing method includes a computer storing parameter information D1 related to parameters for detecting the surrounding environment of the moving body 500 in the storage unit 120, and setting parameters for detecting the surrounding environment of the moving body 500 based on the dynamic information detected outside the moving body 500 and the parameter information D1.

[0220] Thus, in the information processing method, the computer can dynamically set the parameters for detecting the surrounding environment of the moving body 500 based on the dynamic information detected outside the moving body 500 that the moving body 500 cannot detect and the parameter information D1 of its own device. As a result, the information processing method can optimize the parameters for detecting the surrounding environment of the moving body 500 according to the external environment of the moving body 500. Then, the information processing method can contribute to improving the safety during the movement of the moving body 500.

[0221] Note that the following configurations also belong to the technical scope of the present disclosure.

[0222] (1) An information processing device, comprising:

[0223] a storage unit that stores parameter information related to parameters for detecting the surrounding environment of a moving body; and

[0224] a setting unit that sets parameters for detecting the surrounding environment of the moving body based on the dynamic information detected outside the moving body and the parameter information.

[0225] (2) The information processing device according to (1), wherein

[0226] the parameter information includes a plurality of parameters corresponding to dynamic factors and static factors, and

[0227] the setting unit sets parameters for detecting the surrounding environment of the moving body based on the dynamic information and the plurality of parameters.

[0228] (3) The information processing device according to (1) or (2), further comprising

[0229] an acquisition unit that acquires a dynamic map, wherein

[0230] The setting unit sets parameters for detecting the surrounding environment of the moving body based on the dynamic information included in the acquired dynamic map.

[0231] (4) The information processing device according to (3), wherein

[0232] The setting unit sets parameters for detecting the surrounding environment of the moving body based on the static information included in the acquired dynamic map.

[0233] (5) The information processing device according to (3) or (4), wherein

[0234] When the dynamic map is updated, the setting unit sets parameters for detecting the surrounding environment of the moving body.

[0235] (6) The information processing device according to (4), wherein

[0236] The parameter information includes the parameters and the importance of the detection results of the sensors for detecting the surrounding environment, and

[0237] The setting unit changes the importance based on at least one of the dynamic information and the static information.

[0238] (7) The information processing device according to (6) further includes

[0239] A determination unit that determines the risk level of the moving body based on the detection results, wherein

[0240] The setting unit changes the parameter information based on the risk level determined by the determination unit.

[0241] (8) The information processing device according to (7) further includes

[0242] A generation unit that generates control information for controlling the moving body based on the determination result of the determination unit.

[0243] (9) The information processing device according to (8) further includes

[0244] An operation control unit that controls the operation of the moving body based on the control information.

[0245] (10) The information processing device according to (8) or (9) further includes

[0246] A transmission unit that transmits the changed information obtained by changing the parameter information based on the risk level to the outside of the moving body.

[0247] (11) The information processing device according to (10) further includes

[0248] a reflection unit that reflects change information sent by other moving bodies on the parameter information stored in the storage unit.

[0249] (12) An information processing system, comprising:

[0250] an information processing device; and

[0251] a providing device that provides parameter information related to parameters for detecting the surrounding environment of a moving body to the information processing device, where

[0252] the information processing device includes:

[0253] a storage unit that stores the parameter information provided by the providing device; and

[0254] a setting unit that sets parameters for detecting the surrounding environment of the moving body based on dynamic information detected outside the moving body and the parameter information.

[0255] (13) The information processing system according to (12), where

[0256] the providing device provides parameter information corresponding to at least one of the type of the moving body and the driving preference to the information processing device.

[0257] (14) The information processing system according to (12) or (13), where

[0258] the information processing device further includes a sending unit that sends change information obtained by changing the parameter information stored in the storage unit to the providing device, and

[0259] the providing device includes a changing unit that changes the parameter information provided to the information processing device based on the change information of the information processing device.

[0260] (15) The information processing system according to any one of (12) or (14), where

[0261] the information processing device further includes a reflection unit that reflects the parameter information provided by the providing device on the parameter information stored in the storage unit based on the update frequency of the parameter information stored in the storage unit.

[0262] (16) An information processing method, including: by a computer

[0263] Store parameter information related to parameters for detecting the surrounding environment of a moving body in a storage unit; and

[0264] Based on dynamic information detected outside the moving body and the parameter information, set parameters for detecting the surrounding environment of the moving body.

[0265] (17) A program that causes a computer to implement:

[0266] Store parameter information related to parameters for detecting the surrounding environment of a moving body in a storage unit; and

[0267] Based on dynamic information detected outside the moving body and the parameter information, set parameters for detecting the surrounding environment of the moving body.

[0268] List of reference numerals

[0269] 1 Information processing system

[0270] 100 Information processing device

[0271] 110 Communication unit

[0272] 120 Storage unit

[0273] 130 Control unit

[0274] 131 Acquisition unit

[0275] 132 Setting unit

[0276] 133 Judgment unit

[0277] 134 Generation unit

[0278] 135 Operation control unit

[0279] 136 Transmission unit

[0280] 137 Reflection unit

[0281] 200A First server

[0282] 200B Second server

[0283] 210 Communication unit

[0284] 220 Storage unit

[0285] 230 Control unit

[0286] 231 Provision unit

[0287] 232 Change unit

[0288] 233 Generation Unit

[0289] 234 Transmission Unit

[0290] 500 Moving Body

[0291] 530 Mounted Equipment

[0292] 700 Roadside Machine

[0293] 710 Communication Unit

[0294] 720 Storage Unit

[0295] 730 Control Unit

[0296] 740 Sensor Unit

[0297] D1 Parameter Information

[0298] D100 Dynamic Map

[0299] D200 Change Information

Claims

1. An information processing device, comprising: a circuit system configured to control reception of parameter information from a server, wherein the parameter information includes parameters for detecting the surrounding environment of the mobile body, determining the suitability of a detection result of a sensor for detecting the surrounding environment of the moving body based on first information and second information, the first information being a degree of danger of the moving body determined based on the detection result of the sensor for detecting the surrounding environment of the moving body, and the second information being a degree of danger of the moving body determined by a roadside device located at a predetermined distance from the moving body, changing the parameters for detecting the surrounding environment of the moving body and the importance of the detection result of the sensor for detecting the surrounding environment based on the suitability of the detection result of the sensor for detecting the surrounding environment of the moving body, controlling the transmission of the changed parameters for detecting the surrounding environment of the mobile body to a server, and Control information for controlling the moving object is generated based on the degree of danger of the moving object determined based on a detection result of a sensor for detecting the surrounding environment of the moving object.

2. The information processing device according to claim 1, wherein The parameter information includes a plurality of parameters corresponding to dynamic factors and static factors, and The circuit system is configured to specify a parameter for detecting the surrounding environment of the moving body from among the plurality of parameters based on dynamic information.

3. The information processing device according to claim 2, wherein the circuit system is further configured to Get dynamic maps, and Based on the dynamic information included in the acquired dynamic map, parameters for detecting the surrounding environment of the mobile object are set. 4 . The information processing device according to claim 3 , wherein the circuit system is configured to set parameters for detecting the surrounding environment of the mobile body based on static information included in the acquired dynamic map.

5. The information processing device according to claim 4, wherein When the dynamic map is updated, the circuit system is configured to set parameters for detecting the surrounding environment of the moving object.

6. The information processing device according to claim 4, wherein The parameter information includes the parameter and the importance of the detection result of the sensor for detecting the surrounding environment, and The circuit system is configured to modify the importance based on at least one of the dynamic information and the static information.

7. The information processing device according to claim 1, wherein the roadside device is an electronic facility that is set outside the moving body and implemented at a road, an intersection, a traffic light or a parking lot.

8. An information processing device according to claim 1, wherein the circuit system is configured to change the importance of parameters for detecting the surrounding environment of the moving body and the detection results of sensors for detecting the surrounding environment based on a comparison result of the danger level of the moving body determined by the information processing device and the danger level of the moving body determined by the roadside equipment. 9 . The information processing apparatus according to claim 1 , wherein the circuit system is configured to control an operation of the moving body based on the control information.

10. The information processing apparatus according to claim 1, wherein the circuit system is configured to control transmission of change information obtained by changing the parameter information based on the risk level to the outside of the moving body.

11. The information processing device according to claim 10, wherein the circuit system is configured to reflect the change information transmitted by the other mobile body on the parameter information stored in the mobile body.

12. The information processing device according to claim 1, wherein The parameter information provided by the server includes at least one of the type and driving preference of the moving object.

13. An information processing method, comprising: By computer controlling reception of parameter information from a server, the parameter information including parameters for detecting a surrounding environment of the mobile body, determining the suitability of a detection result of a sensor for detecting the surrounding environment of the moving body based on first information and second information, the first information being a degree of danger of the moving body determined based on the detection result of the sensor for detecting the surrounding environment of the moving body, and the second information being a degree of danger of the moving body determined by a roadside device located at a predetermined distance from the moving body, changing the parameters for detecting the surrounding environment of the moving body and the importance of the detection result of the sensor for detecting the surrounding environment based on the suitability of the detection result of the sensor for detecting the surrounding environment of the moving body, controlling the transmission of the changed parameters for detecting the surrounding environment of the mobile body to a server, and Control information for controlling the moving object is generated based on the degree of danger of the moving object determined based on a detection result of a sensor for detecting the surrounding environment of the moving object.

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