Road surface condition inspection methods, road surface condition inspection devices and systems

Abstract

This disclosure relates to a road surface condition inspection method, apparatus, and system. This disclosure provides a technique for maintaining the freshness of road surface condition information. It is associated with a road surface condition inspection method for performing road surface condition inspections. The road surface condition inspection method includes the following steps: acquiring detailed information about the road surface condition set at each inspection point based on the vehicle's driving performance and information about the vehicle's own position; generating an inspection execution plan for the vehicle at the inspection point, provided that the inspection point is included within a predetermined range along the vehicle's direction of travel based on its own position; evaluating the road surface condition at the inspection point based on the vehicle's driving state acquired during the inspection execution plan process; and updating the detailed information about the road surface condition set at the inspection point based on the latest information about the evaluated road surface condition.

Description

Technical Field

[0001] This disclosure relates to methods, apparatus, and systems for inspecting road surface conditions. Background Technology

[0002] Patent Document 1 discloses a technique for estimating the road surface μ of a road that is the object of the driving plan when generating a future driving trajectory (driving plan) for a vehicle. In this technique, information about driving performance obtained from the vehicle itself or other vehicles is used when estimating the road surface μ. Examples of driving performance information include longitudinal acceleration, lateral acceleration, and the location of the road. If information about the driving performance exists at the location of the road ahead of the vehicle, the road surface μ is estimated based on the information about the longitudinal acceleration and lateral acceleration at that location.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2011-063106

[0006] However, road surface condition information, represented by road surface μ, is constantly changing. Therefore, for example, when the current value of road surface μ is less than the estimated value of road surface μ calculated using driving data, the road surface condition becomes slippery. Therefore, to ensure the driving safety of the vehicle, it is ideal to keep the road surface condition information up-to-date. Summary of the Invention

[0007] One object of this disclosure is to provide a technique that can keep information about road surface conditions fresh.

[0008] The first point is related to the road condition inspection methods used for conducting road condition checks.

[0009] The road condition inspection method includes the following steps: obtaining detailed information on the road condition set for each inspection point based on the vehicle's driving performance and the vehicle's own position information; generating an inspection execution plan for the vehicle at the inspection point, provided that the inspection point is included within a specified range in the vehicle's direction of travel based on its own position; evaluating the road condition at the inspection point based on the vehicle's driving status obtained during the inspection execution plan process; and updating the detailed information on the road condition set for the inspection point based on the latest information on the evaluated road condition.

[0010] In addition to the first viewpoint, the second viewpoint also has the following characteristics.

[0011] The steps for generating an inspection execution plan include setting the priority of an inspection point when there are two or more inspection points within a specified range.

[0012] In addition to the characteristics of the second viewpoint, the third viewpoint also has the following features.

[0013] The steps for setting priorities include: obtaining weather information; predicting changes in road surface conditions at two or more checkpoints within a specified area based on the weather information; and assigning higher priorities to checkpoints with greater predicted changes in road surface conditions.

[0014] In addition to the second viewpoint, the fourth viewpoint also has the following characteristics.

[0015] The priority setting process includes the following steps: acquiring surrounding environmental information of the vehicle's direction of travel captured by a camera mounted on the vehicle; predicting changes in road conditions at two or more checkpoints within a specified range based on the surrounding environmental information of the vehicle's direction of travel; and assigning higher priority to checkpoints with greater predicted changes in road conditions.

[0016] The fifth viewpoint, in addition to any one of the second through fourth viewpoints, also has the following characteristics.

[0017] When priorities are set for two or more checkpoints within a specified range, the step of generating an inspection execution plan also includes calculating the interval between two adjacent checkpoints. If the interval is less than a specified distance, an inspection execution plan is generated for the checkpoint with the relatively higher priority. If the interval is greater than a specified distance, an inspection execution plan is generated for both adjacent checkpoints.

[0018] The sixth viewpoint, in addition to any one of the first through fifth viewpoints, also has the following characteristics.

[0019] It also includes a step to determine whether an abnormality of the vehicle is detected during the inspection execution plan. If an abnormality of the vehicle is detected, the execution of the road condition evaluation based on the vehicle's driving status obtained during the inspection execution plan is suspended, or the update of detailed road condition information based on the latest information of the evaluated road condition is suspended.

[0020] In addition to the first point of view, the seventh point of view also has the following characteristics.

[0021] It also includes a step of determining whether the prescribed conditions for execution avoidance are met before inspecting the execution of the execution plan, and suspending the execution of the inspection execution plan if the prescribed conditions for execution avoidance are met.

[0022] In addition to the seventh point of view, the eighth point of view also has the following characteristics.

[0023] The stipulated conditions for enforcement of avoidance include identifying at least one of the passengers inside the vehicle and identifying at least one of the objects in the specified area.

[0024] In addition to any one of the first through eighth viewpoints, the ninth viewpoint also has the following characteristics.

[0025] It also includes a step of determining whether the prescribed generation avoidance conditions are met before checking the generation of the execution plan, and suspending the generation of the execution plan if the prescribed generation avoidance conditions are met.

[0026] In addition to any one of the first through sixth viewpoints, the tenth viewpoint also has the following characteristics.

[0027] It also includes the following steps: determining whether an object is identified in a specified area; and if it is determined that an object is identified in the specified area, changing the driving plan of the vehicle included in the inspection execution plan before the execution of the inspection execution plan, wherein the changed driving plan obtained by the step of changing the driving plan includes a driving plan that inhibits approaching the object.

[0028] In addition to any one of the first through tenth viewpoints, the eleventh viewpoint also has the following characteristics.

[0029] Detailed information on road conditions includes at least one of the following: information on road surface slippage, information on road surface unevenness, information on road surface slope, information on road surface shape, information on speed limit, and information on the operational history of driving safety functions.

[0030] The twelfth point is related to road condition inspection devices used for inspecting road surface conditions.

[0031] The road condition inspection device includes: one or more storage devices for storing detailed information on the road condition set at each inspection point based on the vehicle's driving performance and information on the vehicle's own location; and one or more processors.

[0032] If one or more processors include a checkpoint within a specified range along the vehicle's direction of travel relative to their own position, they generate an inspection execution plan for the vehicle at that checkpoint.

[0033] One or more processors evaluate the road surface condition at the checkpoint based on the vehicle's driving status obtained during the inspection execution plan.

[0034] One or more processors update the detailed information on the road surface condition set for the checkpoint based on the latest information on the evaluated road surface condition.

[0035] The thirteenth point is related to the road condition inspection system used for checking road surface conditions.

[0036] The road condition inspection system includes vehicles and management devices that can communicate with them.

[0037] The vehicle is equipped with: a road condition inspection device, including a first processor and a first storage device; and a vehicle-side communication device.

[0038] The management device includes a second processor, a second storage device, and a management-side communication device.

[0039] The first storage device includes information about the vehicle's own location.

[0040] The second storage device includes detailed information on road conditions set at each checkpoint based on the vehicle's driving performance.

[0041] The first processor obtains detailed information about the road surface condition from the management device.

[0042] If the first processor includes a checkpoint within a specified range along the vehicle's direction of travel relative to its own position, it generates an inspection execution plan for the vehicle at that checkpoint.

[0043] The first processor evaluates the road surface condition at the checkpoint based on the vehicle's driving status obtained during the inspection execution plan process.

[0044] The first processor sends the latest information on the evaluated road surface condition to the management device.

[0045] The second processor updates the detailed road condition settings for the checkpoints based on the latest road condition information.

[0046] The fourteenth point is related to the road condition inspection system used for checking road surface conditions.

[0047] The road condition inspection system includes vehicles and management devices that can communicate with them.

[0048] The vehicle is equipped with: a road condition inspection device, including a first processor and a first storage device; and a vehicle-side communication device.

[0049] The management device includes a second processor, a second storage device, and a management-side communication device.

[0050] The first storage device includes information about the vehicle's own location.

[0051] The second storage device includes detailed information on road conditions set at each checkpoint based on the vehicle's driving performance.

[0052] If the second processor includes a checkpoint within a specified range along the vehicle's direction of travel based on its own position, it generates an inspection execution plan for the vehicle at that checkpoint.

[0053] The second processor sends the inspection execution plan to the road condition inspection device.

[0054] The first processor will send the vehicle's driving status, obtained during the check of the execution plan, to the management device.

[0055] The second processor evaluates the road surface condition at the checkpoint based on the vehicle's driving status.

[0056] The second processor updates the detailed information on the road surface conditions set for the checkpoints based on the latest information on the evaluated road surface conditions.

[0057] In addition to the thirteenth or fourteenth viewpoints, the fifteenth viewpoint also has the following characteristics.

[0058] Before updating the detailed information of the road condition set for the checkpoint based on the latest information of the road condition, the second processor determines whether the latest information of the road condition is abnormal based on the result obtained by comparing the latest information of the road condition with the detailed information of the road condition based on the driving performance of other vehicles at the same checkpoint as the latest information of the road condition.

[0059] If the latest information on the road surface condition is determined to be abnormal, the updating of detailed road surface condition information based on the latest information on the road surface condition will be stopped.

[0060] Invention Effects

[0061] According to the first point of view, road condition checks can be conducted at checkpoints based on driving performance, and detailed road condition information can be updated based on the latest road condition data. Therefore, the freshness of detailed road condition information can be maintained.

[0062] According to the second viewpoint, when there are two or more checkpoints within a specified range along the vehicle's direction of travel, the priority of each checkpoint is set. This allows for reliable inspection of high-priority checkpoints even when there are two or more checkpoints within the specified range.

[0063] According to the third perspective, when there are two or more checkpoints within the specified area, checkpoints with greater predicted changes in road surface conditions based on weather information should be given higher priority. This allows for reliable inspection of checkpoints with significant changes in road surface conditions and updates to their detailed information.

[0064] According to the fourth viewpoint, when there are two or more checkpoints within the specified area, the checkpoints whose predicted changes in road surface conditions are greater based on information from at least one of the camera images of the vehicle's direction of travel and the infrastructure camera images are given higher priority. Therefore, the same effect as the third viewpoint is achieved.

[0065] According to the fifth point, when priorities are set for two or more checkpoints, the interval between two adjacent checkpoints is calculated. Then, if the interval is less than a predetermined distance, an inspection execution plan is generated for the checkpoint with the relatively higher priority. Therefore, in this case, inspections at checkpoints with relatively higher priority can be reliably performed. On the other hand, if the interval between two adjacent checkpoints is greater than or equal to a predetermined distance, inspection execution plans are generated for both checkpoints. Therefore, in this case, inspections at that checkpoint can be performed regardless of priority.

[0066] According to the sixth point, in the event of a detected vehicle anomaly, the evaluation of road conditions or the updating of detailed road condition information should be suspended. This allows for the updating of detailed road condition information based on the most up-to-date and appropriate road condition data.

[0067] According to the seventh point, the execution of the inspection plan should be suspended if the prescribed conditions for avoidance of inspection are met. This allows for the avoidance of inspecting road conditions outside the target area.

[0068] According to the eighth point, the execution of the inspection plan is suspended if the prescribed avoidance conditions include identifying at least one of the passengers inside the vehicle or an object in the prescribed area. This allows for the avoidance of inspecting road conditions outside the target area.

[0069] According to the ninth point, the generation of the inspection execution plan is suspended if the prescribed avoidance conditions are met. This prevents the inspection of road conditions outside the target area from being performed.

[0070] According to the tenth point, when an object is identified within a designated area, before the execution of the inspection execution plan, the vehicle driving plan included in that plan is changed to a driving plan that inhibits approach to the object. This ensures the safety of both the vehicle and the object, and also allows for the inspection of road conditions.

[0071] According to the eleventh point, at least one of the following information can be managed: information on road surface slippage, information on road surface unevenness, information on road surface slope, information on road surface shape, information on speed limit, and information on the operational history of driving safety functions.

[0072] According to the twelfth point, the same effect as the first point will be achieved.

[0073] According to the thirteenth point, detailed information about road conditions can be shared with other vehicles by having vehicles and management devices that can communicate with them.

[0074] According to the fourteenth point, detailed information about road conditions can be shared with other vehicles by using a management device that includes a vehicle and can communicate with the vehicle. Furthermore, the processing load on the road condition inspection device can be reduced by performing processing outside of the inspection execution plan within the management device.

[0075] According to the fifteenth point, before updating the detailed road condition information set for a checkpoint based on the latest road condition information, a comparison is made between the latest road condition information and detailed road condition information based on the driving performance of other vehicles at the same checkpoint. Then, if the comparison determines that the latest road condition information is abnormal, the updating of the detailed road condition information based on the latest road condition information is stopped. This allows for the sharing of appropriate detailed road condition information with other vehicles, etc. Attached Figure Description

[0076] Figure 1 This is a block diagram illustrating an example of the configuration of the road surface condition inspection device according to Embodiment 1.

[0077] Figure 2 This is a diagram showing a summary of the detailed information about the road surface condition stored in the storage device of the road surface condition inspection device in Embodiment 1.

[0078] Figure 3 This is a diagram showing an outline of the driving inspection plan of the road condition inspection device according to Embodiment 1.

[0079] Figure 4 This is a block diagram illustrating a functional example of the road surface condition inspection device according to Embodiment 1.

[0080] Figure 5 This is a flowchart illustrating a processing example of the road condition inspection processing unit of the road condition inspection device according to Embodiment 1.

[0081] Figure 6 This is a diagram showing an example of the processing result of the road condition inspection processing unit of the road condition inspection device according to Embodiment 1.

[0082] Figure 7 This is a diagram showing the outline of the road surface condition inspection device of a variation of Embodiment 1.

[0083] Figure 8 This is a block diagram illustrating a functional example of the road surface condition inspection device of a variation of Embodiment 1.

[0084] Figure 9 This is a block diagram illustrating the configuration example of a road surface condition inspection device for a variation of embodiment 1, specifically variation 1-1.

[0085] Figure 10 This is a flowchart illustrating a processing example of a road surface condition inspection device, specifically a variation 1-1 of embodiment 1.

[0086] Figure 11 This is a block diagram showing the configuration examples of the road surface condition inspection device of variations 1-2 of variation 1 of embodiment 1.

[0087] Figure 12 This is a flowchart illustrating a processing example of a road surface condition inspection device for variations 1-2 of embodiment 1.

[0088] Figure 13 This is a flowchart illustrating the processing examples of the road surface condition inspection device for variations 1-3 of embodiment 1.

[0089] Figure 14 This is a flowchart illustrating a processing example of a road surface condition inspection device, which is a variation of Embodiment 1, Example 2.

[0090] Figure 15 This is a block diagram illustrating the configuration example of a road surface condition inspection device, specifically a variation 2-1 of embodiment 1.

[0091] Figure 16 This is a flowchart illustrating a processing example of a road surface condition inspection device, specifically a variation 2-1 of embodiment 1.

[0092] Figure 17 This is a block diagram illustrating the configuration example of a road surface condition inspection device for a variation of embodiment 1, specifically variation 2-2.

[0093] Figure 18 This is a flowchart illustrating a processing example of a road surface condition inspection device, specifically a variation 2-2 of embodiment 1.

[0094] Figure 19 This is a flowchart illustrating a processing example of a road surface condition inspection device, specifically a variation 2-2 of embodiment 1.

[0095] Figure 20 This is a diagram showing the processing result example of the road surface condition inspection device in variation 2-2 of variation 2 of embodiment 1.

[0096] Figure 21 This is a flowchart illustrating a processing example of the road surface condition inspection device, which is a variation of Embodiment 1, Example 3.

[0097] Figure 22 This is a block diagram illustrating the configuration example of a road surface condition inspection device according to a variation of Embodiment 1, Example 4.

[0098] Figure 23 This is a flowchart illustrating a processing example of the road surface condition inspection device in variation 4 of embodiment 1.

[0099] Figure 24 This is a block diagram illustrating an example of the configuration of the road surface condition inspection system in Implementation Method 2.

[0100] Figure 25 This is a flowchart illustrating a processing example of the road surface condition inspection system in Implementation Method 2.

[0101] Figure 26 This is a flowchart illustrating a modified example of the management device of Embodiment 2.

[0102] Figure 27 This is a flowchart illustrating a processing example of the road surface condition inspection system in Implementation Method 3.

[0103] Explanation of reference numerals in the attached figures:

[0104] 1: Vehicle

[0105] 2: Road surface condition inspection system

[0106] 3: Management device

[0107] 10: Road surface condition inspection device

[0108] 20: Vehicle-side communication device

[0109] 30: Management side communication device

[0110] 100: Processor

[0111] 110: Storage device

[0112] 120: Detailed information on road conditions

[0113] 130: Information about its own location

[0114] 140: Driving status information

[0115] 150: Weather Information

[0116] 160: Surrounding Environment Information

[0117] 170: Information from the camera images inside the carriage

[0118] 180: Information from surrounding camera images

[0119] 190: Information on the location of the object.

[0120] 200: Information on anomaly detection

[0121] 300: Information Input Department

[0122] 400: Road Surface Condition Inspection and Handling Department

[0123] 410: Inspection and Judgment Department

[0124] 420: Priority Setting Department

[0125] 430: Inspect the execution plan generation department

[0126] 440: Inspection and Execution Department

[0127] 450: Road Surface Condition Evaluation Department

[0128] 460: Road Surface Condition Detailed Information Update Department. Detailed Implementation

[0129] The road surface condition inspection method, apparatus, and system according to embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be noted that the road surface condition inspection method of the embodiments is implemented through computer processing by the road surface condition inspection apparatus or system of the embodiments.

[0130] Implementation Method 1

[0131] 1. Summary

[0132] The road condition inspection device of Embodiment 1 is mounted on a vehicle for inspecting the road surface condition. The road condition inspection device controls the vehicle. Typically, the road condition inspection device is mounted on the vehicle. At least a portion of the road condition inspection device can be configured as an external device outside the vehicle, allowing for remote control of the vehicle. That is, the road condition inspection device can be distributed between the vehicle and the external device. Furthermore, the vehicle controlled by the road condition inspection device is an autonomous vehicle. In an autonomous vehicle, the road condition inspection device 10 performs the recognition, prediction, and judgment of road conditions that would be performed by a driver (or remote operator) in a conventional vehicle.

[0133] exist Figure 1The diagram shows a configuration example of the road condition inspection device 10 according to Embodiment 1. The road condition inspection device 10 performs various information processing. The road condition inspection device 10 includes one or more processors 100 (hereinafter simply referred to as processors 100) and one or more storage devices 110 (hereinafter simply referred to as storage devices 110). The processors 100 perform various processing. For example, processors 100 can include CPUs, ECUs, etc. The storage devices 110 store data of detailed road condition information 120, data of its own position information 130, and data of driving status information 140. Examples of storage devices 110 include volatile memory, non-volatile memory, HDDs, SSDs, etc. The functions of the road condition inspection device 10 are realized by the processors 100 executing a road condition inspection program as a computer program. The road condition inspection program is stored in the storage devices 110. The road condition inspection program can also be recorded on a computer-readable storage medium. The road condition inspection program can also be provided via a network.

[0134] like Figure 2 As shown, the detailed road condition information 120 includes detailed information on the road condition set for each checkpoint based on driving performance. A checkpoint represents the inspection range in the direction of travel of vehicle 1. The inspection range can be a location on the driving path or an area drivable by vehicle 1 including that location. Examples of the detailed road condition information 120 include information on road slipability, road unevenness correlation, road slope correlation, road shape correlation, speed limit information, and operational history information of driving safety functions. Road slipability information includes information on whether the road is "slippery" or "not slippery," or it can be information on the coefficient of friction indicating the slipability of the road surface. Road unevenness correlation information includes information on whether the road surface is "large" or "small," or it can be information on the amount of unevenness or information on unevenness levels indicating the degree of unevenness. Road slope correlation information includes information on whether the road surface has a "large" or "small" slope, or it can be information on slope levels indicating the degree of slope correlation. Road surface shape-related information refers to information including whether the road surface shape is "straight" or "curved," or it can be information indicating vehicle operation such as the steering angle of vehicle 1 corresponding to the road surface shape. Speed ​​limit information includes the maximum acceleration or deceleration value. Operating history of driving safety functions refers to information recording whether safety functions such as ABS (Antilock Brake System) are active. The operating history information can also record the speed of vehicle 1 when this function is active.

[0135] The self-position information 130 refers to information indicating the self-position of vehicle 1. The driving state information 140 refers to information indicating the driving state of vehicle 1 acquired when vehicle 1 performs an inspection. The driving state information 140 includes the following information: longitudinal and lateral acceleration information acquired from the acceleration sensor mounted on vehicle 1; wheel speed information acquired from the wheel speed sensor mounted on vehicle 1; speed information inferred based on at least one of the acceleration information and the wheel speed information; information of a detection signal indicating that the driving safety function is activated; information of the yaw rate value detected by the yaw rate sensor; tire steering information detected by the steering actuator; motor information detected by the drive actuator; and information of the hydraulic brake detected by the brake actuator.

[0136] The road surface condition inspection device 10 performs a road surface condition inspection based on the aforementioned detailed road surface condition information 120. Figure 3 The image shows a summary of the road surface condition inspection. According to... Figure 3 Within a specified range in the direction of travel of vehicle 1, checkpoints based on driving performance are included (in... Figure 3 In the example shown, where checkpoints P0 and P1 are both included, a road surface condition check is performed at each checkpoint. Specifically, when checking the road surface condition at checkpoints P0 and P1, which are within a defined range of the vehicle 1's direction of travel, an inspection execution plan is set for each checkpoint. The inspection execution plan refers to a driving plan that includes vehicle operations different from normal vehicle operations, specifically for the purpose of checking the road surface condition. Examples of vehicle operations include steering, deceleration, and acceleration of vehicle 1. A vehicle operation including at least one of these is set. Figure 3 For example, a vehicle operation to decelerate can be set in the driving plan at checkpoint P0, and a vehicle operation to accelerate can be set in the driving plan at checkpoint P1. This allows for road condition checks at each checkpoint.

[0137] In the road condition inspection device 10 of Embodiment 1, the road condition inspection program can be executed by the processor 100 to inspect the road condition at each inspection point as described above. Furthermore, the road condition at the inspection point is evaluated based on the driving state information 140 obtained during the inspection execution plan. Therefore, the detailed information 120 of the road condition set for the inspection point can be updated based on the latest information of the evaluated road condition.

[0138] The road surface condition inspection device 10 of Embodiment 1 will be described in detail below.

[0139] 2. Specific examples

[0140] The road condition inspection device 10 generates an inspection execution plan for the vehicle 1 at the inspection point based on detailed road condition information 120 and its own position information 130. Furthermore, it evaluates the road condition at the inspection point based on driving status information 140 acquired during the inspection execution plan process. Then, it updates the detailed road condition information 120 based on the latest information on the evaluated road condition at the inspection point. The road condition inspection device 10 of Embodiment 1 includes such characteristic processing as described below.

[0141] Figure 4 This is a block diagram illustrating a functional example of the road surface condition inspection device 10 according to Embodiment 1. The road surface condition inspection device 10 includes an information input unit 300 and a road surface condition inspection processing unit 400 as functional blocks. These functional blocks are implemented by the processor 100 executing a road surface condition inspection program.

[0142] The information input unit 300 processes the detailed road condition information 120, its own position information 130, and driving status information 140 recorded in the storage device 110. Then, it outputs the input detailed road condition information 120, its own position information 130, and driving status information 140 to the road condition inspection and processing unit 400.

[0143] The road condition inspection processing unit 400 also includes an inspection decision-making unit 410, an inspection execution plan generation unit 430, an inspection execution unit 440, a road condition evaluation unit 450, and a road condition detailed information update unit 460. The road condition inspection processing unit 400 generates an inspection execution plan for the vehicle 1 at the inspection point based on the input road condition detailed information 120 and its own position information 130, and performs a road condition inspection. Furthermore, it evaluates the road condition at the inspection point based on the driving status information 140 obtained during the inspection execution plan process. Then, it updates the road condition detailed information 120 based on the latest information on the evaluated road condition. The detailed processing of each of the inspection decision-making unit 410, the inspection execution plan generation unit 430, the inspection execution unit 440, the road condition evaluation unit 450, and the road condition detailed information update unit 460 will be described later.

[0144] The inspection determination unit 410 performs the following processing: based on the input road surface condition details 120 and its own position information 130, it determines whether a checkpoint is included within a specified range of the vehicle 1's direction of travel, based on its own position. If the inspection point is determined to be included, a road surface condition inspection is performed.

[0145] When inspecting road conditions, the inspection execution plan generation unit 430 generates an inspection execution plan for vehicle 1 at inspection points within a specified range along the direction of travel of vehicle 1. An inspection execution plan refers to a driving plan that includes vehicle operations for the purpose of inspecting road conditions, differing from normal vehicle operations, as described above. As a specific example of a driving plan, if the driving safety function's operational history, as included in the detailed road condition information 120 set at the inspection point, is a history where that function has not been used, a driving plan is set with an acceleration value higher than the acceleration value based on driving performance, in order to evaluate the maximum acceleration speed limit at that inspection point. Alternatively, if the function has been used, a driving plan is set with an acceleration value lower than the acceleration value based on driving performance, causing that function to not operate.

[0146] When the inspection execution unit 440 includes its own location in the inspection point, it executes the inspection execution plan generated at that inspection point.

[0147] The road surface condition evaluation unit 450 uses the driving status information 140 obtained during the inspection execution plan to evaluate the road surface condition at the checkpoint. Specifically, the road surface slippage can be evaluated based on the average friction coefficient estimated at the checkpoint based on the driving status information 140. Alternatively, the speed limit can be evaluated based on the determination of whether the driving safety function is working at the checkpoint.

[0148] The road surface condition details update unit 460 processes the road surface condition details 120 based on the latest information on the evaluated road surface condition.

[0149] Figure 5 This is a flowchart illustrating a processing example of the road condition inspection processing unit 400 of the road condition inspection device 10.

[0150] In step S100, the road condition inspection processing unit 400 determines, based on its own position information 130, whether a checkpoint is included within a specified range of the vehicle 1's direction of travel, which is based on its own position.

[0151] If it is determined that the checkpoint is included within a specified range of the vehicle 1's direction of travel based on its own position (step S100: Yes), the process proceeds to step S110. Otherwise (step S100: No), the process returns to step S100.

[0152] In step S110, the road surface condition inspection processing unit 400 generates an inspection execution plan. Afterwards, the process proceeds to step S120.

[0153] In step S120, the road surface condition inspection and processing unit 400 determines whether its own position information 130 is included in the inspection point.

[0154] If the information 130 indicating the user's location is included in the checkpoint (step S120: Yes), the process proceeds to step S130. Otherwise (step S120: No), the process returns to step S120.

[0155] In step S130, the road surface condition inspection and processing unit 400 executes the inspection execution plan. Afterwards, the process proceeds to step S140.

[0156] In step S140, the road condition inspection and processing unit 400 evaluates the road condition at the inspection point based on the driving status information 140 obtained during the inspection execution plan. Then, the process proceeds to step S150.

[0157] In step S150, the road surface condition inspection and processing unit 400 updates the detailed information 120 of the road surface condition based on the latest information of the evaluated road surface condition.

[0158] Figure 6 This is a diagram showing an example of the processing result of the road condition inspection processing unit 400 of the road condition inspection device 10 according to Embodiment 1. Figure 6 The image shows an example of a change in the details of the road surface condition 120, which has been updated based on the latest information on the road surface condition.

[0159] Hereinafter, a modified example of the road surface condition inspection device 10 of Embodiment 1 will be described.

[0160] 3. Variation Example 1

[0161] Variation 1 is a variation of the road condition inspection device 10 of Embodiment 1, assuming that there are two or more inspection points within a specified range in the direction of travel of vehicle 1. It should be noted that descriptions that are repeated above have been appropriately omitted.

[0162] Figure 7 The diagram shows an outline of the road condition inspection device 10 of Modified Example 1. When there are two or more inspection points within a specified range along the travel direction of the vehicle 1, an inspection execution plan is performed for each inspection point. However, as... Figure 7As shown, assuming the interval between checkpoints P0 and P1 is short, the desired inspection execution plan cannot be executed at checkpoint P1 after the inspection execution plan for checkpoint P0 has been executed. Specifically, consider the following situation: an inspection execution plan is executed to check the road surface condition at checkpoint P0 with a set deceleration upper limit, and then an inspection execution plan is executed to check the road surface condition at checkpoint P1 with a set acceleration upper limit. In this case, after checking the road surface condition at checkpoint P0 with the deceleration upper limit, and then checking the road surface condition at checkpoint P1 with the acceleration upper limit, the speed of vehicle 1 may not reach the acceleration upper limit. Therefore, in Modification 1, when there are two or more checkpoints within a specified range of the vehicle 1's direction of travel, a process is performed to set the priority of the checkpoints.

[0163] Figure 8 This is a block diagram representing a functional example of variation 1. Similar to the above... Figure 4 The difference in the functional example shown lies in the addition of a priority setting unit 420. As described above, when there are two or more checkpoints within a specified range of the vehicle 1's direction of travel, the priority setting unit 420 performs a process of setting the priority of the checkpoints. Specific examples of priority setting will be explained through the following variations 1-1 and 1-2. Furthermore, variations of the inspection execution plan generation unit 430 with priority set will be explained through variation 1-3.

[0164] 3-1. Variation Example 1-1

[0165] The first concrete example of prioritization is setting priorities based on changes in road conditions predicted by weather at two or more checkpoints within a defined range of the vehicle 1's direction of travel. Figure 9 The diagram shows a configuration example of the road condition inspection device 10 of Modification 1-1. The storage device 110 of the road condition inspection device 10 of Modification 1-1 also stores data of weather information 150.

[0166] Figure 10 This is a flowchart illustrating the processing example of the priority setting unit 420 in the road condition inspection processing unit 400 of the road condition inspection device 10, which represents Modification 1-1 of Modification 1.

[0167] In step S200, the priority setting unit 420 determines whether there are more than two checkpoints within a specified range in the direction of travel of the vehicle 1.

[0168] If it is determined that there are two or more checkpoints within the specified range of the vehicle 1's direction of travel (step S200: Yes), the process proceeds to step S210. Otherwise (step S200: No), the process proceeds to step S230.

[0169] In step S210, the priority setting unit 420 predicts changes in road surface conditions at two or more checkpoints based on weather information 150. Then, the process proceeds to step S220. As a prediction method, for example, when the weather is rainy, the checkpoint with the greatest road surface slope correlation information included in the road surface condition details 120 can be predicted as the checkpoint with the greatest change in road surface conditions.

[0170] In step S220, the priority setting unit 420 assigns a higher priority to checkpoints with greater predicted changes in road surface conditions. Then, the process proceeds to step S240.

[0171] In step S230, the priority setting unit 420 selects whether to set a priority. Then, the process proceeds to step S240.

[0172] In step S240, the priority setting unit 420 outputs the processing result.

[0173] 3-2. Variation Example 1-2

[0174] The second specific example of setting priorities is to set priorities based on the prediction of changes in road conditions in the surrounding environment of vehicle 1. Figure 11 The diagram shows configuration examples of the road surface condition inspection device 10 in modifications 1-2. The storage device 110 of the road surface condition inspection device 10 in modifications 1-2 also stores data of surrounding environment information 160. The surrounding environment information 160 includes at least one of the following: information from camera images acquired by sensors (e.g., cameras, LiDAR, etc.) mounted on the vehicle 1 and information from a three-dimensional point group; weather information inferred based on the three-dimensional point group information; and infrastructure information acquired from infrastructure environment sensors (e.g., infrastructure cameras, etc.) located near the road surface.

[0175] Figure 12 This is a flowchart illustrating the processing example of the priority setting unit 420 in the road condition inspection processing unit 400 of the road condition inspection device 10, which represents Modification 1-1 of Modification 1.

[0176] In step S300, the priority setting unit 420 determines whether there are more than two checkpoints within a specified range in the direction of travel of the vehicle 1.

[0177] If it is determined that there are two or more checkpoints within the prescribed range of the vehicle 1's direction of travel (step S300: Yes), the process proceeds to step S310. Otherwise (step S300: No), the process proceeds to step S330.

[0178] In step S310, the priority setting unit 420 uses the surrounding environment information 160 to predict changes in road surface condition at two or more checkpoints. Then, the process proceeds to step S320. As a prediction method, for example, machine learning such as deep learning can be used to predict the checkpoint with the greatest road surface unevenness as the checkpoint with the greatest change in road surface condition.

[0179] In step S320, the priority setting unit 420 assigns a higher priority to checkpoints with greater predicted changes in road surface conditions. Then, the process proceeds to step S340.

[0180] In step S330, the priority setting unit 420 selects whether to set a priority. Then, the process proceeds to step S340.

[0181] In step S340, the priority setting unit 420 outputs the processing result.

[0182] 3-3. Variation Example 1-3

[0183] Modifications 1-3 are modifications of the inspection execution plan generation unit 430 in Modification 1. In the inspection execution plan generation unit 430 of Modifications 1-3, when priorities are set for two or more inspection points included within a specified range, an inspection execution plan is generated based on the interval between two adjacent inspection points. Figure 13 The flowchart shown illustrates a specific example of the processing of the inspection execution plan generation unit 430 in the road surface condition inspection processing unit 400 of the road surface condition inspection device 10, which represents the road surface condition inspection device 10 of the modified examples 1-3.

[0184] In step S400, the execution plan generation unit 430 calculates the interval between two adjacent checkpoints with set priorities. Then, the process proceeds to step S410.

[0185] In step S410, the execution plan generation unit 430 checks whether the interval between checkpoints is less than a specified distance.

[0186] If the interval between checkpoints is determined to be less than the specified distance (step S410: Yes), proceed to step S420. Otherwise (step S410: No), proceed to step S430.

[0187] In step S420, the check execution plan generation unit 430 generates a check execution plan based on checkpoints with relatively high priority. Then, the process proceeds to step S440.

[0188] In step S430, the check execution plan generation unit 430 generates a check execution plan based on two adjacent checkpoints. Then, the process proceeds to step S440.

[0189] In step S440, the processing results output by the execution plan generation unit 430 are checked.

[0190] 4. Variation Example 2

[0191] Variation 2 is an exception to Embodiment 1's road condition inspection device 10 when no inspection is performed. The difference from Embodiment 1 shown above lies in the inspection determination unit 410. It should be noted that descriptions repeated above have been appropriately omitted.

[0192] Figure 14 This is a flowchart illustrating the processing example of the inspection decision unit 410 in the road condition inspection processing unit 400 of the road condition inspection device 10 of the modified embodiment 1, Example 2.

[0193] In step S500, the check-to-determine unit 410 determines whether the prescribed execution avoidance conditions are met before checking the execution of the execution plan.

[0194] If the execution avoidance conditions are met (step S500: Yes), proceed to step S510. Otherwise (step S500: No), proceed to step S520.

[0195] In step S510, the check whether the determination unit 410 should stop the execution of the check execution plan is selected. After that, the process proceeds to step S530.

[0196] In step S520, the check-to-determine unit 410 selects whether to continue executing the check execution plan. Afterwards, the process proceeds to step S530.

[0197] In step S530, the check-to-determine unit 410 outputs the processing result.

[0198] The prescribed execution avoidance conditions include identifying at least one of the following: identifying a passenger inside the vehicle 1's compartment and identifying an object (including a moving object and a stationary object) within the prescribed area. Two specific examples of the prescribed execution avoidance conditions are illustrated below through variations 2-1 and 2-2.

[0199] 4-1. Variation Example 2-1

[0200] The first concrete example of a prescribed execution avoidance condition is identifying a passenger inside the passenger compartment of vehicle 1. The inspection execution plan includes a driving plan for vehicle operation for inspection purposes; therefore, the passenger may experience discomfort during the inspection execution process. Therefore, identifying a passenger inside the passenger compartment of vehicle 1 is set as one of the prescribed execution avoidance conditions. Figure 15 The diagram shows a block diagram of the configuration example of the road condition inspection device 10 of Modification 2-1. The storage device 110 of the road condition inspection device 10 of Modification 2-1 also stores data of information 170 of in-vehicle camera images obtained by using an in-vehicle camera mounted on the vehicle 1 to capture images of the interior of the vehicle.

[0201] Figure 16 This is a flowchart illustrating the processing example of the inspection decision unit 410 of the road condition inspection processing unit 400 in the road condition inspection device 10, which represents Modification 2-1 of Modification 2.

[0202] In step S600, the check determination unit 410 determines whether to identify a passenger based on the information 170 from the camera image inside the carriage.

[0203] If the passenger is identified (step S600: Yes), the process proceeds to step S610. Otherwise (step S600: No), the process proceeds to step S620.

[0204] In step S610, the decision-making unit 410 is checked to determine whether to suspend the execution of the check execution plan. Afterwards, the process proceeds to step S630.

[0205] In step S620, the decision-making unit 410 selects whether to suspend the execution of the check execution plan. Afterwards, the process proceeds to step S630.

[0206] In step S630, the check-to-determine unit 410 outputs the processing result.

[0207] 4-2. Variation Example 2-2

[0208] A second specific example of a prescribed execution avoidance condition is identifying an object within a predefined area based on the vehicle 1's own position. For example, suppose that during a checkpoint execution plan involving sudden deceleration, a collision with a following vehicle is possible if the distance to the following vehicle is short. Therefore, as one of the prescribed execution avoidance conditions, it is assumed that identifying an object within a predefined area based on the vehicle 1's own position is included. Figure 17The diagram shows a block diagram of the configuration of the road condition inspection device 10 of Modification 2-2. The storage device 110 of the road condition inspection device 10 of Modification 2-2 also stores data of information 180 of surrounding camera images and data of information 190 of object recognition position.

[0209] The information 180 of the surrounding camera images includes information about camera images obtained by capturing images of the area around the vehicle 1 using a camera mounted on the vehicle 1. The information 190 of the object identification location includes information about the location of the object identified based on the information 180 of the surrounding camera images and at least one of the identification sensors mounted on the vehicle 1. Examples of identification sensors include LIDAR (Laser Imaging Detection and Ranging) and RADAR (Radio Detection and Ranging). Examples of methods for identifying the location of an object using the information 180 of the surrounding camera images include using a stereo camera with two surrounding cameras for ranging.

[0210] Figure 18 This is a flowchart illustrating the processing example of the inspection decision unit 410 of the road condition inspection processing unit 400 in the road condition inspection device 10, which represents Modification 2-2 of Modification 2.

[0211] In step S700, the check determination unit 410 determines whether an object is identified in the specified area.

[0212] If an object is identified within the specified area (step S700: Yes), the process proceeds to step S710. Otherwise (step S700: No), the process proceeds to step S720.

[0213] In step S710, the check whether the determination unit 410 should stop the execution of the check execution plan is selected. After that, the process proceeds to step S730.

[0214] In step S720, the check-to-determine unit 410 selects whether to continue executing the check execution plan. Afterwards, the process proceeds to step S730.

[0215] In step S730, the check-to-determine unit 410 outputs the processing result.

[0216] The above description explains that if an object is detected within a designated area based on the vehicle 1's own position, the execution of the inspection execution plan will be suspended. However, even if an object is detected within the designated area, the vehicle 1's driving plan included in the inspection execution plan can be changed to a driving plan that inhibits approaching the object before the inspection execution plan is executed. As an example of the processing of the inspection decision unit 410 in this case, in Figure 19 The flowchart is shown below.

[0217] In step S800, the check-to-determine unit 410 determines whether an object is identified in the specified area.

[0218] If an object is identified within the specified area (step S800: Yes), the process proceeds to step S810. Otherwise (step S800: No), the process proceeds to step S820.

[0219] In step S810, the check-to-determine unit 410 modifies the selection of the driving plan for vehicle 1 included in the check execution plan before execution. Afterwards, the process proceeds to step S830.

[0220] In step S820, the check-to-determine unit 410 selects whether to change the driving plan of vehicle 1 included in the check execution plan before the execution of the check execution plan. After that, the process proceeds to step S840.

[0221] In step S830, the decision-making unit 410 checks whether to change the driving plan to suppress approaching the object. After that, the process proceeds to step S840.

[0222] In step S840, the check-to-determine unit 410 outputs the processing result.

[0223] exist Figure 20 An example of the processing results is shown below. According to... Figure 20 The inspection execution plan included a deceleration setting for vehicle 1's driving plan. If, in a designated area, an object is detected behind vehicle 1, the setting is changed to a deceleration value lower than the value set in the driving plan. The inspection execution plan is then executed based on the modified driving plan.

[0224] 5. Variation Example 3

[0225] Variation 3 is a variation different from Variation 2, which represents an exception to Embodiment 1's road condition inspection device 10 when no inspection is performed. Specifically, it is a variation in which the generation of an inspection execution plan for subsequent processing is not performed when the execution avoidance conditions shown in Variation 2 are not met, that is, when the inspection decision-making unit 410 makes a determination to perform an inspection. The difference from Embodiment 1 as described above lies in the inspection execution plan generation unit 430. It should be noted that descriptions that are repeated above have been appropriately omitted.

[0226] Figure 21 This is a flowchart illustrating a processing example of the inspection execution plan generation unit 430 in the road surface condition inspection processing unit 400 of the road surface condition inspection device 10, which is a variation of Embodiment 1, Modified Example 3.

[0227] In step S900, the execution plan generation unit 430 checks whether the prescribed generation avoidance conditions are met before generating the execution plan. The prescribed generation avoidance conditions include that the speed involved in vehicle operation for the purpose of checking road conditions is less than a prescribed speed and is a certain speed.

[0228] If the specified generation avoidance conditions are met (step S900: Yes), proceed to step S910. Otherwise (step S900: No), proceed to step S920.

[0229] In step S910, the inspection execution plan generation unit 430 selects to suspend the generation of the inspection execution plan. Then, the process proceeds to step S930. In this step, if there are two or more inspection points within a specified range along the vehicle 1's direction of travel, a selection is made to suspend the generation of the inspection execution plan only for the corresponding inspection point, and an inspection execution plan is generated based on the inspection points other than that inspection point.

[0230] In step S920, the execution plan generation unit 430 selects whether to continue generating the execution plan without interruption, and then generates the execution plan. Afterwards, the process proceeds to step S930.

[0231] In step S930, the processing results output by the execution plan generation unit 430 are checked.

[0232] 6. Variation Example 4

[0233] Suppose that in the inspection execution unit 440, if an abnormality is detected in vehicle 1 during the inspection execution plan, the obtained driving state of vehicle 1 is inappropriate. In this state, when the detailed road condition information 120 is updated, if vehicle 1 is driving normally based on the detailed road condition information 120, it may drive based on the inappropriate detailed road condition information 120. Therefore, as a variation of the road condition inspection device 10 of Embodiment 1, Variation 4 is configured such that, in the case of detecting an abnormality in vehicle 1, the detailed road condition information 120 set for the inspection point is not updated. The difference from Embodiment 1 shown above lies in the road condition evaluation unit 450. It should be noted that descriptions repeated above have been appropriately omitted.

[0234] Figure 22 This is a block diagram illustrating a configuration example of the road surface condition inspection device 10 of Modification 4 of Embodiment 1. The storage device 110 of the road surface condition inspection device 10 of Modification 4 also stores data of anomaly detection information 200.

[0235] Figure 23 This is a flowchart illustrating a processing example of the road condition evaluation unit 450 in the road condition inspection processing unit 400 of the road condition inspection device 10 in Modified Example 4.

[0236] In step S1000, the road surface condition evaluation unit 450 determines whether anomaly detection is included.

[0237] If the case is determined to include an anomaly detection (step S1000: Yes), the process proceeds to step S1010. Otherwise (step S1000: No), the process proceeds to step S1020.

[0238] In step S1010, the road surface condition evaluation unit 450 makes the following selection: suspend the execution of the road surface condition evaluation or suspend the updating of the detailed road surface condition information 120 based on the latest information of the evaluated road surface condition. Afterwards, the process proceeds to step S1030.

[0239] In step S1020, the road surface condition evaluation unit 450 selects to perform a road surface condition evaluation and updates the detailed road surface condition information 120 based on the latest information of the evaluated road surface condition. Then, the process proceeds to step S1030.

[0240] In step S1030, the road surface condition evaluation unit 450 outputs the processing results.

[0241] Implementation Method 2

[0242] The road condition inspection system of embodiment 2 includes a vehicle 1 and a management device that can communicate with the vehicle 1 for inspecting the road condition. Figure 24 Example of the configuration of the road condition inspection system 2 according to Embodiment 2 is shown below. It should be noted that descriptions repeated in Embodiment 1 described above have been appropriately omitted. The road condition inspection system 2 performs various information processing. The road condition inspection system 2 includes a vehicle 1 and a management device 3 capable of communicating with the vehicle 1. Furthermore, the vehicle 1 includes a road condition inspection device 10 and a vehicle-side communication device 20. The road condition inspection device 10 includes one or more first processors (hereinafter simply referred to as first processors) and one or more first storage devices (hereinafter simply referred to as first storage devices). The first processor performs various processing. The first storage device stores data of its own location information 130 and data of driving status information 140. The functions of the road condition inspection device 10 are realized by the first processor executing a first road condition inspection program as a computer program. The first road condition inspection program is stored in the first storage device. The first road condition inspection program may also be recorded on a computer-readable storage medium. The first road condition inspection program may also be provided via a network.

[0243] The management device 3 includes one or more second processors (hereinafter referred to as second processors only), one or more second storage devices (hereinafter referred to as second storage devices only), and a management-side communication device 30. The second storage devices store data for detailed road surface condition information 120. The functions of the management device 3 are implemented by executing a second road surface condition checking program, which is a computer program, through the second processor. The second road surface condition checking program is stored in the second storage device. The second road surface condition checking program can also be recorded on a computer-readable storage medium. The second road surface condition checking program can also be provided via a network.

[0244] The first processor of the road condition inspection device 10 included in vehicle 1 executes a first road condition inspection procedure, thereby obtaining detailed road condition information 120 from the management device 3. Based on this, the road condition is inspected at each inspection point. Furthermore, the road condition at the inspection point is evaluated based on the driving status information 140 obtained during the driving inspection plan. Then, the road condition evaluation is sent to the management device 3. On the other hand, by executing a second road condition inspection procedure by the second processor included in the management device 3, the detailed road condition information 120 set for the inspection point can be updated based on the latest information on the evaluated road condition. Therefore, the detailed road condition information 120 can be shared with other vehicles, etc.

[0245] Figure 25 This is a flowchart illustrating a processing example of the road condition inspection device 10 of the road condition inspection system 2 according to Embodiment 2.

[0246] In step S1100, the road condition inspection device 10 obtains detailed road condition information 120 from the management device 3 via the vehicle-side communication device 20. Afterwards, the process proceeds to step S1110.

[0247] In step S1110, the road condition inspection device 10 determines, based on its own position information 130, whether the inspection point is included within a specified range of the vehicle 1's direction of travel relative to its own position.

[0248] If it is determined that the checkpoint is included within a specified range of the vehicle 1's direction of travel based on its own position (step S1110: Yes), the process proceeds to step S1120. Otherwise (step S1110: No), the process returns to step S1110.

[0249] In step S1120, the road surface condition inspection device 10 generates an inspection execution plan. Then, the process proceeds to step S1130.

[0250] In step S1130, the road surface condition inspection device 10 determines whether its own position information 130 is included in the inspection point.

[0251] If the information 130 indicating the user's location is included in the checkpoint (step S1130: Yes), the process proceeds to step S1140. Otherwise (step S1130: No), the process returns to step S1130.

[0252] In step S1140, the road surface condition inspection device 10 executes the inspection execution plan. Afterwards, the process proceeds to step S1150.

[0253] In step S1150, the road condition inspection device 10 evaluates the road condition at the inspection point based on the driving status information 140 of the vehicle 1 obtained during the inspection execution plan. Then, the process proceeds to step S1160.

[0254] In step S1160, the road condition inspection device 10 sends the latest information on the evaluated road condition to the management device 3 via the vehicle-side communication device 20.

[0255] Variations of Implementation Method 2

[0256] The management device 3 of Embodiment 2 described above updates detailed road condition information based on the latest road condition information evaluated by the road condition inspection device 10 of vehicle 1. This allows the detailed road condition information to be shared with other vehicles. However, if the latest road condition information is abnormal, updating the detailed road condition information based on that information might result in sharing inappropriate road condition information with other vehicles. Therefore, in a variation of the management device 3 of Embodiment 2, a determination is made as to whether the latest road condition information obtained from vehicle 1 is abnormal, and based on the result, the updating of the detailed road condition information is either stopped or performed. This allows the appropriate detailed road condition information to be shared with other vehicles.

[0257] Figure 26 This is a flowchart illustrating a modified example of the management device 3 in Implementation Method 2.

[0258] In step S1200, the management device 3 obtains the latest road condition information from the vehicle 1 via the management-side communication device 30. Afterwards, the process proceeds to step S1210.

[0259] In step S1210, the management device 3 compares the latest road condition information with detailed road condition information based on the driving performance of other vehicles at the same checkpoint as the latest road condition information. Afterwards, the process proceeds to step S1220.

[0260] In step S1220, the management device 3 determines whether the latest information on the road surface condition is abnormal based on the result obtained from the comparison in step S1210.

[0261] If the latest information on the road surface condition is determined to be abnormal (step S1220: Yes), the process proceeds to step S1230. Otherwise (step S1220: No), the process proceeds to step S1240.

[0262] In step S1230, the management device 3 stops updating the detailed road condition information based on the latest road condition information. At this time, it is also possible to stop updating the detailed road condition information and notify vehicle 1 of any abnormalities.

[0263] In step S1240, the management device 3 performs an update of the detailed road condition information based on the latest road condition information.

[0264] Implementation Method 3

[0265] The road condition inspection system 2 of Embodiment 3 includes a vehicle 1 and a management device 3 capable of communicating with the vehicle 1 for inspecting the road condition. This allows detailed road condition information 120 to be shared with other vehicles. The difference from the road condition inspection system 2 of Embodiment 2 lies in the scope of processing. Specifically, in the road condition inspection system 2 of Embodiment 2, the processing of updating the detailed road condition information 120 is performed in the management device 3, while other processing is performed in the road condition inspection device 10 included in the vehicle 1. In contrast, in the road condition inspection system 2 of Embodiment 3, the execution of the inspection execution plan is performed in the road condition inspection device 10 included in the vehicle 1, while other processing is performed in the management device 3. This reduces the processing load on the road condition inspection device 10 included in the vehicle 1. It should be noted that descriptions repeated in Embodiment 1 or Embodiment 2 described above have been appropriately omitted.

[0266] Figure 27 This is a flowchart illustrating a processing example of the road condition inspection device 10 of the road condition inspection system 2 according to Embodiment 3.

[0267] In step S1300, the road condition inspection device 10 obtains the inspection execution plan for vehicle 1 at the inspection point generated in the management device 3 from the management device 3 via the vehicle-side communication device 20. Then, the process proceeds to step S1310.

[0268] In step S1310, the road surface condition inspection device 10 determines whether its own position information 130 is included in the inspection point.

[0269] If the information 130 indicating the user's location is included in the checkpoint (step S1310: Yes), the process proceeds to step S1320. Otherwise (step S1310: No), the process returns to step S1310.

[0270] In step S1320, the road surface condition inspection device 10 executes the inspection execution plan. Afterwards, the process proceeds to step S1330.

[0271] In step S1330, the road condition inspection device 10 sends the driving status information 140 obtained in the inspection execution plan to the management device 3 via the vehicle-side communication device 20.

[0272] Variations of Implementation Method 3

[0273] Similarly to the variation of Embodiment 2 described above, updating the detailed road condition information can be suspended or performed based on the latest road condition information. Therefore, in the variation of the management device 3 of Embodiment 3, a determination is made as to whether the latest road condition information obtained from vehicle 1 is abnormal, and based on the result, updating the detailed road condition information can be suspended or performed. This allows appropriate detailed road condition information to be shared with other vehicles. It should be noted that, in the case of suspending the updating of the detailed road condition information, a notification of anomaly to vehicle 1 can also be given.

Claims

1. A method for inspecting road surface condition, comprising the following steps: The system acquires detailed information on road conditions set at each checkpoint based on the vehicle's actual driving performance, the vehicle's own position information, and the surrounding environment information in the direction of the vehicle's travel captured by a camera mounted on the vehicle. If there are two or more checkpoints within a specified range along the vehicle's direction of travel based on its own position, the priority of the checkpoint is set, and an inspection execution plan for the vehicle at the checkpoint is generated based on detailed information about the road surface condition of the checkpoint and information about the vehicle's own position. The road surface condition at the inspection point is evaluated based on the vehicle's driving status obtained during the inspection execution plan. as well as The detailed information regarding the road surface condition set for the checkpoint is updated based on the latest information regarding the road surface condition that has undergone the evaluation. The inspection execution plan refers to a driving plan that includes vehicle operations for the purpose of inspecting road conditions, which differs from normal vehicle operations. The steps for setting priorities include the following: Based on the surrounding environment information of the vehicle's direction of travel, the changes in road surface conditions at two or more checkpoints within the specified range are predicted. as well as Checkpoints with greater predicted changes in road surface conditions are assigned higher priority. When priorities are assigned to two or more checkpoints within the specified scope, the step of generating the check execution plan further includes calculating the interval between two adjacent checkpoints. When the interval is less than the specified distance, the inspection execution plan is generated for the checkpoint with relatively high priority; when the interval is greater than the specified distance, the inspection execution plan is generated for both adjacent checkpoints.

2. The road surface condition inspection method according to claim 1, wherein, The process of setting priorities also includes the following steps: Get weather information; Furthermore, based on the weather information, predictions are made regarding changes in road surface conditions at two or more checkpoints within the specified area; and The checkpoints with the greater the predicted change in the road surface condition are assigned a higher priority.

3. The road surface condition inspection method according to claim 1 or 2, wherein, It also includes a step of determining whether any abnormality of the vehicle is detected during the execution of the inspection plan. If an anomaly is detected in the vehicle, the evaluation of the road surface condition based on the vehicle's driving status obtained during the inspection execution plan is suspended, or the update of detailed road surface condition information based on the latest information of the road surface condition after the evaluation is suspended.

4. The road surface condition inspection method according to claim 1, wherein, It also includes a step of determining whether the prescribed execution avoidance conditions are met before the execution of the inspection execution plan. If the execution avoidance conditions stipulated above are met, the execution of the inspection execution plan shall be suspended.

5. The road surface condition inspection method according to claim 4, wherein, The specified execution avoidance conditions include identifying at least one of the passengers inside the vehicle and identifying an object in the specified area.

6. The road surface condition inspection method according to any one of claims 1, 2, 4, and 5, wherein, It also includes a step of determining whether the prescribed generation avoidance conditions are met before the generation of the inspection execution plan. If the generation avoidance conditions stipulated above are met, the generation of the inspection execution plan shall be suspended.

7. The road surface condition inspection method according to claim 1 or 2 further includes the following steps: Determine whether an object has been identified within the designated area; as well as If it is determined that the object has been identified within the designated area, the vehicle's travel plan included in the inspection execution plan shall be modified before the execution of the inspection execution plan. The modified driving plan, obtained by altering the driving plan steps, includes a driving plan that inhibits approach to the object.

8. The road surface condition inspection method according to any one of claims 1, 2, 4, and 5, wherein, The detailed information on the road surface condition includes at least one of the following: information on the road surface's slip resistance, information on the relationship between road surface bumps and depressions, information on the relationship between road surface slope, information on the relationship between road surface shape, information on the speed limit, and information on the operational history of driving safety functions.

9. A road surface condition inspection device for inspecting road surface condition, comprising: One or more storage devices store detailed information about road conditions set at each checkpoint based on the vehicle's driving performance, information about the vehicle's own position, and information about the surrounding environment in the direction of the vehicle's travel, captured by a camera mounted on the vehicle; and One or more processors, The one or more processors perform the following steps: If there are two or more checkpoints within a specified range along the vehicle's direction of travel based on its own position, the priority of the checkpoint is set, and an inspection execution plan for the vehicle at the checkpoint is generated based on detailed information about the road surface condition of the checkpoint and information about the vehicle's own position. The road surface condition at the inspection point is evaluated based on the vehicle's driving status obtained during the inspection execution plan. as well as The detailed information regarding the road surface condition set for the checkpoint is updated based on the latest information regarding the road surface condition that has undergone the evaluation. The inspection execution plan refers to a driving plan that includes vehicle operations for the purpose of inspecting road conditions, which differs from normal vehicle operations. The steps for setting priorities include the following: Based on the surrounding environment information of the vehicle's direction of travel, the changes in road surface conditions at two or more checkpoints within the specified range are predicted. as well as Checkpoints with greater predicted changes in road surface conditions are assigned higher priority. When priorities are assigned to two or more checkpoints within the specified scope, the step of generating the check execution plan further includes calculating the interval between two adjacent checkpoints. When the interval is less than the specified distance, the inspection execution plan is generated for the checkpoint with relatively high priority; when the interval is greater than the specified distance, the inspection execution plan is generated for both adjacent checkpoints.

10. A road condition inspection system for inspecting road surface conditions, comprising a vehicle and a management device capable of communicating with the vehicle. The vehicle includes: a road condition inspection device, comprising a first processor and a first storage device; and a vehicle-side communication device. The management device includes a second processor, a second storage device, and a management-side communication device. The first storage device includes information about the vehicle's own position and information about the surrounding environment in the direction of the vehicle's travel, captured by a camera mounted on the vehicle. The second storage device includes detailed information on road conditions set at each checkpoint based on the vehicle's driving performance. The first processor performs the following steps: Obtain detailed information about the road surface condition from the management device; If there are two or more checkpoints within a specified range along the vehicle's direction of travel based on its own position, the priority of the checkpoint is set, and an inspection execution plan for the vehicle at the checkpoint is generated based on detailed information about the road surface condition of the checkpoint and information about the vehicle's own position. The road surface condition at the inspection point is evaluated based on the vehicle's driving status obtained during the inspection execution plan. as well as The latest information on the road surface condition, after the evaluation, is sent to the management device. The second processor updates the detailed information about the road surface condition set for the checkpoint based on the latest information about the road surface condition. The inspection execution plan refers to a driving plan that includes vehicle operations for the purpose of inspecting road conditions, which differs from normal vehicle operations. The steps for setting priorities include the following: Based on the surrounding environment information of the vehicle's direction of travel, the changes in road surface conditions at two or more checkpoints within the specified range are predicted. as well as Checkpoints with greater predicted changes in road surface conditions are assigned higher priority. When priorities are assigned to two or more checkpoints within the specified scope, the step of generating the check execution plan further includes calculating the interval between two adjacent checkpoints. When the interval is less than the specified distance, the inspection execution plan is generated for the checkpoint with relatively high priority; when the interval is greater than the specified distance, the inspection execution plan is generated for both adjacent checkpoints.

11. A road condition inspection system for inspecting road surface conditions, comprising a vehicle and a management device capable of communicating with the vehicle. The vehicle includes: a road condition inspection device, comprising a first processor and a first storage device; and a vehicle-side communication device. The management device includes a second processor, a second storage device, and a management-side communication device. The first storage device includes information about the vehicle's own position and information about the surrounding environment in the direction of the vehicle's travel, captured by a camera mounted on the vehicle. The second storage device includes detailed information on road conditions set at each checkpoint based on the vehicle's driving performance. The second processor performs the following steps: If there are two or more checkpoints within a specified range along the vehicle's direction of travel based on its own position, the priority of the checkpoint is set, and an inspection execution plan for the vehicle at the checkpoint is generated based on detailed information about the road surface condition of the checkpoint and information about the vehicle's own position. as well as The inspection execution plan is sent to the road surface condition inspection device. The first processor sends the vehicle's driving status, obtained during the check execution plan process, to the management device. The second processor performs the following steps: The road surface condition at the checkpoint is evaluated based on the vehicle's driving status. as well as The detailed information regarding the road surface condition set for the checkpoint is updated based on the latest information regarding the road surface condition that has undergone the evaluation. The inspection execution plan refers to a driving plan that includes vehicle operations for the purpose of inspecting road conditions, which differs from normal vehicle operations. The steps for setting priorities include the following: Based on the surrounding environment information of the vehicle's direction of travel, the changes in road surface conditions at two or more checkpoints within the specified range are predicted. as well as Checkpoints with greater predicted changes in road surface conditions are assigned higher priority. When priorities are assigned to two or more checkpoints within the specified scope, the step of generating the check execution plan further includes calculating the interval between two adjacent checkpoints. When the interval is less than the specified distance, the inspection execution plan is generated for the checkpoint with relatively high priority; when the interval is greater than the specified distance, the inspection execution plan is generated for both adjacent checkpoints.

12. The road surface condition inspection system according to claim 10 or 11, wherein, The second processor performs the following steps: Before updating the detailed information about the road surface condition set for the checkpoint based on the latest information about the road surface condition, Based on the result of comparing the latest road condition information with detailed road condition information based on the driving performance of other vehicles at the same checkpoint as the latest road condition information, it is determined whether the latest road condition information is abnormal. as well as If the latest information on the road surface condition is determined to be abnormal, the updating of the detailed information on the road surface condition based on the latest information on the road surface condition shall be stopped.

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