Evacuation information generation system, evacuation information generation device, autonomous travel device, evacuation

Abstract

The evacuation information generation system includes a processor. An evacuation information generation system generates evacuation information in a travel area of an autonomous travel device. The processor is configured to acquire observation information observed by the autonomous travel device searching for a travel area in which danger is estimated to occur. The processor is configured to output a danger map indicating a danger level for each location within the travel area on the basis of the observation information.

Description

[0001] Cross-reference to related applications

[0002] This application is based on Japanese Patent Application No. 2022-159744 filed on October 3, 2022, and the contents of the basic application are introduced by reference in their entirety. Technical Field

[0003] The present disclosure relates to a technology for generating evacuation information in a driving area of ​​an autonomous driving device. Background Art

[0004] Patent Document 1 discloses a system for guiding a person to be guided from inside a building to outside when an incident occurs. This system sets an evacuation guidance route from the current position of the person to be guided to the exit of the building when an incident occurs.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2021-47482

[0008] In the technology of Patent Document 1, the evacuation guidance route is set according to the current position of the person being guided and the exit position of the building, without considering whether the guidance route is actually passable. Therefore, due to dangers such as disasters, the evacuation guidance route is not passable, etc., it may be impossible to set an effective evacuation guidance route. Summary of the invention

[0009] The subject of the present disclosure is to provide an evacuation information generation system capable of generating effective evacuation information. Another subject of the present disclosure is to provide an evacuation information generation device capable of generating effective evacuation information. Still another subject of the present disclosure is to provide an autonomous driving device capable of generating effective evacuation information. Still another subject of the present disclosure is to provide an evacuation information generation method capable of generating effective evacuation information. Still another subject of the present disclosure is to provide an evacuation information generation program capable of generating effective evacuation information.

[0010] It should be noted that the reference numerals in parentheses in the scope of the claims represent the correspondence with the specific mechanisms described in the embodiments described in detail below, and do not limit the technical scope of the present invention.

[0011] A first aspect of the present disclosure is an evacuation information generation system including a processor and generating evacuation information in a driving area of ​​an autonomous driving device, wherein:

[0012] The processor is configured to perform the following steps:

[0013] Acquiring observation information observed by searching a driving area where a danger is estimated to occur through an autonomous driving device; and

[0014] Based on the observation information, evacuation information is output as a danger map indicating the danger level of each point in the travel area.

[0015] A second aspect of the present disclosure is an evacuation information generating device having a processor, configured to be installed in an autonomous driving device or a remote center, and generating evacuation information in a driving area of ​​the autonomous driving device, wherein:

[0016] The processor is configured to perform the following steps:

[0017] Acquiring observation information observed by searching a driving area where a danger is estimated to occur through an autonomous driving device; and

[0018] Based on the observation information, evacuation information is output as a danger map indicating a danger level at each point in the travel area.

[0019] A third aspect of the present disclosure is an autonomous driving device having a processor and autonomously driving in a driving area, wherein:

[0020] The processor is configured to perform the following steps:

[0021] Acquiring observation information observed by searching a driving area where a danger is estimated to occur through an autonomous driving device; and

[0022] Based on the observation information, evacuation information is output as a danger map indicating the danger level of each point in the travel area.

[0023] A fourth aspect of the present disclosure is a method for generating evacuation information, which is executed by a processor and is used to generate evacuation information in a driving area of ​​an autonomous driving device, wherein the method comprises the following steps:

[0024] Acquiring observation information observed by searching a driving area where a danger is estimated to occur by an autonomous driving device; and

[0025] Based on the observation information, evacuation information is output as a danger map indicating a danger level at each point in the travel area.

[0026] A fifth aspect of the present disclosure is an evacuation information generation program, which is stored in a storage medium and includes instructions for a processor to execute, and is used to generate evacuation information in a driving area of ​​an autonomous driving device, wherein:

[0027] The command includes the following:

[0028] Acquiring observation information observed by searching a driving area where a danger is estimated to occur by an autonomous driving device; and

[0029] Based on the observation information, evacuation information is output as a danger map indicating a danger level at each point in the travel area.

[0030] According to the first to fifth methods, a danger map corresponding to the observation information based on the autonomous driving device and related to the driving area where danger is estimated to occur is output. Therefore, the actual observation information related to each location can be reflected in the danger map related to the location. Therefore, effective evacuation information can be generated.

[0031] A sixth aspect of the present disclosure is an evacuation information generating system having a processor and generating evacuation information in a driving area of ​​an autonomous driving device, wherein:

[0032] The processor is configured to perform the following steps:

[0033] Acquiring observation information observed by searching a driving area where a danger is estimated to occur by an autonomous driving device; and

[0034] Based on the observation information, evacuation information is output as evacuation route data within the travel area.

[0035] A seventh aspect of the present disclosure is an evacuation information generating device having a processor, configured to be installed in an autonomous driving device or a remote center, and generating evacuation information in a driving area of ​​the autonomous driving device, wherein:

[0036] The processor is configured to perform the following steps:

[0037] Acquiring observation information observed by searching a driving area where a danger is estimated to occur by an autonomous driving device; and

[0038] Based on the observation information, evacuation information is output as evacuation route data within the travel area.

[0039] An eighth aspect of the present disclosure is an autonomous driving device having a processor and autonomously driving in a driving area, wherein:

[0040] The processor is configured to perform the following steps:

[0041] Acquiring observation information observed by searching a driving area where a danger is estimated to occur by an autonomous driving device; and

[0042] Based on the observation information, evacuation information is output as evacuation route data within the travel area.

[0043] A ninth aspect of the present disclosure is a method for generating evacuation information, which is executed by a processor and is used to generate evacuation information in a driving area of ​​an autonomous driving device, wherein the method comprises the following steps:

[0044] Acquiring observation information observed by searching a driving area where a danger is estimated to occur by an autonomous driving device; and

[0045] Based on the observation information, evacuation information is output as evacuation route data within the travel area.

[0046] A tenth aspect of the present disclosure is an evacuation information generation program, which is stored in a storage medium and includes instructions for a processor to execute, and is used to generate evacuation information in a driving area of ​​an autonomous driving device, wherein:

[0047] The command includes the following:

[0048] Acquiring observation information observed by searching a driving area where a danger is estimated to occur by an autonomous driving device; and

[0049] Based on the observation information, evacuation information is output as evacuation route data within the travel area.

[0050] According to the sixth to tenth aspects, the route evacuation data corresponding to the observation information based on the autonomous driving device and related to the driving area where the danger is estimated to occur is output. Therefore, the actual observation information can be reflected in the evacuation route data in the driving area. Therefore, effective evacuation information can be generated. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a block diagram showing the overall structure of one embodiment.

[0052] Figure 2 is a schematic diagram showing a driving environment of a host vehicle to which one embodiment is applied.

[0053] Figure 3 This is a block diagram showing a functional structure of an autonomous driving device according to one embodiment.

[0054] Figure 4 This is a block diagram showing the functional structure of an evacuation information generating system according to one embodiment.

[0055] Figure 5 This is a flowchart showing a process executed by an information processing device in one embodiment.

[0056] Figure 6 This is a flowchart showing a process in an area search mode executed by an information processing device according to one embodiment.

[0057] Figure 7This is a flowchart showing a flow in an interrupt device search mode executed by an information processing device according to one embodiment.

[0058] Figure 8 This is a flowchart showing a process executed by a server device according to one embodiment.

[0059] Fig. 9 This is a diagram showing an example of the danger level corresponding to the observation information acquired in the area search mode.

[0060] Fig.10 This is a diagram showing an example of the risk level corresponding to the observation information acquired by the interruption device search mode.

[0061] Fig.11 This is a diagram showing an example of a danger map. DETAILED DESCRIPTION

[0062] Hereinafter, one embodiment of the present disclosure will be described based on the drawings.

[0063] (First Embodiment)

[0064] Figure 1 The evacuation information generation system 3 of the first embodiment shown generates Figure 2 The evacuation information about the driving area A of the autonomous driving device 1 is shown. The evacuation information generation system 3 includes, for example, a plurality of autonomous driving devices 1 and a server device 2 b provided in a remote center 2 for managing the operation of the autonomous driving devices 1 .

[0065] The autonomous driving device 1 is an autonomous driving robot that can autonomously drive in any direction, front, back, left, or right. The autonomous driving device 1 may also be a logistics robot that normally drives autonomously in a facility such as a hospital or warehouse that is a driving area A to carry goods. Alternatively, the autonomous driving device 1 may also be a delivery robot that normally drives autonomously on a road that is a driving area A to carry goods to a delivery destination. Alternatively, the autonomous driving device 1 may also be an information collection robot that normally collects specific information by patrolling in a driving area A such as a facility or a road.

[0066] The autonomous driving device 1 normally provides the above-mentioned service in the driving area A, and when a danger occurs, collects observation information required for the evacuation information generation process in the evacuation information generation system 3 in the driving area A. Here, danger is an event that may cause damage to the driving area A. Danger can also be referred to as an event that requires users of the driving area A to evacuate from the area. For example, danger includes disaster events such as earthquakes and fires. The driving area A where danger occurs can also be referred to as a danger area.

[0067] The autonomous driving device 1 is equipped with Figure 3The sensor system 10, the communication system 20, the map database 30, the driving system 40 and the information processing device 100 are shown. The sensor system 10 acquires sensor information that can be used by the information processing device 100 with respect to the outside and the inside of the autonomous driving device 1. Therefore, the sensor system 10 is configured to include an external sensor 11 and an internal sensor 12.

[0068] The external sensor 11 acquires external information as sensor information from the outside world that is the surrounding environment of the autonomous driving device 1. The external sensor 11 may also be a target detection type that detects a target that exists outside the autonomous driving device 1. The target detection type external sensor 11 is, for example, at least one of a camera, LiDAR (Light Detection and Ranging), radar, and sonar. The external information acquired by the external sensor 11 is associated with the position information of the acquired location and is sequentially stored in a storage medium such as the memory 101 of the autonomous driving device 1 and the memory 201 of the server device 2b.

[0069] The internal sensor 12 acquires internal information as sensor information from the inside of the autonomous driving device 1, which is the internal environment. The internal sensor 12 may be a physical quantity detection type that detects a specific motion physical quantity inside the autonomous driving device 1. The physical quantity detection type internal sensor 12 is, for example, at least one of a driving speed sensor, an acceleration sensor, and a gyro sensor.

[0070] The communication system 20 acquires communication information that can be used by the information processing device 100 through wireless communication. The communication system 20 includes a positioning type that receives positioning signals from artificial satellites of GNSS (Global Navigation Satellite System) that exist outside the autonomous driving device 1. The positioning type communication system 20 is, for example, a GNSS receiver. The communication system 20 includes a wide area communication type that transmits and receives communication signals with a wide area communication system that exists outside the autonomous driving device 1. The wide area communication type communication system 20 is, for example, at least one of a DSRC (Dedicated Short Range Communications) communicator and a cellular V2X (C-V2X) communicator. Through the wide area communication type communication system 20, the autonomous driving device 1 periodically provides its own position information to the remote center 2. The communication system 20 includes a short distance communication type that transmits and receives signals between autonomous driving devices 1 that exist at a relatively short distance through local communication. The short distance communication type communication system 20 is, for example, at least one of a Bluetooth (registered trademark) device, a Wi-Fi (registered trademark) device, and an infrared communication device.

[0071] The map database 30 stores map information that can be used by the information processing device 100. The map database 30 is configured to include at least one non-transitory tangible storage medium such as a semiconductor memory, a magnetic medium, and an optical medium. The map database 30 may also be a database of a locator that estimates the self-state quantity including the self-position of the autonomous driving device 1. The map database 30 may also be a database of a planning unit that plans the driving of the autonomous driving device 1. The map database 30 may also be configured by a combination of multiple types of these databases and the like.

[0072] The map database 30 acquires and stores the latest map information, for example, by communicating with the remote center 2 via the communication system 20. Here, the map information is digitized two-dimensionally or three-dimensionally as information representing the driving environment of the autonomous driving device 1. In particular, as the three-dimensional map data, digital data of a high-precision map can be used.

[0073] For example, the map information may also include facility information indicating at least one of the position, shape, and floor surface condition of the wall, floor, etc. of the facility on which the vehicle is traveling. For example, the map information may also include facility information indicating at least one of the position, shape, and type of the facilities attached to the facility. For example, the map information may also include road information indicating at least one of the position, shape, and road surface condition of the road on which the vehicle is traveling. For example, the map information may also include sign information indicating at least one of the position and shape of the signs and dividing lines attached to the road. For example, the map information may also include structure information indicating at least one of the position and shape of the buildings and traffic lights facing the road.

[0074] The travel system 40 controls the travel of the autonomous travel device 1 by cooperating with the information processing device 100 and the like. The travel system 40 includes, for example, a plurality of drive wheels and an electric actuator that controls the drive wheels. The drive wheels are, for example, Mecanum wheels, omnidirectional wheels, and other wheels that can perform turning actions by the speed difference between the drive wheels. The electric actuator can independently rotate and drive each drive wheel. The electric actuator can switch the driving mode of the autonomous travel device 1 between straight driving and turning driving by adjusting the speed difference between the drive wheels. The electric actuator can also include a braking unit that applies brakes to each drive wheel during rotation. The electric actuator can also include a locking unit that locks each drive wheel when stopped.

[0075] The information processing device 100 is connected to the sensor system 10, the communication system 20, and the map database 30 via at least one of a LAN (Local Area Network) line, a harness, an internal bus, and a wireless communication line. The information processing device 100 includes at least one dedicated computer.

[0076] The dedicated computer constituting the information processing device 100 may be a planning ECU (Electronic Control Unit) that plans the target trajectory of the autonomous driving device 1. The dedicated computer constituting the information processing device 100 may be a trajectory control ECU that makes the actual trajectory follow the target trajectory of the autonomous driving device 1. The dedicated computer constituting the information processing device 100 may be an actuator ECU that controls each electric actuator of the autonomous driving device.

[0077] The dedicated computer constituting the information processing device 100 may be a sensor ECU that controls the sensor system 10 of the autonomous driving device 1. The dedicated computer constituting the information processing device 100 may be a positioner ECU that estimates the self-state quantity of the autonomous driving device 1. The dedicated computer constituting the information processing device 100 may be, for example, a computer other than the autonomous driving device 1, such as an external center or a mobile terminal that can communicate with the autonomous driving device 1 via the communication system 20.

[0078] The dedicated computers constituting the information processing device 100 each have at least one memory 101 and a processor 102. The memory 101 is at least one non-transitory tangible storage medium such as a semiconductor memory, a magnetic medium, and an optical medium, which stores programs and data readable by the computer in a non-transitory manner. Here, the storage may be an accumulation of data that is retained even when the autonomous driving device 1 is turned on and off, or a temporary storage of data that is deleted when the autonomous driving device 1 is turned on and off. The processor 102 includes, for example, at least one of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a RISC (Reduced Instruction Set Computer)-CPU, a DFP (Data Flow Processor), and a GSP (Graph Streaming Processor) as a core.

[0079] In the information processing device 100, the processor 102 executes a plurality of commands included in the search program stored in the memory 101 in order to execute the search control for the autonomous driving device 1 to search for the driving area A where danger occurs. Thus, the information processing device 100 constructs a plurality of function blocks for the search control. Figure 3 As shown, the plurality of functional blocks constructed in the information processing apparatus 100 include a search block 110 and a transmission block 120 .

[0080] The information processing device 100 performs a search control method by cooperating between the blocks 110 and 120 according to Figure 5 to Figure 7 The search control flow shown in the figure is executed. This search control flow is repeatedly executed during the activation of the autonomous driving device 1. In addition, each "S" in this search control flow refers to a plurality of steps executed by a plurality of instructions included in the search control program.

[0081] First, in S100, the search block 110 acquires danger information. Danger information is information indicating the occurrence of danger. Therefore, the driving area A corresponding to the danger information is an area where danger is estimated to occur. The search block 110 acquires danger information from the remote center 2 via the communication system 20, for example. Alternatively, the search block 110 may also determine the occurrence of danger based on the information acquired by its own external sensor 11 and internal sensor 12, thereby acquiring danger information.

[0082] In the next S110, the search block 110 determines whether it is possible to communicate with the remote center 2. The search block 110 determines whether it is possible to communicate with the remote center 2 by diagnosing a fault in the communication system 20 of the wide area communication type and trying to communicate with the remote center 2. When it is determined that communication is not possible, this process ends. In this case, the autonomous driving device 1 is an autonomous driving device 1 in an interrupted state and waits for a search from an autonomous driving device 1 in an active state that can communicate with the remote center 2 described later. In addition, hereinafter, the autonomous driving device 1 in an interrupted state is sometimes expressed as an interrupting device. In addition, the autonomous driving device 1 in an active state is sometimes expressed as an active device. In addition, when the short-distance communication type communication system 20 can be used, the interrupting device can also send a signal to the surrounding area through short-distance communication to assist the search based on the active device.

[0083] On the other hand, when it is determined in S110 that communication with the remote center 2 is possible, the process proceeds to S120. In S120, the search block 110 determines whether the autonomous driving device 1 is capable of driving. The search block 110 may determine whether the autonomous driving device 1 is capable of driving, for example, by performing a fault diagnosis of the sensor system 10 and the driving system 40. When it is determined that the autonomous driving device 1 is not capable of driving, the process proceeds to S130. In S130, the sending block 120 ends the process after sending a fault notification notifying that the autonomous driving device 1 is not capable of driving to the remote center 2 via the communication system 20. In addition, even when it is determined that the autonomous driving device 1 is not capable of driving, as long as the external sensor 11 can be used, the autonomous driving device 1 can send observation information (described later) around the current stop position to the remote center 2.

[0084] On the other hand, if it is determined in S120 that the autonomous driving device 1 can travel, the process proceeds to S140. In S140, the search block 110 determines the search mode of the autonomous driving device 1. For example, the search block 110 determines the search mode by acquiring a designation instruction of the mode from the remote center 2. The search mode includes, for example, an area search mode and an interruption device search mode. When the mode is determined to be the area search mode, the process proceeds to S150. When the mode is determined to be the interruption device search mode, the process transfers to S160.

[0085] In the execution of the area search mode in S150, the autonomous driving device 1 searches for devices constituting the driving area A and transmits the search result to the remote center 2. Figure 6 The detailed processing in S150 is described in the flowchart of FIG.

[0086] In S151, the search block 110 obtains the external information of the driving area A after the danger. In detail, the search block 110 causes the autonomous driving device 1 to drive in the driving area A near a location where the observation information described later is not obtained, and obtains the external information of the location from the external sensor 11. At this time, the search block 110 may, for example, drive in a manner of stepping on a location where the external information was obtained before the danger occurred. Alternatively, the search block 110 may drive in a manner of continuing to travel on a predetermined driving path before the danger occurred. Alternatively, the search block 110 may drive in a manner of traveling on a predetermined driving path issued from the remote center 2 after the danger. The search block 110 obtains the external information in association with the location information of the location.

[0087] In the next S152, the search block 110 obtains the external information before the danger related to the location where the external information is obtained in S151. The search block 110 obtains the external information before the danger by reading the external information before the danger substantially consistent with the location information obtained in S151 from the storage medium. In addition, the external information before the danger may also be obtained by other autonomous driving devices 1.

[0088] Furthermore, in S153, the transmission block 120 outputs observation information corresponding to the external information before and after the danger to the remote center 2. Specifically, the transmission block 120 outputs the difference information between the external information obtained in the area search and the external information before the danger as observation information. In addition, the observation information may also include the analysis result of the difference. The output observation information is sent to the remote center 2 via the communication system 20. After the processing of S153, this process enters Figure 5 S170.

[0089] On the other hand, in the execution of the interruption device search mode in S160, the autonomous driving device 1 searches for the interruption device and transmits the search result to the remote center 2. Figure 7 The flowchart of FIG. 1 illustrates the detailed processing in S160 .

[0090] In S161, the search block 110 starts the interruption device search travel. In the interruption device search travel, the search block 110 obtains the position information immediately before the interruption related to the interruption device from the remote center 2, etc., and controls the travel system 40 to move toward the interruption point where the interruption device is estimated to exist. The interruption point is set to, for example, an area within a predetermined range including the position coordinates immediately before the interruption.

[0091] In the next S162, the search block 110 determines whether the autonomous driving device 1 has reached the interruption point. The search block 110 continues the interruption device search driving until it is determined that the autonomous driving device 1 has reached the interruption point. If it is determined that the autonomous driving device 1 has reached the interruption point, the flow moves to S163.

[0092] In S163, the search block 110 performs a diagnostic process related to the state of the interruption device at the interruption location. In the diagnostic process, the search block 110 determines, for example, whether local communication between the active device (this device) and the interruption device based on the communication system 20 of the short-distance communication type can be performed. In addition, in the diagnostic process, the search block 110 determines whether the interruption device can be identified using the external sensor 11 of the device. Moreover, in the diagnostic process, the search block 110 determines the degree of damage related to the appearance of the interruption device when the interruption device can be identified.

[0093] Then, in S164, the transmission block 120 outputs the diagnostic information of the interruption device acquired in S163 as observation information. The output observation information is transmitted to the remote center 2 via the communication system 20. After the processing of S164, the flow enters Figure 5 S170.

[0094] In S170, the search block 110 determines whether there is an end instruction for the search. The end instruction is sent to the autonomous driving device 1 based on, for example, an operation by a manager such as an operator in the remote center 2. In the absence of an end instruction, the search block 110 executes the area search mode in S150. That is, the autonomous driving device 1 that performs the area search mode gradually expands the area search area within the facility until an end instruction is issued. Then, the autonomous driving device 1 that performs the interruption device search mode switches to the area search mode if there is no end instruction after the interruption device search. As a result, the proportion of devices that perform the area search mode in the active autonomous driving device 1 increases with the passage of time. When the end instruction is obtained, this process ends and the search process is completed. In addition, after the search is completed, the autonomous driving device 1 can wait at the search end location, or it can leave the driving area A based on the evacuation information from the remote center 2.

[0095] Next, the details of the server device 2b in the remote center 2 that generates evacuation information based on the search process of the autonomous driving device 1 are described. The server device 2b is connected to the communicator 2a that communicates with the autonomous driving device 1 via at least one of a LAN line, a wiring harness, an internal bus, and a wireless communication line, for example. The server device 2b is configured to include at least one dedicated computer.

[0096] The dedicated computers constituting the server device 2b each have at least one memory 201 and a processor 202. The memory 201 is at least one non-transitory tangible storage medium such as a semiconductor memory, a magnetic medium, and an optical medium, which non-transitorily stores programs and data readable by a computer. Here, the storage may be an accumulation of data that is retained even when the autonomous driving device 1 is turned on and off, or a temporary storage of data that is deleted when the autonomous driving device 1 is turned on and off. The processor 202 includes, for example, at least one of a CPU, a GPU, a RISC-CPU, a DFP, and a GSP as a core.

[0097] In the server device 2b, the processor 202 executes a plurality of commands included in the evacuation information generation program stored in the memory 201 in order to generate evacuation information in the driving area A of the autonomous driving device 1. Thus, the server device 2b constructs a plurality of function blocks for generating evacuation information in the driving area A. Figure 4 As shown, the plurality of functional blocks constructed in the evacuation information generating system 3 include a collection block 210 and an output block 220 .

[0098] The server device 2 b generates evacuation information in the driving area A of the autonomous driving device 1 by cooperating with these blocks 210 and 220. The evacuation information generation method is as follows: Figure 8 The evacuation information generation process shown in the figure is executed. This evacuation information generation process is repeatedly executed when the dedicated computer is activated. In addition, each "S" in this evacuation information generation process refers to a plurality of steps executed by a plurality of commands included in the evacuation information generation program.

[0099] First, in S200, the collection block 210 determines whether a danger has occurred. The collection block 210 can determine the occurrence of a danger based on, for example, obtaining information about the occurrence of a danger through at least one of a release from a public communication network such as the Internet, a notification from a facility, and information provided by a fire department, etc. The collection block 210 waits for the present process to proceed until a determination is made that an event has occurred. When it is determined that a danger has occurred, the present process enters S210. In S210, the output block 220 outputs the danger information to the autonomous driving device 1. The danger information is sent to each autonomous driving device 1 in the driving area A via the communicator 2a.

[0100] Next, in S220, the collection block 210 executes the allocation of search patterns to the autonomous driving devices 1 within the driving area A. Specifically, the collection block 210 identifies active devices without fault notifications, that is, autonomous driving devices 1 that can travel, by communicating with the autonomous driving devices 1. Then, the collection block 210 allocates the identified autonomous driving devices 1 as devices that execute the area search mode and devices that execute the interruption device search mode. For example, the collection block 210 allocates the interruption device search mode to the autonomous driving device 1 closest to each interruption location, and allocates the area search mode to the other autonomous driving devices 1. In addition, the collection block 210 can also allocate multiple autonomous driving devices 1 to one interruption location. The collection block 210 executes the search pattern corresponding to each main driving device 1 by outputting the allocation results to each main driving device 1.

[0101] In the next S230, the collection block 210 acquires observation information based on the area search from each active master driving device 1. Then, in S240, the collection block 210 acquires observation information based on the interruption device search from each active master driving device 1. In addition, the processing of S230 and the processing of S240 can also be implemented in parallel. After the collection block 210 continues the acquisition process until the observation information of the location sufficient for the generation of the danger map is collected, it transfers to S250.

[0102] In S250, the output block 220 generates a danger map corresponding to each observation information. Here, the danger map is evacuation information in a mapped form indicating the danger level of each location in the driving area A. The danger level is the degree of danger for users of the driving area A. The user is, for example, a person. Alternatively, the user may also be the autonomous driving device 1. The output block 220 may estimate the danger level according to the category of each user.

[0103] The output block 220 estimates the danger level of the corresponding location based on each observation information. Fig.11 As shown, the output block 220 estimates the risk level corresponding to the observation information of the corresponding position for each point in the small section obtained by dividing the travel area A.

[0104] like Fig. 9 , Fig.10 As shown, the output block 220 sets the danger level of multiple stages based on the information from the observation information. Fig. 9 , Fig.10 In the example shown, the output block 220 sets the danger level to zero, low, medium, high, and highest in descending order. In the following examples, unless otherwise specified, the danger level is common to both humans and the autonomous driving device 1.

[0105] For example, Fig. 9 As shown, the output block 220 determines whether there is damage to the nearby walls, whether there is a dent in the floor, or whether there is an obstacle in the floor at each location based on the observation information based on the area search, and determines the danger level based on the state of the location inferred from the determination result.

[0106] Specifically, when the output block 220 determines that there is no damage to the wall, depression in the floor, or any obstacle, it is presumed that there is no abnormality at the location. In this case, the output block 220 determines the danger level to be zero. In addition, when the output block 220 determines that there is no damage to the wall or depression in the floor but there is an obstacle, the danger level at the location is determined to be between low and high. The smaller the passable area becomes due to the obstacle, the greater the danger level determined by the output block 220 for the area and the obstacle position. The output block 220 can also determine the danger level of the obstacle position and the passable area separately.

[0107] Furthermore, when the output block 220 determines that there is no damage to the wall, a depression in the floor, and no obstacles, it is inferred that the floor has fallen off at that location. In this case, the output block 220 determines the danger level between medium and high. The smaller the passable area becomes due to the depression in the floor, the greater the danger level determined by the output block 220 for the area and the depression. The output block 220 may also determine the danger levels of the depression and the passable area separately.

[0108] In addition, when the output block 220 determines that there is no damage to the wall, a depression in the floor, or an obstacle, it is inferred that the floor is damaged due to the fall of a heavy object at the location, and the heavy object or its fragments are scattered on the floor. In this case, the output block 220 determines the danger level to be high. Furthermore, when the output block 220 determines that there is damage to the wall, no depression in the floor, or an obstacle, the danger level at the location is determined to be low.

[0109] Furthermore, when the output block 220 determines that there is damage to the wall, no depression in the floor, or an obstacle, it is inferred that an object set on the wall at that location has fallen toward the floor. In this case, the output block 220 determines the danger level to be low to medium. The smaller the passable area becomes due to the falling object, the greater the danger level determined by the output block 220 for the area and the location of the falling object. The output block 220 may also determine the danger level of the falling object location and the passable area separately.

[0110] Furthermore, when the output block 220 determines that there is damage to the wall, a depression in the floor, and no obstacle, it is estimated that the structure of the wall and the floor has changed due to danger. In this case, the output block 220 determines the danger level to be high. In addition, when the output block 220 determines that there is damage to the wall, a depression in the floor, and an obstacle, it is estimated that the shape of the wall and the floor is not maintained due to danger, or the deformation of the floor is large and the environment recognition cannot be performed normally. In this case, the output block 220 determines the danger level to be the highest.

[0111] In addition, if Fig.10 As shown, the output block 220 determines the state related to the interruption device based on the observation information based on the interruption device search. For example, the output block 220 determines whether the local communication related to the interruption device is possible, whether the interruption device is found, and whether there is damage related to the appearance of the interruption device. The output block 220 determines the danger level at the interruption location based on the state of the interruption device inferred from the determination result.

[0112] Specifically, when the output block 220 determines that local communication is possible, an interruption device is found, and there is no damage related to the appearance, it is determined that only the communication function of the interruption device to communicate with the center is damaged. In this case, the output block 220 determines the danger level for people to be zero. In addition, in this case, the output block 220 sets the danger level for the autonomous driving device 1 to low. In addition, when the output block 220 determines that local communication is possible, an interruption device is found, and there is damage related to the appearance, it is inferred that the communication function of the interruption device to communicate with the center and the housing are damaged due to an impact from the outside. In this case, the output block 220 determines the danger level to be medium.

[0113] When the output block 220 determines that local communication is possible and no interrupter is found and the presence or absence of damage related to the appearance cannot be determined, it is estimated that an interrupter remains in an area that other autonomous driving devices 1 cannot enter. In this case, the output block 220 determines the risk level to be high.

[0114] In addition, when the output block 220 determines that local communication is not possible, an interruption device is found, and there is no damage related to the appearance, it is estimated that the communication function cannot be used due to abnormality of the network card, generation of interference radio waves, etc. In this case, the output block 220 determines the danger level for people to be low. In addition, in this case, the output block 220 determines the danger level for the autonomous driving device 1 to be medium.

[0115] Furthermore, when the output block 220 determines that local communication cannot be performed, an interrupter is found, and there is damage related to the appearance, it is presumed that the hardware of the interrupter is seriously damaged due to an impact from the outside. In this case, the output block 220 determines the danger level to be high. Furthermore, when the output block 220 determines that local communication cannot be performed, an interrupter is not found, and it is impossible to determine whether there is damage related to the appearance, it is presumed that the interrupter is in a state where the state cannot be confirmed due to the collapse of the facility, etc. In this case, the output block 220 determines the danger level to be the highest.

[0116] Output block 220 sets the danger level of each location as above, such as Fig.11 As shown in FIG. 1 , a danger map M is generated that specifies the danger level for each subarea. Fig.11 The darker the shading of a point, the higher the hazard level. The unshaded subareas are locations where the hazard level is set to zero.

[0117] In the next S260, the output block 220 generates evacuation route data in the travel area A. The evacuation route data is evacuation information in a map format indicating the evacuation route Re in the travel area A. The output block 220 generates the evacuation route data based on the danger map M generated in S250.

[0118] Specifically, the output block 220 searches for a path with the minimum danger cost from a specified starting point to the exit of the travel area A, and uses this path as the refuge path Re. The starting point of the refuge path Re is, for example, the current position of a refugee in the travel area A when the refugee is detected. Alternatively, the refuge path Re may start from any position. For example, for the starting point of the danger cost, the danger cost is a cost corresponding to the danger level in the danger map M. The danger cost is, for example, a parameter associated with the sum of the danger levels of each location passed through, which is digitized in such a way that the higher the level, the larger the value. In addition, Fig.11 In the example shown, the evacuation route Re with the lowest danger level (zero) is shown, but if the danger cost is the lowest, it is also possible to pass through a location with a danger level greater than 0. In addition, the output block 220 may generate evacuation route data by setting a constraint condition that the evacuation route does not pass through a location with a predetermined danger level or higher regardless of the danger cost.

[0119] Then, in S270, the output block 220 outputs the danger map M and the evacuation path data. The output block 220 may output the evacuation information to a rescue organization such as a fire department. Alternatively, the output block 220 may output the evacuation information to the autonomous driving device 1 in the driving area A. Alternatively, the output block 220 may output the evacuation information to an operator or other personnel in the remote center 2.

[0120] At this time, the output block 220 outputs the evacuation route data in correspondence with the danger map M. Fig.11 As shown, the output block 220 establishes a correspondence in a manner such that the position of the evacuation route Re is presented in the danger map M.

[0121] According to the first embodiment described above, a danger map M corresponding to observation information by the autonomous driving device and related to the driving area A where danger is estimated to occur is output. Therefore, actual observation information related to each location can be reflected in the danger map M related to the location. Therefore, effective evacuation information can be generated.

[0122] In addition, according to the first embodiment, the route evacuation data corresponding to the observation information based on the autonomous driving device related to the driving area A where the danger is estimated to occur is output. Therefore, the actual observation information can be reflected in the evacuation route data in the driving area A. Therefore, effective evacuation information can be generated.

[0123] Furthermore, according to the first embodiment, the evacuation route data is outputted in association with the danger map M. Therefore, it is possible to provide convenient evacuation information that allows the danger level and the evacuation route data to be grasped at the same time.

[0124] Furthermore, according to the first embodiment, acquiring observation information includes acquiring observation information obtained by searching the travel area A by an active device capable of communicating with the outside among the plurality of autonomous travel devices 1. Therefore, evacuation information that effectively utilizes the active device capable of communicating with the outside can be generated.

[0125] Furthermore, according to the first embodiment, acquiring observation information includes acquiring observation information obtained by searching, by the active device, equipment constituting the travel area A. Thus, evacuation information corresponding to damage to the travel area A caused by the danger can be generated.

[0126] Furthermore, according to the first embodiment, acquiring the observation information includes acquiring the observation information obtained by searching, by the active device, for interruption devices among the plurality of autonomous driving devices 1 that have interrupted communication with the outside in the driving area A. Furthermore, outputting the evacuation information includes outputting a danger map M showing danger levels of locations where the interruption devices are estimated to exist as danger levels corresponding to the states of the searched interruption devices. Therefore, the active device can be effectively used to generate evacuation information corresponding to the states of the interruption devices.

[0127] Furthermore, according to the first embodiment, outputting the evacuation information includes outputting the danger map M indicating the danger level corresponding to the mutual communication state between the active device and the interrupted device. Therefore, it is possible to generate evacuation information that effectively utilizes the mutual communication state between the active device and the interrupted device.

[0128] According to the first embodiment, outputting the evacuation information includes outputting a danger map M indicating a danger level corresponding to the observed state of the interrupted device by the active device. Thus, the active device can be effectively used to generate evacuation information corresponding to the observed state of the interrupted device.

[0129] (Other embodiments)

[0130] Although one embodiment has been described above, the present disclosure should not be construed as being limited to the described embodiment, and can be applied to various embodiments within a scope not departing from the gist of the present disclosure.

[0131] In a modified example, part of the functions executed by the server device 2b may be executed by another control device such as the information processing device 100 of the autonomous driving device 1. In a modified example, part of the functions executed by the information processing device 100 may be executed outside the autonomous driving device 1 such as the remote center 2.

[0132] In a modified example, the evacuation information generating system 3 may output only one of the danger map M and the evacuation route data.

[0133] In a modified example, the dedicated computer constituting the evacuation information generating system 3 may also have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is, for example, at least one of an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), an SOC (System on a Chip), a PGA (Programmable Gate Array), and a CPLD (Complex Programmable Logic Device). In addition, such a digital circuit may also have a memory storing a program.

[0134] In addition to the above-described embodiments and modifications, the above-described embodiments and modifications may be configured to be mounted on the autonomous driving device 1 or the remote center 2, and implemented as an evacuation information generating device each having at least one processor and one memory. In this case, the evacuation information generating device may also be implemented in the form of a processing circuit (e.g., a processing ECU, etc.) or a semiconductor device (e.g., a semiconductor chip, etc.).

[0135] (Note)

[0136] In this specification, a plurality of technical ideas listed below and a plurality of combinations thereof are disclosed.

[0137] (Technical Thought 1)

[0138] A system for generating evacuation information comprises a processor (202; 102) and generates evacuation information in a driving area (A) of an autonomous driving device (1), wherein:

[0139] The processor is configured to perform the following steps:

[0140] acquiring observation information observed by the autonomous driving device searching for the driving area where danger is estimated to occur; and

[0141] Based on the observation information, evacuation information is output as a danger map (M) indicating a danger level at each point in the travel area.

[0142] (Technical Thought 2)

[0143] According to the evacuation information generation system of technical idea 1,

[0144] Outputting the evacuation information includes outputting evacuation route data within the travel area based on the danger map.

[0145] (Technical Thought 3)

[0146] According to the evacuation information generation system described in technical idea 2,

[0147] Outputting the evacuation information includes outputting the evacuation route data in association with the danger map.

[0148] (Technical Thought 4)

[0149] A system for generating evacuation information comprises a processor (202; 102) and generates evacuation information in a driving area (A) of an autonomous driving device (1), wherein:

[0150] The processor is configured to perform the following steps:

[0151] acquiring observation information observed by the autonomous driving device searching for the driving area where danger is estimated to occur; and

[0152] Based on the observation information, evacuation route data within the travel area is output.

[0153] (Technical Thought 5)

[0154] The evacuation information generating system according to any one of technical concepts 1 to 4, wherein:

[0155] Acquiring the observation information includes: acquiring the observation information obtained by searching the driving area through an active device that can communicate with the outside among the plurality of autonomous driving devices.

[0156] (Technical Thought 6)

[0157] According to the evacuation information generation system of technical idea 5,

[0158] Acquiring the observation information includes: acquiring the observation information obtained by searching the active device for devices constituting the driving area.

[0159] (Technical Thought 7)

[0160] The evacuation information generation system according to technical idea 5 or 6, wherein:

[0161] Acquiring the observation information includes: acquiring the observation information obtained by searching, by the active device, for interruption devices among the plurality of autonomous driving devices that have interrupted communication with the outside in the driving area,

[0162] Outputting the evacuation information includes outputting a danger map (M) indicating the danger level of a location where the interrupting device is estimated to exist as a danger level corresponding to the state of the searched interrupting device.

[0163] (Technical Thought 8)

[0164] According to the evacuation information generation system of technical concept 7, the active device is the autonomous driving device capable of communicating with the remote center (2), and the interrupted device is the autonomous driving device whose communication with the remote center is interrupted, wherein:

[0165] Outputting the evacuation information includes outputting the danger map indicating the danger level corresponding to the mutual communication state between the active device and the interrupted device.

[0166] (Technical Thought 9)

[0167] The evacuation information generating system according to technical idea 7 or technical idea 8, wherein:

[0168] Outputting the evacuation information includes outputting the danger map indicating the danger level corresponding to the observed state of the interrupting device obtained by the active device.

Claims

1. An evacuation information generating system, comprising a processor (202; 102) and generating evacuation information in a driving area (A) of an autonomous driving device (1), characterized in that: The processor is configured to perform the following steps: acquiring observation information observed by the autonomous driving device searching for the driving area where danger is estimated to occur; and Based on the observation information, evacuation information is output as a danger map (M) indicating a danger level at each point in the travel area.

2. The evacuation information generation system according to claim 1, characterized in that: Outputting the evacuation information includes outputting evacuation route data within the travel area based on the danger map.

3. The evacuation information generation system according to claim 2, characterized in that: Outputting the evacuation information includes outputting the evacuation route data in association with the danger map.

4. An evacuation information generating system having a processor (202; 102) and generating evacuation information in a driving area (A) of an autonomous driving device (1), characterized in that: The processor is configured to perform the following steps: acquiring observation information observed by the autonomous driving device searching for the driving area where danger is estimated to occur; and Based on the observation information, evacuation information is output as evacuation route data in the travel area.

5. The evacuation information generating system according to any one of claims 1 to 4, characterized in that: Acquiring the observation information includes: acquiring the observation information obtained by searching the driving area through an active device that can communicate with the outside among the plurality of autonomous driving devices.

6. The evacuation information generation system according to claim 5, characterized in that: Acquiring the observation information includes: acquiring the observation information obtained by searching the active device for devices constituting the driving area.

7. The evacuation information generation system according to claim 5, characterized in that: Acquiring the observation information includes: acquiring the observation information obtained by searching, by the active device, for interruption devices among the plurality of autonomous driving devices that have interrupted communication with the outside in the driving area, Outputting the evacuation information includes outputting a danger map (M) indicating the danger level of a location where the interrupting device is estimated to exist as a danger level corresponding to the state of the searched interrupting device.

8. The evacuation information generation system according to claim 7, characterized in that: The active device is the autonomous driving device capable of communicating with the remote center (2), and the interrupted device is the autonomous driving device whose communication with the remote center is interrupted, Outputting the evacuation information includes outputting the danger map indicating the danger level corresponding to the mutual communication state between the active device and the interrupted device.

9. The evacuation information generation system according to claim 7, characterized in that: Outputting the evacuation information includes outputting the danger map indicating the danger level corresponding to the observed state of the interrupted device obtained by the active device.

10. An evacuation information generating device, comprising a processor (202; 102), configured to be installed in an autonomous driving device (1) or a remote center (2), and generating evacuation information in a driving area (A) of the autonomous driving device (1), characterized in that: The processor is configured to perform the following steps: acquiring observation information observed by the autonomous driving device searching for the driving area where danger is estimated to occur; and Based on the observation information, evacuation information is output as a danger map (M) indicating a danger level at each point in the travel area.

11. An evacuation information generating device, comprising a processor (202; 102), configured to be installed in an autonomous driving device (1) or a remote center (2), and generating evacuation information in a driving area (A) of the autonomous driving device (1), characterized in that: The processor is configured to perform the following steps: acquiring observation information observed by the autonomous driving device searching for the driving area where danger is estimated to occur; and Based on the observation information, evacuation information is output as evacuation route data in the travel area.

12. An autonomous driving device, comprising a processor (102) and autonomously driving in a driving area (A), characterized in that: The processor is configured to perform the following steps: acquiring observation information observed by the autonomous driving device searching for the driving area where danger is estimated to occur; and Based on the observation information, evacuation information is output as a danger map (M) indicating a danger level at each point in the travel area.

13. An autonomous driving device (1), comprising a processor (102) and autonomously driving in a driving area (A), characterized in that: The processor is configured to perform the following steps: acquiring observation information observed by the autonomous driving device searching for the driving area where danger is estimated to occur; and Based on the observation information, evacuation information is output as evacuation route data in the travel area.

14. A method for generating evacuation information, comprising: a processor (202; 102) is executed to generate evacuation information in a driving area (A) of the autonomous driving device (1), characterized in that it includes the following steps: acquiring observation information observed by the autonomous driving device searching for the driving area where danger is estimated to occur; and Based on the observation information, evacuation information is output as a danger map (M) indicating a danger level at each point in the travel area.

15. A method for generating evacuation information, comprising: a processor (202; 102) is executed to generate evacuation information in a driving area (A) of the autonomous driving device (1), characterized in that it includes the following steps: acquiring observation information observed by the autonomous driving device searching for the driving area where danger is estimated to occur; and Based on the observation information, evacuation information is output as evacuation route data in the travel area.

16. An evacuation information generation program, stored in a storage medium (201; 101) and comprising a processor (202; 102) is used to generate evacuation information in a driving area (A) of an autonomous driving device (1), characterized in that: The command includes the following: acquiring observation information observed by searching the driving area where the danger is estimated to occur by the autonomous driving device; as well as Based on the observation information, evacuation information is output as a danger map (M) indicating a danger level at each point in the travel area.

17. An evacuation information generation program, stored in a storage medium (201; 101) and comprising instructions for causing a processor (202; 102) to execute, for generating evacuation information in a driving area (A) of an autonomous driving device (1), characterized in that: The command includes the following: acquiring observation information observed by the autonomous driving device searching for the driving area where danger is estimated to occur; and Based on the observation information, evacuation information is output as evacuation route data in the travel area.

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