Vehicle-mounted device, information distribution device, driving assistance system, control method and computer program

Abstract

The vehicle-mounted device includes: a communication unit that receives data from the outside; a generation unit that generates a dynamic map that associates dynamic information related to dynamic objects with a static map based on the data; a storage unit that stores the dynamic map and the static map; and a determination unit that determines whether to update the dynamic map corresponding to a specified area of ​​the static map in the dynamic map stored in the storage unit. The determination unit determines whether to update the dynamic map based on the accuracy of the dynamic map corresponding to the specified area. In response to the determination by the determination unit that the dynamic map corresponding to the specified area is to be updated, the generation unit updates the dynamic map to a new dynamic map generated based on the data newly received by the communication unit.

Description

Technical Field

[0001] The present disclosure relates to an in-vehicle device, an information distribution device, a driving assistance system, a control method, and a computer program. This application claims priority based on Japanese application No. 2020-149678, filed on September 7, 2020, and all of the contents described in the aforementioned Japanese application are incorporated herein by reference. Background Art

[0002] Various systems have been proposed to assist drivers in driving cars and two-wheeled motor vehicles (hereinafter referred to as vehicles). In such systems, sensor information is collected from roadside devices equipped with various sensor devices (cameras, radars, etc.) installed on and around the road, analyzed, and traffic-related information (accidents, congestion, etc.) is provided to the vehicle as dynamic driving assistance information. In addition, with the increase in the speed of mobile communication lines, it has been proposed to collect information from sensor devices installed on vehicles, not just sensor devices installed on roadside devices, and to effectively utilize it in driving assistance. For example, 3GPP (Third Generation Partnership Project), which is promoting the standardization of the third-generation mobile communication system and subsequent mobile communication systems, has proposed a standard called Cellular V2X. V means vehicle, and X means objects other than vehicles. The purpose of this standard is to enable communication between vehicles and objects other than vehicles through LTE (Long Term Evolution) and 5G (fifth-generation mobile communication system).

[0003] The introduction of plug-in hybrid electric vehicles (PHEV) and electric vehicles (EV) is being promoted. In recent years, vehicles including these are equipped with various electronic devices and ECUs (Electric Control Units) to control them. For example, vehicles that can drive automatically are equipped with ECUs for autonomous driving. The autonomous driving ECU communicates with the outside world as appropriate to obtain the required information (traffic information, dynamic driving assistance information). In addition, there are engine control ECUs, stop-start control ECUs, transmission control ECUs, airbag control ECUs, power steering control ECUs, hybrid control ECUs, etc.

[0004] Patent Document 1 below discloses a vehicle-to-vehicle communication device that calculates the validity period of information during inter-vehicle communication and, based on this, determines whether to use or transmit the information, thereby maintaining the freshness of the information while reducing communication load or storage capacity. Patent Document 2 below discloses a map update determination system that determines whether map information for autonomous vehicles needs to be updated based on the evaluation value of the driving plan. In this system, the evaluation value of the driving plan is calculated based on a comparison between the vehicle's control target value and the control result detection value. The system calculates the evaluation value of the driving plan for each area and updates the map information in areas where the calculated evaluation value is less than the evaluation threshold.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Laid-Open No. 2011-81722

[0008] Patent Document 2: Japanese Patent Application Laid-Open No. 2017-90548 Summary of the Invention

[0009] An in-vehicle device according to one aspect of the present disclosure includes: a communication unit for receiving data from the outside; a generation unit for generating a dynamic map that associates dynamic information related to dynamic objects with a static map based on the data; a storage unit for storing the dynamic map and the static map; and a determination unit for determining whether to update the dynamic map corresponding to a specified area of ​​the static map in the dynamic map stored in the storage unit, the determination unit determining whether to update the dynamic map based on the accuracy of the dynamic map corresponding to the specified area, and in response to the determination by the determination unit that the dynamic map corresponding to the specified area is to be updated, the generation unit updates the dynamic map to a new dynamic map generated based on the data newly received by the communication unit.

[0010] Another aspect of the present disclosure relates to an information distribution device including: a communication unit for receiving data from the outside; a generation unit for generating a dynamic map that associates dynamic information related to dynamic objects with a static map based on the data; a storage unit for storing dynamic maps and static maps; and a determination unit for determining whether to update the dynamic map corresponding to a specified area of ​​the static map in the dynamic map stored in the storage unit, the determination unit determining whether to update the dynamic map based on the accuracy of the dynamic map corresponding to the specified area, in response to the determination by the determination unit that the dynamic map corresponding to the specified area is to be updated, the generation unit updating the dynamic map to a new dynamic map generated based on the newly received data by the communication unit, and in response to the generation of the new dynamic map by the generation unit, the communication unit sending the new dynamic map to the outside.

[0011] Another aspect of the present disclosure relates to a vehicle-mounted device including: a receiving unit that receives a dynamic map from the vehicle-mounted device or the information distribution device; and an automatic driving control unit that uses the dynamic map received by the receiving unit to control the automatic driving of a vehicle equipped with the receiving unit.

[0012] Another aspect of the present disclosure relates to an in-vehicle device including: a receiving unit for receiving a dynamic map from the in-vehicle device or the information distribution device; and a presenting unit for generating and presenting driving assistance information based on the dynamic map received by the receiving unit.

[0013] Another aspect of the present disclosure relates to a driving assistance system that includes a server and a vehicle-mounted device. The server receives sensor data from the outside, analyzes the sensor data to detect dynamic objects, generates dynamic information related to the displacement of the dynamic objects, and sends data including at least one of the sensor data and the dynamic information to the vehicle-mounted device. The vehicle-mounted device includes: a communication unit that receives data sent from the server; a generation unit that generates a dynamic map that associates dynamic information with a static map based on the data; a storage unit that stores the dynamic map and the static map; and a determination unit that determines whether to update the dynamic map corresponding to a specified area of ​​the static map in the dynamic map stored in the storage unit. The determination unit determines whether to update the dynamic map based on the accuracy of the dynamic map corresponding to the specified area. In response to the determination by the determination unit that the dynamic map corresponding to the specified area is to be updated, the generation unit updates the dynamic map to a new dynamic map generated based on the data newly received by the communication unit.

[0014] Another aspect of the present disclosure relates to a control method for a device having a communication function, comprising: a communication step of receiving data from the outside; a generation step of generating a dynamic map that associates dynamic information related to a dynamic object with a static map based on the data; a storage step of storing the dynamic map and the static map; a determination step of determining whether to update the dynamic map corresponding to the specified area of ​​the static map based on the accuracy of the dynamic map corresponding to the specified area in the dynamic map stored in the storage step; and an updating step of updating the dynamic map to a new dynamic map generated based on the newly received data in the communication step in response to the determination in the determination step that the dynamic map corresponding to the specified area is to be updated.

[0015] Another aspect of the present disclosure relates to a computer program that enables a computer to execute: a communication function for receiving data from the outside; a generation function for generating a dynamic map that associates dynamic information related to dynamic objects with a static map based on the data; a storage function for storing dynamic maps and static maps; a determination function for determining whether to update the dynamic map corresponding to a specified area of ​​the static map in the dynamic map stored by the storage function based on the accuracy of the dynamic map corresponding to the specified area of ​​the static map; and an update function for updating the dynamic map to a new dynamic map generated based on the newly received data through the communication function in response to the determination function that the dynamic map corresponding to the specified area is to be updated. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram showing the configuration of a driving assistance system according to an embodiment of the present disclosure.

[0017] Figure 2 This is a block diagram showing the hardware configuration of the vehicle-mounted device.

[0018] Figure 3 It shows Figure 2 The block diagram shows the hardware configuration of the interior and exterior linkage unit.

[0019] Figure 4 It shows Figure 2 The block diagram shows the hardware configuration of the autonomous driving ECU.

[0020] Figure 5 It shows Figure 1 The block diagram of the server hardware structure is shown.

[0021] Figure 6 It shows Figure 1 Block diagram of the hardware composition of the infrastructure sensor shown.

[0022] Figure 7 This is a block diagram showing the functional structure of the in-vehicle and out-of-vehicle coordination unit and the autonomous driving ECU.

[0023] Figure 8 It is a top view showing an example of traffic conditions.

[0024] Figure 9 This is a flowchart showing the processing of the interior-exterior cooperation unit.

[0025] Figure 10 This is a flowchart showing the processing of the automatic driving ECU.

[0026] Figure 11 This is a block diagram illustrating data transmission and reception between a plurality of in-vehicle devices and a server in the driving assistance system of the present disclosure.

[0027] Figure 12is shown with Figure 9 Flowchart of the processing of different in-vehicle and out-of-vehicle cooperation units.

[0028] Figure 13 is shown with Figure 11 A block diagram illustrating data transmission and reception between multiple different in-vehicle devices and a server.

[0029] Figure 14 is shown with Figure 11 and Figure 13 A block diagram illustrating data transmission and reception between multiple different in-vehicle devices and a server. DETAILED DESCRIPTION

[0030] [Technical problem to be solved by the invention]

[0031] In vehicle driving assistance, especially autonomous driving, it is considered to utilize dynamic driving assistance information. There are multiple levels of autonomous driving. In real-time driving assistance (including autonomous driving), it is important to always update the information used and maintain its reliability (accuracy). As the accuracy of information, there is, for example, the newness (freshness) of the information. Driving assistance based on old information is meaningless, and it is preferable to prevent driving assistance based on such information. For example, information that deviates from the actual traffic conditions after a long time after being acquired or generated, it is preferable to avoid such information being used for autonomous driving.

[0032] Patent Documents 1 and 2 cannot achieve the aforementioned preferred approach. Specifically, the technologies disclosed in Patent Documents 1 and 2 do not address dynamic driving assistance. While Patent Document 1 discloses discarding invalid information, it does not update it. The update technology disclosed in Patent Document 2 updates static map information and is not suitable for map information with high real-time requirements.

[0033] Therefore, the purpose of the present disclosure is to provide a vehicle-mounted device, an information distribution device, a driving assistance system, a control method and a computer program that can maintain the accuracy of dynamic driving assistance information at a high level and realize highly reliable autonomous driving.

[0034] [Effects of the Invention]

[0035] According to the present disclosure, the accuracy of dynamic driving assistance information can be maintained at a high level, and highly reliable autonomous driving can be achieved.

[0036] [Description of Embodiments of the Present Disclosure]

[0037] First, the contents of the embodiments of the present disclosure will be listed and described. At least part of the embodiments described below may be arbitrarily combined.

[0038] (1) The vehicle-mounted device involved in the first aspect of the present disclosure includes: a communication unit that receives data from the outside; a generation unit that generates a dynamic map that associates dynamic information related to dynamic objects with a static map based on the data; a storage unit that stores the dynamic map and the static map; and a determination unit that determines whether to update the dynamic map corresponding to a specified area of ​​the static map in the dynamic map stored in the storage unit, the determination unit determines whether to update the dynamic map based on the accuracy of the dynamic map corresponding to the specified area, and in response to the determination by the determination unit that the dynamic map corresponding to the specified area is to be updated, the generation unit updates the dynamic map to a new dynamic map generated based on the data newly received by the communication unit. As a result, the dynamic map as dynamic driving assistance information can be maintained in a state with high accuracy. Therefore, if the dynamic map is used for autonomous driving, highly reliable autonomous driving can be achieved.

[0039] (2) In response to the determination by the determination unit that the dynamic map corresponding to the specified area needs to be updated, the communication unit sends a request to the outside for sending data that meets the specified conditions related to accuracy. In response to the communication unit receiving the data sent in response to the sending request, the generation unit generates a new dynamic map based on the data. Thus, in the case where the accuracy of the dynamic map distributed from the server is low, the required data can be received from an onboard device installed in another vehicle, etc., thereby maintaining the accuracy of the dynamic map at a higher level. Therefore, if the dynamic map is used for autonomous driving, more reliable autonomous driving can be achieved.

[0040] (3) Alternatively, the data may include sensor data, the dynamic map may include dynamic information related to the displacement of dynamic objects detected by analyzing the sensor data by the generation unit, and the accuracy may be a freshness indicating the degree of usability of the dynamic information included in the dynamic map corresponding to the specified area. Thus, the freshness of the dynamic map can be maintained at a high level. Therefore, if the dynamic map is used for autonomous driving, highly reliable autonomous driving can be achieved.

[0041] (4) Alternatively, the vehicle-mounted device further includes a prediction processing unit that predicts the displacement of the dynamic object from the current time until a prescribed time has passed. In response to the determination by the determination unit that the dynamic map corresponding to the prescribed area is to be updated, the prediction processing unit predicts the displacement of the dynamic object included in the prescribed area from the current time until a prescribed time has passed, and the generation unit uses the displacement to improve the dynamic map corresponding to the prescribed area. Thus, even in a case where the accuracy of the dynamic map distributed from the server is low and the required data cannot be received from vehicle-mounted devices mounted on other vehicles, the dynamic map can be improved, and thus the freshness of the dynamic map can be maintained at a high state. Therefore, if the dynamic map is used for autonomous driving, highly reliable autonomous driving can be achieved.

[0042] (5) The vehicle-mounted device may further include a control unit that controls the automatic driving of the vehicle on which the vehicle-mounted device is mounted, and the control unit uses the dynamic map stored in the storage unit for the automatic driving of the vehicle. This enables highly reliable automatic driving.

[0043] (6) The vehicle-mounted device may further include an accuracy determination unit that determines the accuracy of a dynamic map corresponding to a predetermined driving range of the vehicle equipped with the vehicle-mounted device. In response to a determination by the accuracy determination unit that the accuracy is low, the control unit does not use the dynamic map corresponding to the predetermined driving range for automatic driving of the vehicle. This prevents a low-accuracy dynamic map from being used for automatic driving, enabling highly reliable automatic driving. Furthermore, it is possible to avoid unnecessary processing by the automatic driving ECU, etc., reduce unnecessary communications within the vehicle-mounted device, and reduce storage capacity.

[0044] (7) The vehicle-mounted device may further include a control unit that controls the automatic driving of the vehicle equipped with the vehicle-mounted device, and the control unit uses the dynamic map stored in the storage unit for the automatic driving of the vehicle, and further includes an accuracy determination unit that determines the accuracy of the dynamic map improved by the generation unit. In response to the accuracy determination unit determining that the accuracy is low, the control unit does not use the improved dynamic map for the automatic driving of the vehicle. This can prevent a dynamic map with low accuracy from being used for automatic driving, and can achieve highly reliable automatic driving. In addition, it can avoid useless processing by the automatic driving ECU, etc., reduce useless communications within the vehicle-mounted device, and reduce storage capacity.

[0045] (8) The static map may be a road map, and the predetermined area may be one of a plurality of grid areas determined by dividing an area including at least a road in the road map into a grid. This facilitates the creation and updating of the dynamic map.

[0046] (9) The communication unit may transmit the new dynamic map to the outside in response to the generation of the new dynamic map by the generation unit. This allows the highly accurate dynamic map to be used in an onboard device mounted on another vehicle.

[0047] (10) The information distribution device involved in the second aspect of the present disclosure includes: a communication unit that receives data from the outside; a generation unit that generates a dynamic map that associates dynamic information related to dynamic objects with a static map based on the data; a storage unit that stores the dynamic map and the static map; and a determination unit that determines whether to update the dynamic map corresponding to a specified area of ​​the static map in the dynamic map stored in the storage unit, the determination unit determines whether to update the dynamic map based on the accuracy of the dynamic map corresponding to the specified area, in response to the determination by the determination unit that the dynamic map corresponding to the specified area is updated, the generation unit updates the dynamic map to a new dynamic map generated based on the data newly received by the communication unit, and in response to the generation of the new dynamic map by the generation unit, the communication unit sends the new dynamic map to the outside. As a result, the information distribution device can maintain the dynamic map as dynamic driving assistance information in a state with high accuracy. Therefore, the vehicle that receives the dynamic map can achieve highly reliable automatic driving.

[0048] (11) The in-vehicle device according to the third aspect of the present disclosure includes: a receiving unit that receives a dynamic map from the in-vehicle device or the information distribution device; and an automatic driving control unit that uses the dynamic map received by the receiving unit to control the automatic driving of a vehicle equipped with the receiving unit. Thus, the vehicle receiving the dynamic map can achieve highly reliable automatic driving.

[0049] (12) The in-vehicle device according to the fourth aspect of the present disclosure includes: a receiving unit for receiving a dynamic map from the in-vehicle device or the information distribution device; and a presenting unit for generating and presenting driving assistance information based on the dynamic map received by the receiving unit. Thus, a vehicle receiving the dynamic map can achieve highly reliable driving assistance.

[0050] (13) Accuracy is the freshness of dynamic information. Dynamic information includes the time of creation and the expiration date of the dynamic information as freshness. The determination unit determines whether to update the dynamic map based on the time of creation and the expiration date. This allows efficient determination of whether the dynamic map needs to be updated.

[0051] (14) The driving assistance system involved in the fifth aspect of the present disclosure is a driving assistance system including a server and an on-board device, wherein the server receives sensor data from the outside, analyzes the sensor data to detect dynamic objects, generates dynamic information related to the displacement of the dynamic objects, and sends data including at least one of the sensor data and the dynamic information to the on-board device, wherein the on-board device includes: a communication unit that receives data sent from the server; a generation unit that generates a dynamic map that associates dynamic information with a static map based on the data; a storage unit that stores the dynamic map and the static map; and a determination unit that determines whether to update the dynamic map corresponding to a specified area of ​​the static map in the dynamic map stored in the storage unit, the determination unit determines whether to update the dynamic map based on the accuracy of the dynamic map corresponding to the specified area, and in response to the determination by the determination unit that the dynamic map corresponding to the specified area is to be updated, the generation unit updates the dynamic map to a new dynamic map generated based on the data newly received by the communication unit. As a result, the server can maintain the dynamic map as dynamic driving assistance information in a state with high accuracy. Therefore, the vehicle that receives the dynamic map can achieve highly reliable automatic driving.

[0052] (15) The control method involved in the sixth aspect of the present disclosure is a control method for a device having a communication function, comprising: a communication step of receiving data from the outside; a generation step of generating a dynamic map that associates dynamic information related to a dynamic object with a static map based on the data; a storage step of storing the dynamic map and the static map; a determination step of determining whether to update the dynamic map corresponding to the specified area in the dynamic map stored in the storage step based on the accuracy of the dynamic map corresponding to the specified area of ​​the static map; and an update step of updating the dynamic map to a new dynamic map generated based on the data newly received in the communication step in response to the determination in the determination step that the dynamic map corresponding to the specified area is to be updated. Thus, the dynamic map as dynamic driving assistance information can be maintained in a state with high accuracy. Therefore, if the dynamic map is used for autonomous driving, highly reliable autonomous driving can be achieved.

[0053] (16) The computer program involved in the seventh aspect of the present disclosure causes the computer to execute: a communication function for receiving data from the outside; a generation function for generating a dynamic map that associates dynamic information related to dynamic objects with a static map based on the data; a storage function for storing the dynamic map and the static map; a determination function for determining whether to update the dynamic map corresponding to the specified area in the dynamic map stored by the storage function based on the accuracy of the dynamic map corresponding to the specified area of ​​the static map; and an update function for updating the dynamic map to a new dynamic map generated based on the data newly received through the communication function in response to the determination by the determination function that the dynamic map corresponding to the specified area is to be updated. As a result, the dynamic map as dynamic driving assistance information can be maintained in a state with high accuracy. Therefore, if the dynamic map is used for autonomous driving, highly reliable autonomous driving can be achieved.

[0054] [Details of the embodiments of the present disclosure]

[0055] In the following embodiments, the same reference numerals are used for the same components. Their names and functions are also the same. Therefore, detailed descriptions thereof will not be repeated.

[0056] [Overall composition]

[0057] Reference Figure 1 The driving assistance system 100 according to an embodiment of the present disclosure includes in-vehicle devices 104a and 104b, respectively, mounted on a plurality of vehicles 102a and 102b, and a server 106. The in-vehicle devices 104a and 104b communicate with the server 106 via a wireless communication base station 108 and a network 110. The base station 108 provides mobile communication services based on, for example, 4G (fourth generation mobile communication system) lines and 5G (fifth generation mobile communication system) lines.

[0058] The onboard devices 104a and 104b mounted on vehicles 102a and 102b, respectively, have communication capabilities based on the communication standards (4G lines, 5G lines, etc.) served by base station 108. The onboard devices 104a and 104b also have a function for directly communicating with each other without going through base station 108 (V2V (Vehicle to Vehicle)).

[0059] Infrastructure sensors 112 fixedly installed on roads and their surroundings (hereinafter also referred to as roadsides) and traffic lights 114 can also communicate with the onboard devices 104a and 104b and the server 106. Pedestrians 300 and vehicles 102a and 102b are detection targets of the infrastructure sensors 112. Pedestrians 300 are also detection targets of the sensors installed in vehicles 102a and 102b (hereinafter also referred to as onboard sensors).

[0060] Infrastructure sensors 112 are devices installed on the roadside that acquire roadside information and are capable of communicating with base station 108. Examples of infrastructure sensors 112 include image sensors (such as digital surveillance cameras), radars (such as millimeter-wave radars), and laser sensors (such as LiDAR). It should be noted that infrastructure sensors 112 can also be integrated with or connected to roadside devices that have computing capabilities.

[0061] The server 106 receives data uploaded from the infrastructure sensors 112 and the like via the base station 108 (hereinafter also referred to as sensor data), analyzes the data to generate a dynamic map, and stores the data as dynamic driving assistance information. When the sensor data output from the sensors respectively mounted on the vehicle-mounted device 104a and the vehicle-mounted device 104b are sent to the server 106, the server 106 also uses the sensor data to generate dynamic driving assistance information. Dynamic driving assistance information includes a dynamic map, analysis results, and the sensor data itself. A "dynamic map" refers to a map that associates information related to dynamic objects detected by sensors (hereinafter referred to as dynamic information) with a static map (road map, etc.). For example, as a dynamic map, a data structure can be used that includes {information on a specified dynamic object, dynamic information, information on an area on a specified map} as one data set and includes data sets corresponding to the number of dynamic objects.

[0062] Dynamic objects are not limited to moving objects (people, vehicles, etc.), but also include objects that have the function of movement but are stationary. Dynamic information includes information related to the displacement of dynamic objects (position, the size and direction of its change), for example, the position, movement speed, movement direction and time information of each dynamic object. In addition, dynamic information can include prediction information. For example, if the server 106 has a prediction function, it can use the movement trajectory, movement speed and movement direction of the dynamic object to date to predict the movement trajectory, movement speed and movement direction in the future (within a specified time from the current time). Therefore, these can also be included in the dynamic information. Time information includes, for example, the generation time and validity period of the dynamic information. This means that the generation time and validity period of the dynamic information that does not include time information are added to the dynamic information (excluding time information) as new dynamic information. The validity period indicates the upper limit time that the dynamic information can be effectively used after it is generated.

[0063] For example, regions on a map are formed by dividing a road map into a grid (hereinafter referred to as grid regions). In this case, a dynamic map stores dynamic information corresponding to each grid region. Dynamic maps are constantly updated with new data. Dynamic information may also include traffic light information (information indicating the lighting status, etc.).

[0064] Server 106 transmits dynamic driving assistance information to vehicles 102a and 102b. In other words, server 106 functions as an information distribution device. Server 106 also receives information indicating the status of traffic lights (e.g., information indicating the color of the light or flashing state, hereinafter referred to as traffic information) uploaded from traffic lights 114 via base station 108 and uses this information to generate dynamic driving assistance information.

[0065] Figure 1 While the illustration shows one base station 108, one infrastructure sensor 112, one traffic light 114, and two vehicles 102a and 102b, multiple base stations are typically deployed, providing mobile communication capabilities to three or more vehicles. Alternatively, two or more infrastructure sensors 112 may be deployed in designated areas, such as intersections.

[0066] [Hardware Configuration of In-Vehicle Device]

[0067] Reference Figure 2 , shows an example of the hardware structure of the vehicle-mounted device 104a installed in the vehicle 102a. The vehicle-mounted device 104b installed in the vehicle 102b is also configured in the same manner. The vehicle-mounted device 104a includes an in-vehicle and out-of-vehicle cooperation unit 120, an in-vehicle gateway 122, an automatic driving ECU 124, an I / F unit 126, a communication unit 128, and buses 130 and 132. It should be noted that in addition to the automatic driving ECU 124, the vehicle-mounted device 104a also includes multiple ECUs, but in Figure 2 Not shown in the figure.

[0068] The communication unit 128 wirelessly communicates with devices external to the vehicle 102a (for example, communicating with the server 106 via the base station 108). The communication unit 128 includes an IC for performing the modulation and multiplexing used in wireless communication, an antenna for transmitting and receiving radio waves of a predetermined frequency, and an RF circuit. The communication unit 128 also has the ability to communicate with GNSS (Global Navigation Satellite System) systems, such as the GPS (Global Positioning System).

[0069] The on-board gateway 122 plays the role of connecting the communication function (communication specifications) outside the vehicle and the communication function (communication specifications) inside the vehicle (communication protocol conversion, etc.). The autonomous driving ECU 124 can communicate with external devices via the on-board gateway 122 and the communication unit 128. The in-vehicle and out-of-vehicle collaboration unit 120 obtains the dynamic map and the data used to generate it (sensor data, analysis results of sensor data, etc.) from the information received from the outside via the communication unit 128, and updates the dynamic map as described later. The in-vehicle and out-of-vehicle collaboration unit 120 can also obtain the dynamic map and the data used to generate it via the on-board gateway 122. The updated dynamic map is sent to the autonomous driving ECU 124. Data exchange between the various parts is carried out via buses 130 and 132.

[0070] The sensor 134 is mounted on the vehicle 102a. The sensor 134 includes sensors for acquiring information outside the vehicle 102a (video imaging devices (such as digital cameras (CCD cameras, CMOS cameras)), laser sensors (LiDAR), etc.) and sensors for acquiring information about the vehicle itself (acceleration sensors, load sensors, etc.). The sensor 134 acquires information within the detection range (if it is a camera, it is the camera range) and outputs it as sensor data. If it is a digital camera, digital image data is output. The signal (analog or digital) from the sensor 134 is input to the I / F unit 126. The I / F unit 126 includes an A / D conversion unit, and when an analog signal is input, it generates digital data and outputs it. The generated digital data is sent to the in-vehicle and out-of-vehicle collaboration unit 120, the on-board gateway 122 and the autonomous driving ECU 124 via the bus 132. If the output signal of the sensor 134 is digital data, the I / F unit 126 outputs the input digital data to the bus 132.

[0071] The autonomous driving ECU 124 controls the driving of the vehicle 102a. For example, the autonomous driving ECU 124 obtains sensor data from the I / F unit 126, analyzes it to understand the conditions around the vehicle, and controls the mechanisms associated with autonomous driving (such as the engine, transmission, steering, and brakes, hereinafter referred to as autonomous driving mechanisms). The autonomous driving ECU 124 uses the dynamic map obtained from the in-vehicle and out-of-vehicle coordination unit 120 for autonomous driving. The autonomous driving ECU 124 also receives dynamic driving assistance information, traffic information, etc. from external devices via the communication unit 128 and the in-vehicle gateway 122, and uses them for autonomous driving.

[0072] The sensor data may also be transmitted to the server 106 . For example, the in-vehicle and out-of-vehicle cooperation unit 120 generates packet data including the sensor data acquired from the I / F unit 126 , and transmits the packet data from the communication unit 128 to the server 106 via the base station 108 .

[0073] [Hardware configuration of the interior and exterior collaboration section]

[0074] Reference Figure 3 The in-vehicle and out-of-vehicle coordination unit 120 includes a control unit 140 and a memory 142. The control unit 140 includes a CPU (Central Processing Unit) and controls the memory 142. The memory 142 is, for example, a rewritable nonvolatile semiconductor memory and stores programs executed by the control unit 140. The memory 142 provides a workspace for the programs executed by the control unit 140.

[0075] [Hardware Configuration of Autonomous Driving ECU]

[0076] Reference Figure 4 The autonomous driving ECU 124 includes a control unit 150, a memory 152, and an I / F unit 154. The control unit 150 includes a CPU and controls the memory 152 and the I / F unit 154. The memory 152 is, for example, a rewritable nonvolatile semiconductor memory and stores programs executed by the control unit 150. The memory 152 provides a workspace for the programs executed by the control unit 150. The I / F unit 154 outputs control data for autonomous driving to the autonomous driving mechanism being controlled.

[0077] [Server hardware configuration]

[0078] Reference Figure 5 The server 106 includes a control unit 160, a memory 162, a communication unit 164, and a bus 166. The server 106 is, for example, a computer. Data transmission between various components is performed via the bus 166. The control unit 160, which includes, for example, a CPU, controls the various components to implement the various functions of the server 106. The memory 162 includes a rewritable non-volatile semiconductor memory and a large-capacity storage device such as an HDD (Hard Disk Drive). The communication unit 164 receives sensor data uploaded from onboard devices and infrastructure sensors. The data received by the communication unit 164 is sent to the memory 162 and stored as a database. The control unit 160 appropriately reads data from the memory 162, performs predetermined analysis processing (for example, analysis to obtain dynamic driving assistance information), and stores the results in the memory 162 as a dynamic map. The control unit 160 appropriately reads the dynamic map and the sensor data itself from the memory 162 as dynamic driving assistance information and transmits them to the onboard devices 104a and 104b.

[0079] [Hardware Configuration and Functions of Infrastructure Sensors]

[0080] Reference Figure 6, shows an example of the hardware configuration of infrastructure sensor 112. Infrastructure sensor 112 includes a control unit 170, a memory 172 for storing data, a communication unit 174 for wireless communication, an I / F unit 176, a sensor 178, and a bus 180 for exchanging data between the various components. Control unit 170 controls the various components.

[0081] The sensor 178 is, for example, a video camera (e.g., a digital camera). The signal (analog or digital) from the sensor 178 is input to the I / F unit 176. The I / F unit 176 and the I / F unit 126 ( Figure 2 ) is similarly configured to generate and output digital data based on the input signal. The output data is sent to the memory 172 via the bus 180 and stored. The memory 172 is, for example, a rewritable nonvolatile semiconductor memory or HDD.

[0082] The communication unit 174 has a mobile communication function and communicates with the base station 108 ( Figure 1 ) to communicate with the server 106. Since the infrastructure sensor 112 is fixedly installed, it does not need to correspond to multiple mobile communication methods, and it only needs to correspond to the mobile communication method (such as 5G line) provided by the base station 108 located nearby. The communication unit 174 is composed of an IC for performing the modulation and multiplexing adopted, an antenna for transmitting and receiving radio waves of a specified frequency, and an RF circuit. It should be noted that the communication function of the fixed infrastructure sensor 112 is not limited to the case of passing through the base station 108, and it is arbitrary. It can also be a communication function based on a wired LAN or a wireless LAN such as WiFi. In the case of WiFi communication, a device (wireless router, etc.) that provides WiFi services separately from the base station 108 for mobile communication is provided, and the infrastructure sensor 112 communicates with the server 106 via the base station 108.

[0083] Control unit 170 includes a CPU and controls various components to implement the functions of infrastructure sensor 112. Specifically, control unit 170 reads sensor data (e.g., moving image data) acquired by I / F unit 176 and stored in memory 172 at predetermined time intervals, generates packet data, and transmits it from communication unit 174 to server 106 via base station 108.

[0084] [Hardware composition and functions of traffic lights]

[0085] Traffic light 114 is a traffic light used on roads. If it is a traffic light for vehicles, it has three indicator lights: green, yellow, and red; a control unit that controls the lighting and flashing of these lights; and a communication unit that transmits traffic information indicating the status of the indicator lights to server 106. If it is a pedestrian traffic light, it differs from a traffic light in that the indicator lights are green and red, but its structure is similar to that of a traffic light. Like communication unit 174 of infrastructure sensor 112, the communication unit of traffic light 114 has mobile communication capabilities and communicates with server 106 via base station 108. It should be noted that the communication function of a fixed traffic light 114 is optional. It can also be a communication function based on a wired LAN or a wireless LAN such as WiFi. The control unit of traffic light 114 includes a CPU. In addition to controlling the lighting and flashing of the indicator lights, it transmits traffic information indicating the current status of the traffic light via base station 108 to server 106 whenever the status of the indicator lights changes.

[0086] [Base station hardware composition and functions]

[0087] Base station 108 includes a computer with the same configuration as server 106 and wireless communication equipment, which operates under the control of the computer. Base station 108 provides wireless communication services to onboard devices 104a and 104b, infrastructure sensors 112, and traffic lights 114 using the wireless communication equipment, using a predetermined wireless communication method.

[0088] [Functional composition]

[0089] Reference Figure 7 , the functions of the vehicle interior and exterior cooperation unit 120 and the automatic driving ECU 124 in the vehicle-mounted device 104a are explained. The vehicle interior and exterior cooperation unit 120 includes an information acquisition unit 200, a dynamic map generation unit 202, a storage unit 204, an object area designation unit 206, an update determination unit 208, a prediction processing unit 210, and an output unit 212. The automatic driving ECU 124 includes a predetermined driving range designation unit 220, a freshness determination unit 222, a driving plan generation unit 224, and a control information generation unit 226. The functions of the vehicle interior and exterior cooperation unit 120 are explained through Figure 3 The control unit 140 shown in FIG. 1 is implemented by using the memory 142 as a work area to execute the program read from the memory 142. Each function of the automatic driving ECU 124 is realized by Figure 4The control unit 150 shown is implemented by using a memory 152 and an I / F unit 154 to execute a program read from the memory 152. It should be noted that the functions of the in-vehicle and out-of-vehicle coordination unit 120 and the automatic driving ECU 124 may also be implemented by dedicated hardware (circuit boards, ASICs (Application Specific Integrated Circuits) etc.).

[0090] [Functional structure of the vehicle-mounted cooperation device]

[0091] The information acquisition unit 200 acquires data received by the communication unit 128 from external devices (server 106, infrastructure sensors 112, and vehicle-mounted device 104b) and outputs it to the dynamic map generation unit 202, target area designation unit 206, prediction processing unit 210, and planned travel interval designation unit 220. Position information such as GPS data in the received data is output to the target area designation unit 206 and planned travel interval designation unit 220. Sensor data and analysis result data (dynamic information, dynamic map, etc.) in the received data are output to the dynamic map generation unit 202 and prediction processing unit 210. As described later, the information acquisition unit 200 requests the external device to transmit data for updating dynamic information via the communication unit 128 based on the determination result input from the update determination unit 208. Furthermore, the information acquisition unit 200 outputs a control signal to the output unit 212 to activate the output unit 212.

[0092] When data is input from the information acquisition unit 200 or the sensor 134, the dynamic map generation unit 202 uses the input data to generate a dynamic map as described above for the server 106. The dynamic map generation unit 202 analyzes the input data (sensor data), detects dynamic objects, generates dynamic information about them, and embeds it into the dynamic map. The dynamic map generation unit 202 outputs the generated dynamic map to the storage unit 204 for storage. If the information acquisition unit 200 receives a dynamic map from the server 106, the dynamic map generation unit 202 outputs the dynamic map input from the information acquisition unit 200 to the storage unit 204 for storage.

[0093] Reference Figure 8 , for the grid area and dynamic map, a detailed explanation is given. Figure 8 This image shows the status of vehicles, pedestrians, and traffic lights on a road at a specific intersection at a specific moment. The road corresponds to a road map, which is divided into a grid pattern by multiple dashed lines. Each rectangular area divided by the dashed lines (for example, the rectangular area with points 320, 322, 324, and 326 as vertices) represents a grid area. By dividing the road map into multiple small areas (grid areas), the generation and updating of the dynamic map described later is facilitated.

[0094] In the grid area designated by points 320 to 326 and the grid areas around them, a plurality of signal lights such as pedestrian signal lights 302 and 304 (other pedestrian signal lights are not shown) and vehicle signal lights 306 to 312 are installed. A plurality of vehicles 102a to 102g are traveling or stopped. Figure 8 Infrastructure sensors are not shown. Pedestrian signal light 302, vehicle signal light 306, and vehicle signal light 308 are lit green, while pedestrian signal light 304 and vehicle signal lights 310 and 312 are lit red. Multiple pedestrians 300 are crossing the crosswalk. Arrows marked on each vehicle indicate their direction of travel. Vehicles without arrows are stopped. Vehicle 102a is about to turn left, vehicles 102b and 102d are stopped at the stop line, and vehicle 102c is about to turn right. Vehicles 102e, 102f, and 102g are traveling straight ahead.

[0095] Each of the multiple vehicles 102a to 102g is equipped with an onboard device and an onboard sensor, and the sensor data output from the onboard sensors is uploaded to the server 106. Sensor data is also uploaded to the server 106 from the infrastructure sensors. The server 106 communicates with the infrastructure sensors, onboard devices, and traffic lights to collect information (sensor data, etc.). The server 106 analyzes the collected information, detects pedestrians and vehicles as dynamic objects, and stores their dynamic information. For example, by analyzing the image data obtained from the sensor within a specified time, the driving speed (including zero) and driving direction can be detected based on the changes in the position of each vehicle. The moving speed and direction of pedestrians can also be detected. In addition, by detecting the flashing of the vehicle's direction indicator, it is possible to determine whether the vehicle (for example, vehicle 102a) is turning left or right before the vehicle actually changes direction.

[0096] Refer again Figure 7 The storage unit 204 stores input data and outputs requested data. The storage unit 204 is implemented by the memory 142. The storage unit 204 stores a static map (road map) in advance.

[0097] The object area designation unit 206 designates the current position of the vehicle 102a based on the input position information. Furthermore, the object area designation unit 206 designates a specified range (including multiple grid areas) including the current position in the dynamic map read from the storage unit 204 as an object area for determining whether the dynamic map needs to be updated. For example, an area within a specified radius centered on the current position is designated as an object area. It should be noted that the shape of the object area and the method of designating it are arbitrary. The object area can also be a rectangular area. In addition, if the vehicle is traveling, the object area can also be designated in a manner that more broadly includes the front of the driving direction and more narrowly includes the rear. Information indicating the specified object area is output to the update determination unit 208.

[0098] When the target area information is input from the target area designation unit 206, the update determination unit 208 reads the dynamic map from the storage unit 204 and specifies the multiple grid areas included in the target area. The update determination unit 208 then evaluates the freshness of the dynamic map for each of the specified grid areas to determine whether an update is necessary. For example, the freshness of the dynamic map is determined by evaluating the freshness of the dynamic information for each dynamic object included in each grid area. The freshness of the dynamic information can be determined, for example, by using the generation time and expiration date of the dynamic information. Specifically, if a dynamic object is included in a grid area, the freshness can be determined based on whether the current time has passed the sum of the generation time and expiration date of the dynamic information (hereinafter referred to as the valid time). If the valid time has not passed, an update is determined to be unnecessary (the dynamic map freshness of the grid area is high). If the valid time has passed, an update is determined to be necessary (the dynamic map freshness of the grid area is low). If multiple dynamic objects are included in a grid area, whether the valid time has passed is determined for each dynamic object. If the current time has passed the valid time for at least one piece of dynamic information, an update of the dynamic map for that grid area is determined to be necessary. If the current time has not passed the validity period for any dynamic information, it is determined that the dynamic map of the grid area does not need to be updated. By using the generation time and validity period of the dynamic information as the freshness of the dynamic information, it is possible to efficiently determine whether the dynamic map needs to be updated.

[0099] It should be noted that even in the case where it is determined that a dynamic object does not exist based on the detection results, it may not necessarily not exist. Since the update time of the dynamic map is early, even if a dynamic object actually exists, it may sometimes be determined that it does not exist. Therefore, for each grid area, the moment when all dynamic objects that previously existed in the dynamic map of the grid area disappeared (hereinafter referred to as the disappearance moment) can also be included in the freshness. For example, for a grid area with a disappearance moment (a grid area determined to have no dynamic objects), the freshness of the dynamic map is low, and it is determined that the dynamic map needs to be updated. For a grid area that has not passed the prescribed time from the disappearance moment at the current moment, the freshness of the dynamic map is high, and it is determined that the dynamic map does not need to be updated. The update determination unit 208 outputs information specifying the grid area determined to be necessary (hereinafter referred to as the grid area designation information) to the information acquisition unit 200. The grid area designation information is, for example, the coordinates of the four vertices of a rectangular grid.

[0100] It should be noted that, when there is no dynamic map corresponding to the object area specified by the information received from the object area designation unit 206 in the dynamic map read out by the update determination unit 208 from the storage unit 204, its grid area is determined to require dynamic map updating. Usually, the storage unit 204 (memory 142) does not store dynamic maps corresponding to all static maps, and the range of the dynamic map required for automatic driving changes as the vehicle travels. Therefore, sometimes a dynamic map that exceeds the range of the currently stored dynamic map is required. It should be noted that, when it is not determined whether the dynamic map needs to be updated, if data is downloaded from the server 106 in advance, a dynamic map of a somewhat wider area is generated and stored, it is possible to avoid the situation where there is no dynamic map corresponding to the object area.

[0101] When the grid area designation information is input from the update determination unit 208, the information acquisition unit 200 transmits a data transmission request including the grid area designation information and the corresponding required validity period or expiration time via the communication unit 128. This transmission is performed by multicast or broadcast. When the communication address of the other device (server, vehicle-mounted device, infrastructure sensor, etc.) requesting data transmission is known, multicast is performed; if it is unknown, broadcast can be performed. It should be noted that when the server 106 stores a dynamic map and the vehicle-mounted device 104a regularly receives the dynamic map from the server 106, it is sufficient to execute a data transmission request to a device other than the server 106 (such as the vehicle-mounted device and infrastructure sensor, etc.). The required validity period is the upper limit of the time during which the data can be effectively used, similar to the above-mentioned validity period. The information acquisition unit 200 can set the required validity period according to the real-time performance required by the vehicle-mounted device 104a.

[0102] Assume that devices such as onboard devices 104b and infrastructure sensors 112 mounted on vehicles other than vehicle 102a manage the expiration dates of their acquired data (sensor data, analysis results, etc.). Specifically, as time passes, the expiration dates are shortened, effectively usable data is retained (expiration date > 0), and old data is discarded (expiration date ≤ 0). A data transmission request can be received by onboard device 104b, infrastructure sensor 112, and server 106. The device receiving the data transmission request determines whether data (sensor data, dynamic information, etc.) that meets the required expiration date included in the data transmission request and is included in the area specified by the grid area information included in the data transmission request has been stored in its own memory. Meeting the required expiration date means, for example, that the device's managed expiration date is longer than the required expiration date (expiration date ≥ required expiration date). Furthermore, upon receiving an expiration date, the device receiving the data transmission request determines whether data (sensor data, analysis results, etc.) acquired after the expiration date has been stored in its own memory. A device that determines that it stores data that meets the conditions sends a message indicating this (hereinafter referred to as a sendable response) to the vehicle 102a. The information acquisition unit 200 then acquires data from the device for use in updating the dynamic map. As described above, the information acquisition unit 200 outputs the received data to the dynamic map generation unit 202, which then generates a dynamic map and replaces (updates) it with the currently stored dynamic map.

[0103] The prediction processing unit 210 receives instructions from the information acquisition unit 200 and performs prediction processing to improve the dynamic map. After the information acquisition unit 200 sends a data transmission request (e.g., multicast), if it does not receive a response indicating that the data can be transmitted even after a specified period of time, it instructs the prediction processing unit 210 to perform prediction processing. At this point, the information acquisition unit 200 sends grid area designation information to the prediction processing unit 210. The prediction processing unit 210 reads the dynamic map of the grid area designated by the prediction processing unit 210 and its surrounding grid areas from the dynamic information stored in the storage unit 204. The prediction processing unit 210 then uses the included dynamic information to predict the movement paths of dynamic objects and other information, and uses the prediction results to improve the dynamic map. For example, if the freshness of specific dynamic information is low (has expired or has exceeded a specified time since disappearance), this dynamic information (past information) is used to predict the movement paths, movement speeds, and other information in the future (within a specified period of time from the current time). By adding these prediction results to the dynamic map, the dynamic map can be improved. It should be noted that for grid areas that cannot be improved, the prediction processing unit 210 maintains the current dynamic map.

[0104] The output unit 212 receives an instruction from the information acquisition unit 200, reads the updated dynamic map from the storage unit 204, and transmits it to the freshness determination unit 222 of the autonomous driving ECU 124. For example, when the information acquisition unit 200 is notified (see the dotted arrow) of the completion of the dynamic map update from the dynamic map generation unit 202 or when the information acquisition unit 200 is notified (see the dotted arrow) of the completion of the dynamic map update from the prediction processing unit 210, the output unit 212 is instructed to output the dynamic map.

[0105] [Functional structure of autonomous driving ECU]

[0106] When the planned driving range designation unit 220 receives location information such as GPS data from the information acquisition unit 200 as described above, it uses this information to specify the current location of the vehicle 102a and the planned driving range for the future. For example, if the vehicle 102a is equipped with a car navigation system and a planned driving route and destination are recorded, the planned driving range designation unit 220 can specify the planned driving range by cooperating with the car navigation system. If neither the planned driving route nor the destination are recorded, for example, a road map (static map) can be read from the storage unit 204 to calculate the range within which the vehicle can travel within a specified time based on the current location, driving direction, and driving speed. Thus, the travelable range can be designated as the planned driving range. Information specifying the planned driving range is output to the freshness determination unit 222.

[0107] The freshness determination unit 222 specifies the predetermined travel interval based on the information input from the predetermined travel interval designation unit 220 and specifies the grid areas included therein. The freshness determination unit 222 determines the freshness of the dynamic map corresponding to each of the designated grid areas in the dynamic information input from the output unit 212. As described above, the determination of the freshness of the dynamic map can be made using the expiration date and expiration time included in the dynamic information included in each grid area. If the freshness determination unit 222 determines that all the dynamic information corresponding to the designated grid area is high in freshness, the dynamic map input from the output unit 212 is output to the travel plan generation unit 224. If the freshness determination unit 222 determines that the freshness of at least one dynamic information is low, the dynamic map input from the output unit 212 is not output to the travel plan generation unit 224 (for example, it is discarded).

[0108] The driving plan generator 224 generates a driving plan using the dynamic map input from the freshness determination unit 222 and the sensor data acquired from the sensors 134. A driving plan is a plan related to the vehicle's position and state over time, necessary to determine control information for the autonomous driving mechanism (engine, transmission, steering, etc.). It should be noted that if the dynamic map is not input from the freshness determination unit 222, the driving plan generator 224 generates a driving plan using only the sensor data. The generated driving plan is output to the control information generator 226.

[0109] The control information generating unit 226 generates control information for the automatic driving mechanism (engine, transmission, steering, etc.) according to the driving plan input from the driving plan generating unit 224 and transmits it to the automatic driving mechanism to be controlled. This enables the vehicle 102a to travel automatically.

[0110] Thus, if the freshness of a portion of the grid area in the stored dynamic map decreases, the onboard device 104a of the vehicle 102a can update the dynamic map corresponding to the grid area. That is, when it is determined that the dynamic map needs to be updated, the onboard device 104a sends a data transmission request. When an external device such as the onboard device 104b receives the data transmission request, it determines whether the stored sensor data, etc. meet the requirements. If the requirements are met, it will send a response and the corresponding sensor data, etc. to the onboard device 104a. Therefore, the onboard device 104a can use the data received from the external device to update the dynamic map used for autonomous driving. If the freshness of the dynamic map decreases, it is dangerous to use the dynamic map for autonomous driving control, and thus autonomous driving cannot be performed. However, by updating the dynamic map as described above, the freshness of the dynamic map can be maintained at a high level, so that the vehicle 102a can perform highly reliable autonomous driving.

[0111] [Operations of the Interior and Exterior Collaboration Department]

[0112] Reference Figure 9 For the processing of the vehicle interior and exterior cooperation unit 120, refer to Figure 7 The functions shown are described in more detail. Figure 9 The illustrated process is implemented by control unit 140 reading and executing a predetermined program from memory 142. Here, it is assumed that server 106 receives an external request and is transmitting stored dynamic driving assistance information (dynamic map, analysis results, sensor data, etc.).

[0113] In step 400, the control unit 140 determines whether to execute an update process for the dynamic map. For example, if updates are performed periodically, the control unit 140 determines whether to execute an update process by determining whether the update period has elapsed since the last update. If the update process is executed, control transfers to step 402. Otherwise, step 400 is repeated. It should be noted that the update process can also be executed at a predetermined time (e.g., the update time of the day).

[0114] In step 402, control unit 140 updates the dynamic map using sensor data output from sensor 134 and data acquired from server 106. For example, control unit 140 requests server 106 to receive data (dynamic driving assistance information) used to generate the dynamic map. This corresponds to the functions of information acquisition unit 200 and dynamic map generation unit 202 described above. The generated dynamic map is stored in memory 142. If control unit 140 receives the dynamic map itself, it stores it in memory 142 as is. Control then transfers to step 404.

[0115] In step 404, the control unit 140 evaluates the freshness of the dynamic map. Specifically, the control unit 140 specifies the target area for determining whether the dynamic map needs to be updated (corresponding to the function of the target area designation unit 206) based on the current position of the vehicle 102a. The control unit 140 reads the dynamic map corresponding to the target area from the memory 142 and, as described above, evaluates the freshness of the dynamic map corresponding to each grid area (corresponding to the function of the update determination unit 208). The evaluation results related to each grid area are temporarily stored in the memory 142. For example, the control unit 140 stores the grid area designation information (e.g., the coordinates of the four vertices) in the memory 142 only for grid areas with low freshness (ignoring grid areas with high freshness). Then, control is transferred to step 406.

[0116] In step 406, the control unit 140 determines whether there is a dynamic map with low freshness. Specifically, the control unit 140 reads the grid area designation information stored in step 404 from the memory 142. If the grid area designation information can be read (if the grid designation information exists), it is determined that there is a dynamic map with low freshness, and control transfers to step 408. Otherwise, that is, if the grid designation information cannot be read (if the grid designation information does not exist), it is determined that there is no dynamic map with low freshness, and control transfers to step 418.

[0117] In step 408, control unit 140 transmits a data transmission request to the external device (corresponding to the function of information acquisition unit 200). The data transmission request includes mesh area designation information and the corresponding requested validity period or expiration time. Then, control transfers to step 410.

[0118] In step 410 , the control unit 140 determines whether a transmission permission response (corresponding to the function of the information acquisition unit 200 ) has been received from the external device. If it is determined that a transmission permission response has been received, the control proceeds to step 412 . Otherwise, the control proceeds to step 414 .

[0119] In step 412, the control unit 140 receives data from the external device that received the sendable response (corresponding to the function of the information acquisition unit 200) as described above, and uses the data to update the dynamic map (corresponding to the function of the dynamic map generation unit 202). It should be noted that the control unit 140 may also request the device that sent the sendable response to send data. The address of the device that sent the sendable response can be specified by the source address included in the data packet that includes the sendable response. Control then transfers to step 418.

[0120] Meanwhile, in step 414, control unit 140 determines whether the dynamic map determined to have low freshness can be improved through predictive processing. As described above, predictive processing uses past dynamic information to generate dynamic information for the current and future periods. Therefore, if appropriate dynamic information for predictive processing is not stored in memory 142, improvement through predictive processing cannot be performed. If improvement is determined to be possible, control transfers to step 416. Otherwise, control transfers to step 420.

[0121] In step 416, the control unit 140 improves the dynamic map through predictive processing. Specifically, for grid areas determined to have low freshness, the control unit 140 uses the dynamic information contained in each grid area and the surrounding grid areas to generate dynamic information for the future (within a specified time T from the current time). The control unit 140, for example, generates data such as the trajectory and speed changes of dynamic objects and embeds them into the corresponding dynamic map. Furthermore, the control unit 140, for example, embeds the time T as the expiration date of the generated dynamic information into the dynamic map. Then, control transfers to step 418.

[0122] In step 418, the control unit 140 transmits the dynamic map updated in step 412 or step 416 to the automatic driving ECU 124 via the bus 132. This corresponds to the functions of the information acquisition unit 200 and the output unit 212 described above.

[0123] In step 420, the control unit 140 determines whether an end instruction has been received. If it is determined that an end instruction has been received, the present routine ends. Otherwise, control returns to step 400 and the above process is repeated. For example, the end instruction is given by turning off the power supply mounted on the vehicle 102a.

[0124] This allows the in-vehicle / out-of-vehicle coordination unit 120 to dynamically update the dynamic map, maintaining a high level of freshness. If the in-vehicle / out-of-vehicle coordination unit 120 is unable to obtain fresh dynamic information from the server, it can obtain the necessary data from external devices, such as infrastructure sensors and surrounding onboard devices, to update the dynamic map. Furthermore, even if the necessary data cannot be obtained from the server 106 or other devices, the dynamic map can still be improved through predictive processing. This maintains the freshness of the dynamic map, enabling highly reliable autonomous driving.

[0125] [Autonomous Driving ECU Operation]

[0126] Reference Figure 10 , for the processing of the automatic driving ECU 124, refer to Figure 7 The functions shown are described in more detail. Figure 10 The processing shown is done by Figure 4 The control unit 150 shown is implemented by reading a predetermined program from the memory 152 and executing the program.

[0127] In step 500 , the control unit 150 determines whether a dynamic map has been received from the in-vehicle and out-of-vehicle cooperation unit 120 . If it is determined that a dynamic map has been received, control proceeds to step 502 . Otherwise, control proceeds to step 508 .

[0128] In step 502, control unit 150 determines whether the freshness of the dynamic map corresponding to the planned travel segment is low. This corresponds to the functions of planned travel segment designation unit 220 and freshness determination unit 222 described above. If the freshness is determined to be low, control transfers to step 504. Otherwise, control transfers to step 506.

[0129] In step 504, control unit 150 generates a driving plan without using the dynamic map received in step 500. For example, control unit 150 generates a driving plan using only sensor data output from sensor 134 mounted on vehicle 102a (the vehicle itself). This corresponds to the function of driving plan generation unit 224 described above. Control then transfers to step 508.

[0130] Meanwhile, in step 506, control unit 150 generates a driving plan using the dynamic map received in step 500. For example, control unit 150 generates a driving plan using sensor data output from sensor 134 mounted on vehicle 102a (the vehicle itself) and the dynamic map. This corresponds to the function of driving plan generator 224 described above. Control then transfers to step 508.

[0131] In step 508, control unit 150 determines whether autonomous driving is difficult. If autonomous driving cannot be performed safely (e.g., when there is a blind spot), it is determined to be difficult. If so, control transfers to step 512. Otherwise, control transfers to step 510.

[0132] In step 510, the control unit 150 executes autonomous driving according to the driving plan generated in step 504 or 506. If autonomous driving is already being executed, it continues. Specifically, the control unit 150 generates control information for controlling the autonomous driving mechanism according to the driving plan and transmits it to the autonomous driving mechanism. This corresponds to the function of the control information generation unit 226 described above.

[0133] On the other hand, in step 512, the control unit 150 does not perform autonomous driving. If autonomous driving is already being performed, the control unit 150 suspends it. For example, the control unit 150 switches to autonomous driving via remote control or manual driving. The control unit 150 may also move the vehicle 102a to a safe location and park it.

[0134] In step 514, the control unit 150 determines whether an end instruction has been received. If it is determined that an end instruction has been received, the present routine ends. Otherwise, control returns to step 500 and the above process is repeated. For example, the end instruction is given by turning off the power supply mounted on the vehicle 102a.

[0135] As a result, the autonomous driving ECU 124 can use a fresh dynamic map to generate control data for autonomous driving, thereby achieving highly reliable autonomous driving. If the dynamic map is not fresh, it is not used, thus preventing inappropriate autonomous driving. Furthermore, this avoids unnecessary processing by the autonomous driving ECU 124, reduces unnecessary communication within the onboard device 104a, and reduces storage capacity.

[0136] Reference Figure 11 Typically, the server 106 receives data from the vehicle-mounted devices 104a, 104b, and 104c and the infrastructure sensor 112 ( Figure 11The sensor data uploaded by the vehicle is analyzed to generate a dynamic map, which is then sent to the vehicle-mounted devices 104a, 104b and 104c regularly as dynamic driving assistance information. Figure 11 In the figure, thick arrows indicate downloading of dynamic maps, etc., and thin arrows indicate uploading of sensor data, etc. The width of the arrows indicates the difference in communication bandwidth (communication speed).

[0137] For example, when communication between the vehicle-mounted device 104c and the server 106 becomes difficult, or when uploading data from the vehicle-mounted device 104c takes a long time (in Figure 11 In the figure, indicated by a dotted arrow), a situation may occur in which the server 106 cannot generate a dynamic map with high freshness. When such a situation occurs, for example, the server 106 can only distribute a dynamic map with low freshness, the onboard device 104a cannot properly update the stored dynamic map, and the freshness of the dynamic map decreases. If this is the case, it may affect the autonomous driving (for example, it may become impossible to perform autonomous driving). In such a situation, the onboard device 104a can receive the required data from devices other than the server 106 (the onboard device 104b, the onboard device 104c, and the infrastructure sensor 112) by sending (for example, multicasting) a data sending request as described above, and update the dynamic map. Therefore, the onboard device 104a can avoid affecting the autonomous driving and can continue the autonomous driving with high reliability.

[0138] As an existing driving assistance system, a centralized processing type system has been proposed and implemented. In a centralized processing type system, data (sensor data, etc.) is concentrated on a single server, and the latest dynamic map is constructed in the server. The dynamic map is sent from the server to the vehicle-mounted device. In contrast, a distributed processing type system has been proposed, and it is expected that distributed processing type systems will become popular in the future. In a distributed processing type system, data processing is shared among multiple servers and multiple vehicle-mounted devices, and the dynamic map is also constructed in a decentralized manner. The present disclosure can provide the technology required in a distributed processing type driving assistance system.

[0139] Figure 9 and Figure 10 The processing of the vehicle interior and exterior cooperation unit 120 shown in FIG. 1 can be performed by appropriate modification. For example, the case where the processing (step 418) of sending the dynamic map to the automatic driving ECU 124 is performed after the prediction processing (step 416) is performed is described, but it is not limited to this. Even if it is determined in step 414 that the prediction is possible and the prediction processing is performed, the dynamic map may not be fully improved. Therefore, if Figure 12 As shown, the preferred correction Figure 9 The flowchart shown. Figure 12 The flowchart shown is in Figure 9The flowchart shown is a flowchart after adding step 430. Therefore, repeated description will be omitted and only the differences will be described.

[0140] In step 430, the control unit 140 determines the freshness of the improved dynamic map. If the freshness of the improved dynamic map is low, the control unit 140 discards the improved dynamic map and transfers control to step 420. Otherwise (if the freshness of the improved dynamic map is high), control transfers to step 418. This prevents the transmission of an insufficiently improved dynamic map to the autonomous driving ECU 124, enabling highly reliable autonomous driving. It also avoids unnecessary processing by the autonomous driving ECU 124, reduces unnecessary communication within the onboard device 104a, and reduces storage capacity.

[0141] (First Modification)

[0142] While the above description describes a scenario in which an onboard device updates a dynamic map based on its freshness, utilizes it in the autonomous driving ECU of the vehicle itself, and reflects it in autonomous driving, the present invention is not limited to this embodiment. In a first variant, the onboard device that has updated the dynamic map not only uses it in the vehicle itself but also transmits the updated dynamic map to the onboard devices of other vehicles.

[0143] The composition and Figures 1 to 6 In addition, the functions of the vehicle-mounted devices (inside and outside vehicle coordination and autonomous driving ECU) are the same as Figure 7 The difference is that the vehicle-mounted device 104a transmits the updated dynamic map to the outside.

[0144] Specifically, if Figure 13 As shown, data is sent and received between the server and the vehicle-mounted device. Figure 7 , in the vehicle-mounted device 104a, as described above, the in-vehicle and out-of-vehicle cooperation unit 120 (information acquisition unit 200) sends a data sending request. For example, the vehicle-mounted devices 104b and 104c receive the data sending request and send the data to the vehicle-mounted device 104a. The vehicle-mounted device 104a uses the received data to update the dynamic map. The updated dynamic map is sent to the automatic driving ECU 124 of the vehicle (vehicle-mounted device 104a) as described above, and is used by the automatic driving ECU 124 for the automatic driving of the vehicle. In addition, the vehicle-mounted device 104a (in-vehicle and out-of-vehicle cooperation unit 120) reads the updated dynamic map from the storage unit 204 (memory 142) and sends it via the communication unit 128. The sending can be performed by multicast or broadcast. The vehicle-mounted device 104a (in-vehicle and out-of-vehicle cooperation unit 120) can also receive a request from an external device and send the updated dynamic information to the external device.

[0145] Onboard device 104d lacks an in-vehicle / out-of-vehicle coordination unit, but it does have an autonomous driving ECU and thus possesses autonomous driving capabilities. Onboard device 104d receives updated dynamic maps from onboard device 104a and uses them for autonomous driving. Consequently, vehicles equipped with onboard device 104d can perform highly reliable autonomous driving.

[0146] On the other hand, the vehicle-mounted device 104e that does not have an automatic driving function also receives the updated dynamic map from the vehicle-mounted device 104a. The vehicle-mounted device 104e cannot use the received dynamic map for automatic driving, but can use the dynamic map to present information that serves as driving assistance. For example, if the dynamic map includes dynamic information of dynamic objects, the presence of dynamic objects (pedestrians, etc.) near the vehicle and the predicted path of the dynamic objects can be presented on the mounted display. In addition, the presence of dynamic objects can also be warned by an audio device. Therefore, highly reliable driving assistance can be achieved.

[0147] While the above description describes a case where the onboard device 104a uses the updated dynamic map for its own vehicle (vehicle 102a) and also transmits it to the onboard devices of other vehicles, it is not necessary to use it for its own vehicle. By transmitting the updated dynamic map to the onboard devices of other vehicles (such as onboard devices 104d and 104e), each vehicle can utilize the dynamic map for autonomous driving or driving assistance, as described above.

[0148] (Second Modification)

[0149] In the above description, the case where the vehicle-mounted device updates the dynamic map based on the freshness of the dynamic map is described, but the present invention is not limited to this. In a second variation, a device other than the vehicle-mounted device (a server, a roadside device, etc.) updates the dynamic map based on the freshness of the dynamic map.

[0150] The composition and Figures 1 to 6 In addition, the functions of the vehicle-mounted devices (inside and outside vehicle coordination and autonomous driving ECU) are the same as Figure 7 The difference is that devices other than the vehicle-mounted device, such as Figure 7 The function shown is to update the dynamic map according to the freshness of the dynamic map.

[0151] Specifically, if Figure 14As shown, data is sent and received between the vehicle-mounted device and its external device. The server 106 receives sensor data and the like from the outside, analyzes it, generates a dynamic map, and stores it. The server 106 appropriately sends the stored dynamic map to the vehicle-mounted devices 104a and 104b. The roadside device 116 also generates a dynamic map in the same way as the server 106 and sends it to the vehicle-mounted devices 104a and 104b. That is, the server 106 and the roadside device 116 each function as an information distribution device. Here, it is assumed that the vehicle-mounted device 104a has an automatic driving ECU and can perform automatic driving, but does not have an in-vehicle and out-of-vehicle cooperation unit and does not have a function to update the dynamic map according to the freshness of the dynamic map. The vehicle-mounted device 104a uses the dynamic map received from the server 106 and the roadside device 116 for automatic driving of the vehicle. On the other hand, it is assumed that the vehicle-mounted device 104b does not have an automatic driving ECU and cannot perform automatic driving. The vehicle-mounted device 104b uses the received dynamic map to present information for driving assistance.

[0152] Hereinafter, the function of the server 106 will be described, but the roadside device 116 also has the same function. Figure 7 As described above, the server evaluates the freshness of its stored dynamic map and, if it determines that a grid area has lost freshness, sends a data transmission request. As described above, the data transmission request includes grid area designation information and the corresponding requested validity period or expiration time, and transmission can be performed via multicast or broadcast. It should be noted that since server 106 is fixed to its location, it manages the dynamic map within a specified range based on its location.

[0153] Infrastructure sensors 112 and onboard devices (here, other than onboard devices 104a and 104b) receive the data transmission request and transmit sensor data, etc., to the device that transmitted the data transmission request (server 106). Server 106 uses the received data to update the dynamic map and stores the dynamic map with high freshness. Server 106 then transmits the updated dynamic map (dynamic map with high freshness). This transmission can be performed via multicast or broadcast. Server 106 can also receive a request from an onboard device and transmit the updated dynamic information to the onboard device.

[0154] Since the onboard device 104a includes an autonomous driving ECU, when it receives a dynamic map (a highly fresh dynamic map) from the server 106, it inputs the received dynamic map into the autonomous driving ECU for use in autonomous driving. Consequently, a vehicle equipped with the onboard device 104a can perform autonomous driving with greater reliability.

[0155] On the other hand, the vehicle-mounted device 104b, which does not have an autonomous driving function, also receives an updated dynamic map (a dynamic map with high freshness) from the server 106. The vehicle-mounted device 104b cannot use the received dynamic map for autonomous driving, but can use the dynamic map to present information that serves as a driving assistance. In other words, if the dynamic map includes dynamic information about dynamic objects, for example, the presence of dynamic objects (such as pedestrians) near the vehicle and the predicted path of the dynamic objects can be displayed on the onboard display, and a warning of the presence of dynamic objects can be issued through an audio device.

[0156] While the above description assumes rectangular grid areas created by dividing a road map into a grid, this is not a limitation. Any small area created by dividing a road map into multiple regions can be used, and the size and shape of the divided small areas can be arbitrary and can vary. Furthermore, dynamic maps are not necessary for areas where vehicles are prohibited or unable to travel. Therefore, it is also possible to divide only the areas where vehicles can travel into multiple small areas, and generate and update dynamic maps for each of these small areas.

[0157] As described above, the freshness is evaluated using time information such as the expiration date included in the dynamic map. Therefore, the updated dynamic map or the improved dynamic map sent from the in-vehicle and out-of-vehicle coordination unit 120 to the autonomous driving ECU 124 also includes time information such as the expiration date. However, this is not limited to this. For example, in step 418, the freshness can also be evaluated before the updated dynamic map or the improved dynamic map is sent to the autonomous driving ECU 124, and the evaluation result (such as a label corresponding to the freshness) can be attached. In this way, the autonomous driving ECU 124 can more simply perform the freshness determination process in step 502.

[0158] Above, the case where the update of the dynamic map is determined based on the freshness of the dynamic map of each grid area is described, but the determination indicator is not limited to freshness. As long as it is an indicator that represents the reliability (accuracy) of the dynamic map. It is not preferred to use a dynamic map with low accuracy for autonomous driving. For example, it is also possible to determine whether the dynamic map is updated based on the accuracy (roughness) of the dynamic map of each grid area. That is, accuracy includes freshness and accuracy. The accuracy of the dynamic map of each grid area means the accuracy of the dynamic information included in the grid area. As mentioned above, dynamic information includes information related to the position, speed and movement direction (driving direction) of dynamic objects (people and vehicles, etc.) detected by analyzing sensor data (including temporal changes, such as trajectories, etc.). Dynamic information is not limited to the analysis results of past data, but may also include prediction information.

[0159] The accuracy of dynamic information depends on the sensor's detection performance, its surrounding environment, and other factors. In other words, accuracy is a function of the sensor's detection performance and environmental conditions. Detection performance includes the performance of the sensor itself and, when generating prediction information, the processing power of the engine (software) that processes sensor data to predict changes (such as movement) in dynamic objects. Environmental conditions include meteorological conditions (such as weather (sunny, rainy, cloudy, foggy), temperature, humidity, and so on), sunlight conditions, and other factors that affect sensor detection performance. For example, accuracy can be pre-determined based on the sensor's product number and the environmental conditions when the sensor data was acquired, and stored in a table or other format. When performing predictions, in addition to the above, accuracy can also be pre-determined based on the type of engine used. When uploading sensor data, information specifying the sensor's product number and the environmental conditions at the time of acquisition is also uploaded. This allows servers, etc., to add accuracy to received sensor data or the analysis results (dynamic information) obtained by analyzing it, by referring to the table storing the accuracy. Furthermore, servers, etc. can also add accuracy to the analysis results (dynamic information) based on the engine used in their own prediction processing. When servers send sensor data and dynamic information, they add precision.

[0160] When an onboard device generates a dynamic map for each grid area using sensor data and dynamic information received from a server, etc., it stores the accuracy of the dynamic information added to the generated dynamic map. Thus, the onboard device can determine whether the dynamic map for that grid area should be updated by comparing the accuracy of the dynamic information included in each grid area with a predetermined threshold. For example, if the accuracy of all dynamic information included in the dynamic map for the grid area is greater than the threshold (high accuracy), the onboard device determines that the dynamic map does not need to be updated. On the other hand, if the accuracy of at least one piece of dynamic information included in the dynamic map for the grid area is below the threshold (low accuracy), the onboard device determines that the dynamic map corresponding to the grid area needs to be updated. Thus, similar to the case where freshness is used as a determination metric, the onboard device can issue a data transmission request as needed. In this case, a required degree of accuracy (effective accuracy requirement) can be added to the data transmission request instead of a required expiration date. Thus, the device that receives the data transmission request determines whether its stored sensor data meets the required (effective accuracy requirement) and, if so, can send a transmission response along with the sensor data. Therefore, the vehicle-mounted device that has sent the data transmission request can use the data received from the external device to update the dynamic map, and can use the updated high-precision dynamic map to achieve highly reliable autonomous driving.

[0161] It should be noted that the indicator is not limited to using only one accuracy (e.g., only one of accuracy and freshness). Multiple accuracy levels (e.g., accuracy and freshness) can also be used as indicators, and the update of the dynamic map can be determined based on the accuracy of the dynamic map of each grid area. When using multiple accuracy levels, for example, if at least one accuracy level is low, it is determined that the dynamic map needs to be updated, and if all accuracy levels are high, it is determined that no update is required.

[0162] Above, the case where the freshness of the dynamic information included in the dynamic map corresponding to the grid area is used as an indicator for determining whether the dynamic map needs to be updated is described, but it is not limited to this. For example, the time when the dynamic map corresponding to the grid area was last updated can also be used as freshness. That is, the freshness can also be the final update time of the dynamic map corresponding to the grid area. In this case, one indicator (final update time) is stored corresponding to one grid area. In this way, by comparing the time elapsed from the final update time to the present with the specified threshold value (the validity period of the dynamic map), it can be determined whether the dynamic map needs to be updated. For example, if the elapsed time is above the threshold value, it is determined that the dynamic map needs to be updated, and if the elapsed time is less than the threshold value, it is determined that it does not need to be updated. Therefore, it is possible to more simply determine whether the dynamic map needs to be updated.

[0163] As mentioned above, Figure 7 Each functional block shown can be implemented by hardware, software, or a combination thereof. To implement it using hardware, it is sufficient to use the processing performed by the in-vehicle and out-of-vehicle cooperation unit 120 and the automatic driving ECU 124 (e.g. Figure 9 and Figure 11 ASIC etc. which may be part or all of the processing shown in the figure).

[0164] In addition, it is possible to provide a recording of the processing (for example, Figure 9 and Figure 10 The storage medium is a recording medium for a program for performing the processing shown in the figure). Examples of the storage medium are optical discs (DVD (Digital Versatile Disc), etc.), removable semiconductor memories (USB (Universal Serial Bus, etc.). Computer programs can be transmitted via a communication line, but the recording medium means a non-temporary recording medium. By having the computer read the program stored in the recording medium, the computer can update the dynamic map according to the accuracy of the dynamic map as described above, generate a dynamic map with high accuracy, and use it for autonomous driving and driving assistance.

[0165] While the present disclosure has been described above by way of embodiments, the above embodiments are merely examples and the present disclosure is not limited thereto. The scope of the present disclosure is defined by the claims, with reference to the detailed description of the invention, and includes all modifications within the meaning and scope of the claims, which are equivalent to the terms described therein.

[0166] Description of Reference Numerals

[0167] 100 Driving assistance system; 102a, 102b, 102c, 102d, 102e, 102f, 102g Vehicle; 104a, 104b, 104c, 104d, 104e Vehicle-mounted device; 106 Server; 108 Base station; 110 Network; 112 Infrastructure sensor; 114 Traffic light; 116 Roadside device; 120 In-vehicle and out-of-vehicle collaboration unit; 122 In-vehicle gateway; 124 Autonomous driving ECU; 126, 154, 176 I / F unit; 128, 164, 174 Communication unit; 130, 132, 166, 180 Bus; 134, 178 Sensor; 140, 150, 160, 170 Control unit; 142, 152, 162, 172 Memory; 20 0 information acquisition unit; 202 dynamic map generation unit; 204 storage unit; 206 object area designation unit; 208 update determination unit; 210 prediction processing unit; 212 output unit; 220 scheduled driving range designation unit; 222 freshness determination unit; 224 driving plan generation unit; 226 control information generation unit; 300 pedestrian; 302, 304 pedestrian signal lights; 306, 308, 310, 312 vehicle signal lights; 320, 322, 324, 326 points; 400, 402, 404, 406, 408, 410, 412, 414, 416, 418, 420, 430, 500, 502, 504, 506, 508, 510, 512, 514 steps.

Claims

1. A vehicle-mounted device, comprising: Communication unit, receiving data from the outside; a generating unit for generating a dynamic map by associating dynamic information related to the dynamic object with the static map based on the data; a storage unit, storing the dynamic map and the static map; as well as a determination unit for determining whether to update a dynamic map corresponding to a predetermined area of ​​the static map in the dynamic map stored in the storage unit; The determination unit determines whether to update the dynamic map based on the accuracy of the dynamic map corresponding to the predetermined area. In response to the determination by the determination unit that the dynamic map corresponding to the predetermined area is to be updated, the communication unit transmits a transmission request for data satisfying a predetermined condition related to the accuracy to the external device, In response to the communication unit receiving the data sent in response to the sending request, the generation unit updates the dynamic map to a new dynamic map generated based on the data newly received by the communication unit. The static map is a road map, The predetermined area is one of a plurality of grid areas determined by dividing an area including at least roads in the road map into a grid. The data includes sensor data, The dynamic map includes dynamic information related to the displacement of the dynamic object detected by the generation unit analyzing the sensor data. The accuracy is the freshness of the dynamic information included in the dynamic map corresponding to the prescribed area.

2. The vehicle-mounted device according to claim 1, wherein The vehicle-mounted device further includes a prediction processing unit configured to predict a displacement of the dynamic object from the current time until a predetermined time has passed. In response to the determination by the determination unit that the dynamic map corresponding to the predetermined area is to be updated, the prediction processing unit predicts the displacement of the dynamic object included in the predetermined area from the current time until a predetermined time has passed, The generation unit completes the dynamic map corresponding to the predetermined area using the displacement.

3. The vehicle-mounted device according to claim 1 or 2, wherein: The vehicle-mounted device further includes a control unit that controls the automatic driving of the vehicle on which the vehicle-mounted device is mounted. The control unit uses the dynamic map stored in the storage unit for automatic driving of the vehicle.

4. The vehicle-mounted device according to claim 3, wherein: The vehicle-mounted device further includes an accuracy determination unit configured to determine the accuracy of the dynamic map corresponding to a predetermined travel section of the vehicle on which the vehicle-mounted device is mounted. In response to the accuracy determination portion determining that the accuracy is low, the control portion does not use the dynamic map corresponding to the predetermined travel section for automatic driving of the vehicle.

5. The vehicle-mounted device according to claim 2, wherein: The vehicle-mounted device further includes a control unit that controls the automatic driving of the vehicle on which the vehicle-mounted device is mounted. The control unit uses the dynamic map stored in the storage unit for automatic driving of the vehicle, The vehicle-mounted device further includes an accuracy determination unit configured to determine the accuracy of the dynamic map improved by the generation unit. In response to the accuracy determination unit determining that the accuracy is low, the control unit does not use the improved dynamic map for automatic driving of the vehicle.

6. The vehicle-mounted device according to claim 1 or 2, wherein: The communication unit transmits the new dynamic map to the outside in response to the generation unit generating the new dynamic map.

7. An information distribution device comprising: Communication unit, receiving data from the outside; a generating unit for generating a dynamic map by associating dynamic information related to the dynamic object with the static map based on the data; a storage unit, storing the dynamic map and the static map; as well as a determination unit for determining whether to update a dynamic map corresponding to a predetermined area of ​​the static map in the dynamic map stored in the storage unit; The determination unit determines whether to update the dynamic map based on the accuracy of the dynamic map corresponding to the predetermined area. In response to the determination by the determination unit that the dynamic map corresponding to the predetermined area is to be updated, the communication unit transmits a transmission request for data satisfying a predetermined condition related to the accuracy to the external device, In response to the communication unit receiving the data sent in response to the sending request, the generation unit updates the dynamic map to a new dynamic map generated based on the data newly received by the communication unit. The communication unit transmits the new dynamic map to the outside in response to the generation unit generating the new dynamic map. The static map is a road map, The predetermined area is one of a plurality of grid areas determined by dividing an area including at least roads in the road map into a grid. The data includes sensor data, The dynamic map includes dynamic information related to the displacement of the dynamic object detected by the generation unit analyzing the sensor data. The accuracy is the freshness of the dynamic information included in the dynamic map corresponding to the prescribed area.

8. A vehicle-mounted device comprising: a receiving unit that receives the dynamic map from the vehicle-mounted device according to claim 6 or the information distribution device according to claim 7; as well as The automatic driving control unit controls the automatic driving of the vehicle equipped with the receiving unit using the dynamic map received by the receiving unit.

9. A vehicle-mounted device comprising: a receiving unit that receives the dynamic map from the vehicle-mounted device according to claim 6 or the information distribution device according to claim 7; as well as The presenting unit generates and presents driving assistance information based on the dynamic map received by the receiving unit.

10. The vehicle-mounted device according to any one of claims 1, 2, 8 and 9, wherein: The dynamic information includes the generation time and validity period of the dynamic information as the freshness, The determination unit determines whether to update the dynamic map based on the creation time and the expiration date.

11. A driving assistance system, comprising a server and a vehicle-mounted device, The server receives sensor data from an external device, analyzes the sensor data to detect a dynamic object, generates dynamic information related to the displacement of the dynamic object, and transmits data including at least one of the sensor data and the dynamic information to the vehicle-mounted device. The vehicle-mounted device comprises: a communication unit, receiving the data sent from the server; a generating unit, for generating a dynamic map by associating the dynamic information with a static map based on the data; a storage unit, storing the dynamic map and the static map; as well as a determination unit for determining whether to update a dynamic map corresponding to a predetermined area of ​​the static map in the dynamic map stored in the storage unit; The determination unit determines whether to update the dynamic map based on the accuracy of the dynamic map corresponding to the predetermined area. In response to the determination by the determination unit that the dynamic map corresponding to the predetermined area is to be updated, the communication unit transmits a transmission request for data satisfying a predetermined condition related to the accuracy to the server, In response to the communication unit receiving the data sent in response to the sending request, the generation unit updates the dynamic map to a new dynamic map generated based on the data newly received by the communication unit. The static map is a road map, The predetermined area is one of a plurality of grid areas determined by dividing an area including at least roads in the road map into a grid. The data includes sensor data, The dynamic map includes dynamic information related to the displacement of the dynamic object detected by the generation unit analyzing the sensor data. The accuracy is the freshness of the dynamic information included in the dynamic map corresponding to the prescribed area.

12. A control method for a device having a communication function, comprising: Communication step, receiving data from the outside; a generating step of generating a dynamic map by associating dynamic information related to the dynamic object with a static map based on the data; a storing step of storing the dynamic map and the static map; a determining step of determining whether to update the dynamic map corresponding to the prescribed area of ​​the static map based on the accuracy of the dynamic map corresponding to the prescribed area in the dynamic map stored in the storing step; a sending step of sending a request for sending data that satisfies a prescribed condition related to the accuracy to the outside in response to the determination in the determining step that the dynamic map corresponding to the prescribed area is to be updated; as well as an updating step, in response to the communication step receiving the data sent in response to the sending request, updating the dynamic map to a new dynamic map generated based on the data newly received through the communication step, The static map is a road map, The predetermined area is one of a plurality of grid areas determined by dividing an area including at least roads in the road map into a grid. The data includes sensor data, The dynamic map includes dynamic information related to the displacement of dynamic objects detected by parsing the sensor data in the generating step, The accuracy is the freshness of the dynamic information included in the dynamic map corresponding to the prescribed area.

13. A program product comprising a computer program, said computer program causing a computer to execute: Communication function, receiving data from the outside; a generating function for generating a dynamic map by associating dynamic information related to the dynamic object with a static map based on the data; A storage function for storing the dynamic map and the static map; a determination function for determining whether to update the dynamic map corresponding to the prescribed area of ​​the static map based on the accuracy of the dynamic map corresponding to the prescribed area in the dynamic map stored by the storage function; a transmission function for transmitting a transmission request for data satisfying a predetermined condition related to the accuracy to the outside in response to the determination by the determination function that the dynamic map corresponding to the predetermined area is to be updated; as well as an updating function, in response to the communication function receiving the data sent in response to the sending request, updating the dynamic map to a new dynamic map generated based on the data newly received through the communication function, The static map is a road map, The predetermined area is one of a plurality of grid areas determined by dividing an area including at least roads in the road map into a grid. The data includes sensor data, The dynamic map includes dynamic information related to the displacement of dynamic objects detected by the generation function parsing the sensor data, The accuracy is the freshness of the dynamic information included in the dynamic map corresponding to the prescribed area.

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