Generating device
By acquiring and evaluating the segment communication quality of candidate paths, and selecting paths that meet the operational task conditions, the problem of reduced path freedom caused by signal strength thresholds is solved, and more flexible path selection is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- TOYOTA JIDOSHA KK
- Filing Date
- 2025-12-11
- Publication Date
- 2026-07-31
AI Technical Summary
In existing technologies, the path selection process is hampered by the exclusion of regions with signal strength less than a threshold, resulting in a reduction in the degree of freedom of the path.
By obtaining the communication quality of multiple segments of the candidate path and selecting the path under the condition that the operation tasks of each segment are met, the conditions of segments that are less important for communication quality are relaxed, thereby increasing the freedom of path selection.
It increases the freedom of path selection, avoids paths excluded due to poor local communication conditions, and enhances the flexibility of path selection.
Smart Images
Figure CN122493682A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a generating apparatus. Background Technology
[0002] Previously, there was a known method that determined whether a congestion existed on the path to the destination, and when the congestion existed and there were no occupants on the autonomous vehicle on the path, determined an alternative path (Patent Document 1).
[0003] Patent Document 1: Japanese Patent Application Publication No. 2020-106525 Summary of the Invention
[0004] The blocking factors described in Patent Document 1 include signal strength less than a threshold. Therefore, if the signal strength is less than the threshold in a part of the path, that path will not be selected. As a result, the degree of freedom of the path is reduced in Patent Document 1.
[0005] In view of this, the object of the present invention is to increase the degree of freedom of the path.
[0006] An embodiment of the present invention includes a generation apparatus comprising a control unit that performs the following processing: acquiring candidate paths up to a destination; determining a running task that can be performed in each of a plurality of segments of the acquired candidate paths and performing a communication running task; and, if the communication quality of each of the plurality of segments satisfies the conditions for communication performed in the running task of each of the plurality of segments, adopting the candidate path as the running path up to the destination.
[0007] Invention Effects
[0008] According to one embodiment of the present invention, the degree of freedom of the path can be increased. Attached Figure Description
[0009] Figure 1 This is a block diagram illustrating the general structure of a system according to an embodiment of the present invention.
[0010] Figure 2 It means Figure 1 A flowchart illustrating an example of the operation of the generating device.
[0011] Figure 3 It is a graph showing the correspondence between communication quality and running tasks. Detailed Implementation
[0012] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
[0013] like Figure 1As shown, the system 1 involved in this embodiment includes a vehicle 10, a server 30, and a terminal device 40. The vehicle 10, server 30, and terminal device 40 can communicate via a network 2. The network 2 can include any network such as a mobile communication network and the Internet. The server 30 relays the communication between the vehicle 10 and the terminal device 40. The server 30 can be any type of server. The vehicle 10 is, for example, an autonomous vehicle. The vehicle 10 can be any type of vehicle such as a bus. The vehicle 10 includes cameras 11 and 12, a communication device 13, and a generation device 20. The vehicle 10 can have any number of cameras. The camera 11 is configured in the vehicle 10 to capture the scenery outside the vehicle 10. The camera 11 generates image data of the exterior of the vehicle 10 by capturing the scenery outside the vehicle 10. The camera 12 is configured in the vehicle 10 to capture the scenery inside the vehicle 10. The camera 12 generates image data of the interior of the vehicle 10 by capturing the scenery inside the vehicle 10. The communication device 13 comprises at least one communication module capable of connecting to the network 2, at least one receiving module corresponding to a satellite positioning system, a storage unit similar to or the same as the storage unit 21 described later, and a control unit similar to or the control unit 22 described later. The communication device 13 acquires image data outside the vehicle 10 from the camera 11. The communication device 13 acquires image data inside the vehicle 10 from the camera 12. The communication device 13 acquires the location information of the vehicle 10 through the receiving module. The communication device 13 transmits the image data outside the vehicle 10, the image data inside the vehicle 10, and the location information of the vehicle 10 to the terminal device 40 via the network 2 and the server 30. The generation device 20 generates the running path of the vehicle 10. The generation device 20 includes a storage unit 21 and a control unit 22. The storage unit 21 comprises at least one semiconductor memory, etc. The storage unit 21 stores data for the operation of the generation device 20 and data obtained through the operation of the generation device 20. The control unit 22 comprises at least one processor. The processor is, for example, a general-purpose processor such as a CPU or GPU, or a dedicated processor for specific processing. The control unit 22 controls each part of the generation device 20 while performing processing related to the operation of the generation device 20. The user 3 operates the terminal device 40, sending control signals from the terminal device 40 to the vehicle 10, thereby remotely operating the vehicle 10. The user 3 enables the vehicle 10 to operate autonomously by remotely operating the vehicle 10. The user 3 can act as a remote supporter for the operation of the vehicle 10. The terminal device 40 receives at least one of the following from the vehicle 10's communication device 13 via the network 2 and the server 30: image data from outside the vehicle 10, image data from inside the vehicle 10, and location information of the vehicle 10. The terminal device 40 displays at least one of the received image data from outside the vehicle 10, image data from inside the vehicle 10, and location information of the vehicle 10 on the display 41.User 3 performs various operational tasks related to vehicle 10 by observing data displayed on monitor 41. For example, user 3 performs at least one of the following operational tasks: A through D.
[0014] Task A is a task for user 3 to monitor the operation of vehicle 10 while confirming the location of vehicle 10 displayed on monitor 41.
[0015] Task B is a task for user 3 to observe the images displayed on the monitor 41 inside the vehicle 10 while monitoring the status inside the vehicle 10.
[0016] Task C involves user 3 remotely operating functions of vehicle 10 other than driving while observing images displayed on display 41 inside the vehicle 10. The remotely operated functions of vehicle 10 include, for example, the opening and closing of the vehicle doors. User 3 remotely operates the functions of vehicle 10 by sending control signals to vehicle 10 for remote operation via terminal device 40.
[0017] Task D is a task that supports the driving of vehicle 10 while the user 3 observes the images displayed on the monitor 41 outside the vehicle 10. For example, task D is a task that supports the driving of vehicle 10 to prevent it from getting stuck on the road. Getting stuck means that vehicle 10 cannot move. The task of supporting the driving of vehicle 10 to prevent it from getting stuck on the road is recorded as "avoid getting stuck".
[0018] Figure 2 It means Figure 1 The flowchart shows an example of the operation of the generation device 20. If the control unit 22 of the generation device 20 receives destination information from the terminal device 40 via the communication device 13 through the network 2 and the server 30, the processing of S1 begins.
[0019] The control unit 22 searches for a path from the origin to the destination using an arbitrary path search algorithm and obtains the searched path as a candidate path (S1). The origin can be the current location. Alternatively, the control unit 22 can receive the current location information along with the destination information from the terminal device 40. Here, in S1, a device other than the generating device 20 can search for a path from the origin to the destination. In this case, in S1, the control unit 22 obtains the path searched by the device other than the generating device 20 as a candidate path. The control unit 22 divides the candidate path obtained in S1 into multiple segments using an arbitrary method (S2). Here, a device other than the generating device 20 can divide the candidate path into multiple segments. In this case, in S2, the control unit 22 obtains the relevant information of the multiple segments divided by the device other than the generating device 20.
[0020] In S3, the control unit 22 determines the operational task that can be performed in each of the multiple segments in the candidate path. The operational task determined in S3 is the operational task of performing communication between the vehicle 10 and the terminal device 40. The operational task determined in S3 is, for example, any one of the user's operational tasks A to D. The control unit 22 determines the operational task that can be performed in each of the multiple segments based on the characteristics of the segment or data from the past driving of the vehicle 10. [Example 1] When the width of the road in the segment is below a width threshold, the control unit 22 determines that the operational task that can be performed in that segment is operational task D. The narrower the road, the higher the possibility of the vehicle 10 getting stuck, and therefore the higher the requirement to avoid getting stuck. The width threshold can be set based on data from the width of the road when the vehicle 10 was stuck in the past. [Example 2] When the segment includes a right turn, the control unit 22 determines that the operational task that can be performed in that segment is operational task D. At intersections with right turns, the likelihood of vehicle 10 getting stuck due to oncoming traffic increases, thus requiring greater efforts to avoid such congestion. [Example 3] When a section includes an intersection, the control unit 22 determines that the operational task that can be performed in that section is operational task D. At intersections, the likelihood of vehicle 10 getting stuck due to oncoming traffic increases, thus requiring greater efforts to avoid such congestion. [Example 4] When the number of lanes in a section is more than a specified number, the control unit 22 determines that the operational task that can be performed in that section is operational task D. The more lanes there are, the greater the need for lane change support for user 3, i.e., operational task D. The specified number can be set based on data about the number of lanes on the road when vehicle 10 previously changed lanes. [Example 5] When a section includes a bus stop, the control unit 22 determines that the operational task that can be performed in that section is operational task B or operational task C. At a bus stop, it is required to monitor the status of users inside vehicle 10 via operation task B, or to remotely operate the opening and closing of vehicle 10's doors via operation task C. [Example 6] If the section includes a destination, the control unit 22 determines that the operation task that can be performed in that section is operation task B or operation task C. At the destination, depending on the purpose of vehicle 10, operation task B or operation task C can be performed. [Example 7] If the section includes a merging point, the control unit 22 determines that the operation task that can be performed in that section is operation task D. A merging point is a location where multiple roads merge. At a merging point, the possibility of vehicle 10 getting stuck increases, therefore operation task D can be performed.
[0021] In S4, the control unit 22 acquires communication quality data for each of the multiple segments divided in S2 based on past driving data of the vehicle 10. The communication quality data can be any data that can evaluate communication quality. Examples of communication quality data include latency and upload speed. For instance, the control unit 22 estimates the communication quality of a segment based on data recording the communication status of the vehicle 10 when it previously traveled through at least one location included in the segment.
[0022] In S5, the control unit 22 determines whether the communication quality of the segment acquired in S4 meets the communication conditions for the operation task of that segment determined in S3. Meeting the communication conditions for the operation task means that the communication quality of that segment is of a quality sufficient for user 3 to perform the operation task. The communication conditions for the operation task can be preset based on at least one of the types of data transmitted and received between vehicle 10 and terminal device 40 in the operation task and the processing content performed by user 3 in the operation task. The communication conditions for the operation task can be set according to the communication quality level. The control unit 22 can categorize the communication quality set as a communication condition for the operation task and the communication quality of the segment acquired in S4 into arbitrary levels based on the types of data transmitted and received between vehicle 10 and terminal device 40. For example, as... Figure 3 As shown, the control unit 22 categorizes the upload speed of communication quality into three levels: [Slow], [Normal], and [Fast]. The [Slow] upload speed is a strict speed for uploading dynamic image data, but a sufficient speed for uploading the location information of the vehicle 10. The [Normal] upload speed is a sufficient speed for uploading data from SD quality to HD quality. The [Fast] upload speed is a speed capable of uploading data of HD quality or higher. Furthermore, in... Figure 3 In the control unit 22, communication quality delay is divided into two levels: [short] and [long]. [Short] delay is less than 1 second. [Long] delay is more than 1 second. Figure 3In this context, the delay is the time required for data transmission from vehicle 10 to server 30, which is used to download data to terminal device 40. [Example 1] In operation task A, the location information of vehicle 10 only needs to be sent to terminal device 40 to a degree that allows user 3 to monitor the operation of vehicle 10. Furthermore, the delay has little impact on the transmission of the location information of vehicle 10 to terminal device 40 in operation task A. When it is determined in S3 that operation task A can be implemented in the segment, if the upload speed of the communication quality of the segment is [slow] or higher and the delay is [long] or lower, the control unit 22 determines in S5 that the communication quality of the segment meets the communication conditions of operation task A. [Example 2] In operation task B, the image data of the interior of vehicle 10 only needs to be sent to terminal device 40 to a degree that allows user 3 to monitor the state of the interior of vehicle 10. Therefore, in operation task B, the upload speed of the communication quality is [normal]. Furthermore, in the transmission of image data from the vehicle interior of vehicle 10 to terminal device 40 during task B, the impact of delay is minimal. If it is determined in S3 that task B can be implemented in a segment, and the upload speed of the communication quality of that segment is [normal] or higher and the delay is [long] or lower, the control unit 22 determines in S5 that the communication quality of the segment meets the communication conditions for task B. [Example 3] In task C, similar to task B, image data from the vehicle interior of vehicle 10 is transmitted to terminal device 40 only to the extent that user 3 can monitor the state of the vehicle interior. Furthermore, in task C, it is sufficient to send control signals for remote operation of vehicle 10 to vehicle 10. If it is determined in S3 that task C can be implemented in a segment, and the upload speed of the communication quality of that segment is [normal] or higher and the delay is [long] or lower, the control unit 22 determines in S5 that the communication quality of the segment meets the communication conditions for task C. [Example 4] In operation task D, image data outside vehicle 10 must be sent to terminal device 40 to a level that allows user 3 to support driving vehicle 10. Therefore, in operation task D, the upload speed of communication quality is required to be [fast] or higher. Furthermore, the latency for supporting driving vehicle 10 is required to be [short] or lower. If it is determined in S3 that operation task D can be implemented in a segment, and the upload speed of communication quality in that segment is [fast] or higher and the latency is [short] or lower, the control unit 22 determines in S5 that the communication quality of the segment meets the communication conditions of operation task D.
[0023] If the communication quality of each of the multiple segments meets the conditions for communication executed in the operation task of each of the multiple segments (S5: Yes), the control unit 22 proceeds to S6. If the communication quality of at least one of the multiple segments does not meet the conditions for communication executed in the operation task of that segment (S5: No), the control unit 22 proceeds to S7. In S6, the control unit 22 adopts the candidate path as the operation path. In S7, the control unit 22 discards the candidate path. After processing in S7, the control unit 22 returns to S1.
[0024] Here, as in Patent Document 1, if the congestion factor is set to select a path based on signal strength less than a threshold, then paths with signal strength less than the threshold will not be selected in this part. For example, in densely built-up areas or along roads with high pedestrian traffic, local communication conditions deteriorate. In Patent Document 1, such areas with deteriorated local communication conditions are not selected as paths. However, it is not limited to requiring a signal strength above the threshold for vehicles in such areas at all times.
[0025] In this respect, the control unit 22 of the generation apparatus 20 according to this embodiment selects the candidate path as the destination when the communication quality of each of the multiple segments meets the communication conditions performed in the operation task of each of the multiple segments. With this structure, compared to setting the blocking factor as a signal strength less than a threshold, the communication conditions can be relaxed for segments where communication quality is less important. As a result, the degree of freedom of the path can be increased.
[0026] Although the present invention has been described with reference to the accompanying drawings and embodiments, those skilled in the art will notice that various modifications and alterations can be made to the present invention. Therefore, it should be noted that such modifications and alterations are included within the scope of the present invention. For example, the functions included in each component or step can be reconfigured in a logically consistent manner, and multiple components or steps can be combined into one or divided.
[0027] For example, in the above embodiment, the generation apparatus 20 mounted on the vehicle 10 was described. The generation apparatus of the present invention can be a server.
[0028] Symbol Explanation
[0029] 1-System, 2-Network, 3-User, 10-Vehicle, 11, 12-Camera, 13-Communication Equipment, 20-Generation Device, 21-Storage Unit, 22-Control Unit, 30-Server.
Claims
1. A generating device, characterized by, The control section performs the following processing: acquires a candidate route to a destination, and determines an operation task that can be performed in each of a plurality of sections in the acquired candidate route and an operation task that performs communication; and adopts the candidate route as an operation route to the destination in a case where the communication quality of each of the plurality of sections satisfies a condition of communication performed in the operation task of each of the plurality of sections.
2. The generation device according to claim 1, wherein the control section determines the operation task that can be performed in the section based on a characteristic of the section or data at the time of past travel of the vehicle.
3. The generation device according to claim 1 or 2, wherein the control section acquires the communication quality of each of the plurality of sections based on data at the time of past travel of the vehicle.