Receiver and event detection time estimation method

Abstract

A receiver (10) for receiving detection data transmitted from a sensor (170) that detects an event in each fixed sampling period (Tsa) to estimate an event detection time (TMS_i'), which is a time at which the sensor detects the event, the receiver comprising: a receiving unit (101) for receiving the detection data; a reception timing measuring unit (102) for measuring a reception timing (Tr_i), which is a timing at which the detection data is received by the receiving unit; a reception timing expected value calculation unit (103) for calculating a reception timing expected value (Ta_me_i), which is an expected value of a next reception timing, which is a timing at which detection data is subsequently received, from the reception timing (Tr_i) and the sampling period (Tsa); a jitter amount estimation unit (107) for calculating a variation amount of the reception time (Tr_i) with respect to the reception time expectation value (Ta_me_i) as a system delay jitter amount (Tj_i); and an event detection timing estimation unit (105) for estimating the event detection timing from a system delay time measured in advance as a time period from the time the sensor detects the event to the reception timing (Tr_i), the reception timing expected value (Ta_me_i), and the system delay jitter amount (Tj_i).

Description

TECHNICAL FIELD

[0001] The present invention relates to a receiver for receiving data and a method for estimating an event detection time. BACKGROUND TO THE STATE OF THE ART

[0002] When there is a long time interval (system delay time) from the time (event detection time) when a detector (sensor) provided on a road detects a situation (event) on the road to the time (reception time) when a receiver in a vehicle receives traffic guidance information (detection data) based on the detection, the following problem arises: The received traffic guidance information displays old information (unreliable information). As a countermeasure to this problem, Patent Document 1 describes a device that acquires an average value of the system delay time (average system delay time) in an information providing system in advance, subtracts the average system delay time from the reception time at which the vehicle receives the traffic guidance information, and thus estimates (calculates) the event detection time.The facility makes it possible to remove old information (less reliable information) collected at a time (past time) five minutes or more before the current time from the received traffic guidance information.

[0003] Patent Document 2 describes a vehicle-mounted device for identifying the same vehicle using travel information generated as a result of the detection of an event by a detector (sensor) installed in a vehicle and information received by a communication terminal in that vehicle (travel information transmitted from another vehicle). In the vehicle-mounted device, the sensor, the communication terminal, a control unit, the GPS (Global Positioning System), and an ECU (Electronic Control Unit) for controlling an engine and a brake are connected via a CAN (Controller Area Network) bus, which is an in-vehicle network. Information about the detection result by the detector installed in the vehicle (own vehicle) is generated every 100 milliseconds.The information acquired from the other vehicle is transmitted from a communication terminal (transmitter) in the other vehicle at intervals of several hundred milliseconds. If a time point specified in the time point information added to the information received from the vehicle (own vehicle) is a time point (past time point), a threshold value, or more before the current time, the received information is considered old information (unreliable information), and the information is removed accordingly. STATE OF TECHNICAL PATENT REFERENCES Patent Document 1: Publication of Japanese Patent Application No. 2012-194759 Patent Document 2: Japanese Patent Publication No. 5702400 SUMMARY OF THE INVENTION PROBLEM TO BE SOLVED BY THE INVENTION

[0004] However, the device described in Patent Document 1 subtracts the average system delay time (an average value of the system delay time caused by data generation processing time and the data transmission time) from the reception time at which the communication terminal (receiver) in the vehicle receives the traffic guidance information, thereby estimating (calculating) the event detection time, which is a time at the transmitter (transmitter-side time).When the data generation processing time or data transmission time varies greatly, the average system delay time varies greatly, and accordingly, there is the following problem: an error of the estimated event detection time with respect to a time (actual event detection time) at which the detector actually detects the event varies greatly, and information that has not been removed may contain old information (low-reliability information).

[0005] The device described in Patent Document 2 estimates the time at which the information transmitted from the communication terminal (transmitter) in the other vehicle is received, but does not consider the system delay time (the delay time caused by the data generation processing time and the data transmission time). Therefore, the process of estimating the event detection time is not performed, and there is a problem: information that has not been removed may contain old information (unreliable information).

[0006] The present invention has been realized to solve the problems of the prior art, and an object of the present invention is to provide a receiver capable of accurately estimating an event detection time and an event detection time estimation method used to accurately estimate the event detection time. MEANS TO SOLVE THE PROBLEM

[0007] A receiver according to one aspect of the present invention is a receiver for receiving detection data transmitted from a sensor that detects an event in every fixed sampling period to estimate an event detection time, which is a time at which the sensor detects the event. The receiver includes: a receiving unit for receiving the detection data; a reception time measuring unit for measuring a reception time, which is a time at which the detection data is received by the receiving unit; a reception time expected value calculating unit for calculating a reception time expected value, which is an expected value of a next reception time, which is a time at which detection data is subsequently received, from the reception time and the sampling period;a jitter amount estimation unit for calculating a variation amount of the reception time with respect to the reception time expectation value as a system delay jitter amount; and an event detection time estimation unit for estimating the event detection time from a system delay time measured in advance as a time period from the time the sensor detects the event to the reception time, the reception time expectation value, and the system delay jitter amount.

[0008] An event detection timing estimation method according to another aspect of the present invention is a method of estimating, in a receiver for receiving detection data transmitted from a sensor that detects an event in each fixed sampling period, an event detection timing, which is a timing at which the sensor detects the event.The method includes: a step of measuring a reception time point, which is a time point at which the detection data is received by the receiver; a step of calculating a reception time point expectation value, which is an expectation value of a next reception time point, which is a time point at which detection data is subsequently received, from the reception time point and the sampling period; a step of calculating a variation amount of the reception time point with respect to the reception time point expectation value as a system delay jitter amount; and a step of estimating the event detection time point from a system delay time, which is measured in advance as a time duration from the time point at which the sensor detects the event to the reception time point, the reception time point expectation value, and the system delay jitter amount. EFFECTS OF THE INVENTION

[0009] According to the present invention, it is possible to accurately estimate an event detection time and thus prevent the occurrence of a situation in which old information (low-reliability information) is not removed and a situation in which non-old information is removed. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram schematically illustrating a configuration of a receiver according to a first embodiment of the present invention. Fig. 2 is a diagram showing an overview of a method of estimating an event detection time by the receiver according to the first embodiment. Fig. 3 is a diagram showing an overview of a method of estimating an event detection time by a receiver in a comparative example. Fig. 4 is a timing chart showing the method of estimating an event detection time point by the receiver according to the first embodiment. Fig. 5 is a flowchart showing a process of calculating a reception timing expected value by a reception timing expected value calculating unit in the receiver according to the first embodiment and in a receiver according to a second embodiment. Fig. 6 is a flowchart showing a process of estimating an event detection time point by an event detection time point estimation unit in the receiver according to the first embodiment. Fig. 7 is a flowchart showing a process of estimating a system delay jitter amount by a jitter amount estimation unit in the receiver according to the first embodiment. Fig. 8 is a flowchart showing a process of detecting an abnormal delay by an abnormal delay detecting unit in the receiver according to the first embodiment and the receiver according to the second embodiment. Fig. Figure 9 is a diagram showing an example of a system delay distribution for simulations in Fig. 10 and Fig. 11 shows. Fig. 10 is a diagram showing an example of estimation errors of event detection timings obtained by simulation in the first embodiment. Fig. 11 is a graph showing an example of estimation errors of event detection times obtained by simulation in the comparative example. Fig. 12 is a diagram showing a problem of the method of estimating an event detection time point by the receiver according to the first embodiment. Fig. 13 is a block diagram schematically showing a configuration of the receiver according to the second embodiment. Fig. 14 is a diagram showing an overview of a method of estimating an event detection time point by the receiver according to the second embodiment. Fig. 15 is a timing chart showing the method of estimating an event detection time point by the receiver according to the second embodiment. Fig. 16 is a flowchart showing a process of estimating an event detection time point by the receiver according to the second embodiment. Fig. 17 is a diagram showing an example of a system delay distribution used for a simulation in Fig. 18 is used. Fig. 18 is a diagram showing an example of estimation errors of event detection timings obtained by the simulations in the first embodiment and the second embodiment. Fig. 19 is a hardware configuration diagram showing a receiver of a modification example of the first embodiment and the second embodiment. EMBODIMENT FOR CARRYING OUT THE INVENTION (1) First Embodiment (1-1) Configuration in the First Embodiment (Transmitter-Side Device and Reception System 10)

[0010] Fig. 1 is a block diagram schematically showing a configuration of a receiving system 10 according to a first embodiment of the present invention. As shown in Fig. 1, a plurality of sensors (also called “sensor devices”) 170, 171, ..., 172 for detecting events are communicatively connected to a plurality of data receiving units 100, 120, ..., 140 as a plurality of receivers for receiving a plurality of detection data (sensor data), each via a transmission path.

[0011] Each of the sensors 170, 171, and 172 is a transmitter-side component (a transmitter-side device) for transmitting detection data as a detection result, which is a product of event detection. Detection targets of the sensors 170, 171, and 172 are not limited. For example, each of the sensors 170, 171, and 172 is a position sensor for detecting a position of an object, a speed sensor for detecting a speed of an object, or the like. Although the three sensors 170, 171, and 172 in Fig. 1, the number of sensors can be one, two, or four or more.

[0012] As in Fig. 1, the plurality of data receiving units 100, 120, and 140 and a synthesis processing unit 161 form the receiving system 10 as a receiver-side system for receiving detection data. Although the three data receiving units 100, 120, and 140 in Fig. 1, the number of data receiving units may be one, two, or four or more.

[0013] Each of the sensors 170, 171, and 172 performs detection every fixed detection period (sampling period) Tsa, i.e., at regular time intervals, processes a signal that is the product of the detection, and sends a signal (detection data) that is the product of the processing to a transmission path. The transmission path is a signal transmission path for wireless communication or for wired communication. The transmission path can be formed, for example, via a network such as the Internet, or a LAN (Local Area Network), a bus, a telephone communication network, a leased line, or the like. The detection data sent from the sensors 170, 171, and 172 at regular intervals is input, for example, via the transmission path, to the data receiving units 100, 120, and 140, respectively.Each of the data receiving units 100, 120, and 140 estimates (calculates) a time at which the corresponding one of the sensors 170, 171, and 172 installed in the transmitter-side device detects an event (event detection time), associates the received detection data with the estimated event detection time TMS_i', and then outputs the associated data to the synthesis processing unit 161. Upon receiving the associated data from the data receiving units 100, 120, and 140 (that is, receiving the plurality of data output from the plurality of data receiving units), the synthesis processing unit 161 performs a process of synthesizing the detection data based on this data.

[0014] For example, when the detection data sent from the sensors 170, 171, and 172 is position data on an object as a detection target, the synthesis processing unit 161 associates the position data (detection data) indicating positions of the same object detected by the sensors 170, 171, and 172 with the estimated values ​​TMS_i' (i = 0, 1, 2, ....) of time points (estimated event detection time points) when the sensors 170, 171, and 172 detect the object (detect the positions of the object), thereby making it possible to detect (calculate) the position of the object at a time other than the event detection time point TMS_i'. The synthesis processing unit 161 may include a storage unit 161a for storing information (history data) including the object position data (detection data) and the estimated event detection times TMS_i' associated with each other.The storage unit 161a may be part of the synthesis processing unit 161 or a storage unit provided externally to the synthesis processing unit 161. By treating the position of the object detected by each of the sensors 170, 171, and 172 as a function of time, the synthesis processing unit 161 can detect (calculate) the position of the object at any given time. Thus, the method shown in FIG. Fig. 1 can detect (calculate) the object position, e.g., a current position of the object as the detection target or a future position (prediction position) of the object as the detection target. Furthermore, the synthesis processing unit 161 can judge whether or not the objects (detection targets) detected by the sensors 170, 171, and 172 are the same object. Furthermore, the synthesis processing unit 161 efficiently utilizes a plurality of position data included in a plurality of detection data sent from the sensors 170, 171, and 172, and can thus improve the reliability of the detected object position data.To perform the synthesis process with high accuracy, not only the object position data detected by the sensors 170, 171, and 172 but also accurate timing information (event detection timing) at the times when the object is detected by the sensors 170, 171, and 172 are required. The following describes how the receiving system 10 according to the first embodiment estimates the time at which the sensor detects the object, that is, the event detection timing TMS_i', with high accuracy. (Data receiving units 100, 120 and 140)

[0015] The data receiving units 100, 120, and 140 are basically the same in structure. Therefore, the configuration of the data receiving unit 100 will be described below. The data receiving unit 100 includes: a receiving I / F (interface) unit 101 as a receiving unit for receiving detection data transmitted from a sensor (e.g., the sensor 170); and a receiving time measuring unit 102 for measuring a time point (reception time point) when the detection data is received (i.e., acquiring the reception time point) by referring to a system time point from a system clock 160 each time a data reception notification of reception of the detection data is received by the receiving I / F unit 101. The receiving I / F unit 101 sequentially receives detection data. A reception time at which i-th (i is an integer not less than zero) received detection data is received is referred to as 'Tr_i'.The system clock 160 may be a clock for measuring a time or a device for receiving a signal indicating a time provided externally (e.g., a time signal receiver). Fig. 1 shows the system clock 160 as a separate component from the receivers, however, the system clock 160 may be part of the receiver or part of the synthesis processing unit 161.

[0016] The data receiving unit 100 further includes a reception timing expected value calculation unit 103. The reception timing expected value calculation unit 103 calculates an average system delay jitter amount, which is a distribution mean of the variation time components (system delay jitter amount) Tj_i with respect to the system delay time, which is a time period from a time point at which the sensor for transmitting detection data detects an event (event detection time point) to a time point (reception time point) Tr_i at which the receiving unit 101 receives the detection data. The average system delay jitter amount for the i-th received detection data is referred to as 'Tj_me_i'. The sampling period, which is a fixed detection interval between detections of the event by the sensor, is referred to as 'Tsa'.The calculation of the average system delay jitter amount Tj_me_i is expressed by the following equations (1) and (2), where N is a predetermined sampling number (positive integer) and K is an integer that is increased by 1 at each sampling (K = 0, 1, 2, ...). Tj_me_i=1N∑i=K-NK−1Tj_i Tj_i=Tr_i-((Ta_me_i−1)+Tsa)

[0017] However, when first detection data is received as in steps S103 and S104 according to Fig. 5, which will be described later, the above equation (1) is replaced by Tj_me_i = Tr_0. When detection data is received until K reaches or exceeds the predetermined sampling number N, the equation (1) is replaced by the following equation (1') as in step S107 according to Fig. 5, which will be described later. Tj_me_i=1K∑i=0K−1Tj_i

[0018] Next, the reception timing expected value calculation unit 103 calculates a new reception timing expected value (an expected value of a next reception timing at which detection data is subsequently received) Ta_me_i by adding the sampling period Tsa and the calculated average system delay jitter amount Tj_me_i_i to a reception timing expected value (Ta_me_i-1) calculated when immediately previous detection data is received. This calculation is performed according to the following equation (3). Ta_me_i=(Ta_me_i−1)+Tsa+Tj_me_i

[0019] The data receiving unit 100 further includes an event detection time estimation unit 105 for estimating (calculating) an event detection time TMS_i' by subtracting, from the reception time expectation value Ta_me_i, an average system delay time Tt_me calculated from measured values ​​obtained by measuring the system delay time in advance. This calculation is performed according to the following equation (4). TSM_i'=Ta_me_i-Tt_me

[0020] Fig. 2 is a diagram showing an overview of a method of estimating the event detection time TMS_i' by the data receiving unit 100 according to the first embodiment. The data receiving unit 100 according to the first embodiment calculates the reception time expectation value Ta_me_i from the detection data received by the data receiving unit 100 using the above equations (1) to (3), subtracts the previously measured average system delay time Tt_me_i shown in the above equation (4) from the reception time expectation value, and thus estimates the event detection time TMS_i', which is a time at which the sensor in the transmitter-side device detects the event. In this case, there is a small error variation of the estimated event detection time TMS_i' from the actual event detection time TMS_i.

[0021] Fig. 3 is a diagram showing an overview of a method of estimating an event detection time TMS_ia by a receiver in a comparative example. In Fig. 3, 'Tt_me' represents an average value of the pre-measured system delay time (average system delay time), and 'Tr_i' represents a reception time when receiving detection data. In the comparison example, with a constant average system delay time, the event detection time TMS_ia at the sensor is calculated according to the following equation (5). In this case, the error fluctuation of the estimated event detection time TMS_ia compared to an actual event detection time TMS_i is larger than in the case of Fig. 2. TMS_ia=Tr_i−Tt_me (1-2) Functionality in the first embodiment

[0022] Fig. Fig. 4 is a timing chart showing the process of estimating the event detection time by the data receiving unit 100 according to the first embodiment. Fig. 4, a time point (actual event detection time point) at which the sensor 170 detects the object (performs detection) is referred to as 'TMS_i' (i = 0, 1, 2, ...). Detection data generated after the internal delay time for internal processing in the sensor 170 has elapsed is referred to as 'No. i' (i = 0, 1, 2, ...). The detection data sent from the transmitter-side device to the transmission path is received at a time point Tr_i (i = 0, 1, 2, ...) by the data receiving unit 100 in the receiving system 10 after the transmission delay time has elapsed. In the data receiving unit 100, the receiving I / F unit 101 performs a receiving process.Specifically, in the data receiving unit 100, the data stored in a receiving buffer in the receiving I / F unit 101 is read out through a receiving interrupt process, the data is transferred to a mapping information addition unit 109, and then stored in the mapping information addition unit 109. In parallel, the receiving I / F unit 101 sends a data reception notification to the receiving time measurement unit 102 to notify the data reception. The event detection time TMS_i' estimated by the event detection time estimation unit 105 is mapped to the detection data stored in the mapping information addition unit 109 and thus stored in the mapping information addition unit 109.

[0023] The sensor detects an event at regular detection intervals (sampling time) of Tsa and sequentially transmits detection data. When the average system delay time Tt_me is constant, each reception interval between receptions of the detection data by the data receiving unit 100 is an interval equal to the sampling time Tsa. However, most of the internal processing in the transmitter-side device equipped with the sensor 170 or the internal processing in the data receiving unit 100 is performed by software, so the time required for internal processing (delay time) varies (fluctuates). In a case where multiple transmitter-side devices are connected to the same transmission path (e.g.,In a case where a transmission time from a lower priority device of the transmitting-side device coincides with the transmission time from a higher priority device of the transmitting-side device, the transmission of detection data from the lower priority transmitting-side device should be delayed until the transmission processing by the higher priority transmitting-side device is completed. In such a case, when multiple transmitting-side devices are connected to the same transmission path, the transmission delay time generally varies (fluctuates). Accordingly, the actual intervals between the reception times Tr_0, Tr_1, Tr_2, ...., Tr_i when the reception is performed by the data receiving unit 100 do not have the fixed value but have different values, as shown in FIG. Fig. 4 shown.

[0024] In Fig. 4, 'Tt_me' denotes an average value of the system delay time measured in advance (average system delay time). When the average system delay time Tt_me is constant, the event detection time TMS_ia in the sensor 170 can be accurately calculated according to Equation (5) above (the estimation method of the comparative example). However, since the actual average system delay time Tt_me fluctuates, the estimated event detection time TMS_ia calculated according to Equation (5) fluctuates greatly (the estimation method of the comparative example).

[0025] Therefore, according to the first embodiment, under circumstances where the average system delay time Tt_me varies, the data receiving unit 100 estimates the event detection time TMS_i' in the sensor 170 using the reception time expectation value. In the first embodiment, the receiving I / F unit 101 receives detection data and then outputs a data reception notification to the reception time measurement unit 102. Each time it receives the data reception notification, the reception time measurement unit 102 acquires a current time from the system clock 160 and reports the acquired current time to the reception time expectation value calculation unit 103 as the reception time Tr_i.

[0026] At this time, the system delay time is measured a plurality of times in advance, an average value (average system delay time) Tt_me is calculated from a plurality of values ​​of the system delay time measured in advance, and the average system delay time Tt_me is stored in an average system delay time storage unit 106. (Sampling period storage unit 104)

[0027] A sampling period storage unit 104 stores in advance the detection period (sampling period) Tsa in which the sensor 170 detects an event (e.g., an object). (Reception time expected value calculation unit 103)

[0028] The reception time expectation value calculation unit 103 calculates a reception time expectation value Ta_me_i according to the above equation (3), from an average value (average system delay jitter amount) Tj_me_i of a variation amount (system delay jitter amount) of an arrival time Tj_i with respect to the fixed detection period (sampling period) Tsa, as shown in Fig. 4. The reception timing expected value Ta_me_i is calculated from N past reception timings and the sampling period Tsa. Specifically, the reception timing expected value Ta_me_i is obtained by acquiring N system delay jitter amounts Tj_i as a deviation (system delay jitter amount) from the reception timing expected value when data is received, calculating the average system delay jitter amount Tj_me_i, which is a moving average of N system delay jitter amounts according to the above equation (1), and adding the average system delay jitter amount Tj_me_i to ((Ta_me_i-1) + Tsa) as shown in the above equation (3). The event detection timing TMS_i' estimated in the first embodiment is calculated according to the above equation (4).

[0029] Fig. 5 is a flowchart showing a process of calculating the reception timing expected value Ta_me_i by the reception timing expected value calculation unit 103 in the data receiving unit 100 according to the first embodiment. First, in step S101, K (K = 0, 1, 2, ....) is set to an initial value of 0, and then, in step S102, the reception timing expected value calculation unit 103 judges whether or not it is the first reception of detection data after the data receiving unit 100 is activated. If it is the first reception (YES in step S102), it proceeds to step S103, and a process of setting the system delay jitter amount Tj_i = Tj_K to a value of 0 (initialization) is performed.In other words, the reception timing expected value calculation unit 103 sets Tj_i = 0, assuming that the first received detection data does not contain a system delay jitter amount, sets the reception timing expected value Ta_me_i as the first reception time Tr_0 in step S104, and then proceeds to step S110. In the next step S110, the reception timing expected value calculation unit 103 reports the reception timing expected value Ta_me_i to the event detection timing estimation unit 105 and a jitter amount estimation unit 107, increases K by 1, and then returns the process to step S102.

[0030] If it is judged in step S102 that the reception is not the first reception (NO in step S102), the reception timing expected value calculation unit 103 calculates the system delay jitter amount Tj_i in step S105 using the above equation (2) and then advances the process to step S106. In this process, as shown in the above equation (2), a moving average of past system delay jitter amounts Tj_i is calculated. In the next step S106, the reception timing expected value calculation unit 103 judges whether or not N data necessary for a predetermined moving average process has already been received. If the number of acquisition data has not yet reached the required number of data (when K is smaller than the predetermined sampling number N in step S106), it is judged as NO, and the process advances to step S107.In step S107, the average system delay jitter amount Tj_me_i is calculated according to equation (1') above. Then, in step S109, the reception timing expectation value Ta_me_i is calculated according to equation (3) above. In the next step S110, the reception timing expectation value calculation unit 103 reports the reception timing expectation value Ta_me_i to the event detection timing estimation unit 105 and the jitter amount estimation unit 107, increases K by 1, and then returns the process to step S102.

[0031] If the number of detection data K equals or exceeds the predetermined sampling number N, it is judged as YES in step S106, and the process proceeds to step S108. In step S108, the average system delay jitter amount Tj_me_i is calculated using the above equation (1). In step S109, the reception timing expected value Ta_me_i is calculated according to the above equation (3). Next, in step S110, the reception timing expected value calculation unit 103 notifies the event detection timing estimation unit 105 and the jitter amount estimation unit 107 of the reception timing expected value Ta_me_i, increases K by 1, and then returns the process to step S102.

[0032] As described above, each time new detection data is received by the reception time measuring unit 102, the reception time expected value calculation unit 103 is informed of a time of reception and executes the Fig. 5 process shown. (Event detection time estimation unit 105)

[0033] Fig. 6 is a flowchart showing a process of estimating the event detection time point TMS_i' by the event detection time point estimation unit 105 in the data receiving unit 100 according to the first embodiment. The reception time point expected value calculation unit 103 notifies the event detection time point estimation unit 105 of the reception time point expected value Ta_me_i, and then, in step S111, the event detection time point estimation unit 105 estimates (calculates) the event detection time point TMS_i' using the above equation (4). Then, in step S112, the event detection time point estimation unit 105 notifies the association information addition unit 109 of the estimated event detection time point TMS_i' to cause the association information addition unit 109 to store the estimated event detection time point TMS_i'.

[0034] Upon receiving the estimated event detection time TMS_i', the association information adding unit 109 associates the estimated event detection time TMS_i' with the detection data of the sensor 170 already supplied by the receiving I / F unit 101 and temporarily stored in the association information adding unit 109, and then sends the associated data to the synthesis processing unit 161. (Jitter Amount Estimation Unit 107)

[0035] Fig. 7 is a flowchart showing a process of estimating the system delay jitter amount Tj_i by the jitter amount estimation unit 107 in the data receiving unit 100 according to the first embodiment. In step S121 in Fig. 7, the jitter request estimation unit 107 judges whether or not it is the first reception of detection data after the activation of the data reception unit 100. If it is the first reception, the system delay jitter amount Tj_i is initialized to zero in step S122. If it is not the first reception of the detection data in step S121, the jitter amount estimation unit 107 calculates the system delay jitter amount Tj_i in step S123 using the above equation (2). Next, in step S124, the jitter amount estimation unit 107 notifies the allocation information addition unit 109 of the system delay jitter amount Tj_i. (Abnormal Delay Detection Unit 108)

[0036] Fig. 8 is a flowchart showing a process of detecting an abnormal delay by an abnormal delay detecting unit 108 in the data receiving unit 100 according to the first embodiment. By receiving the system delay jitter amount Tj_i from the jitter amount estimating unit 107 as an input, the abnormal delay detecting unit 108 judges whether or not the estimated system delay jitter amount Tj_i is an abnormal delay amount. In step S131 in Fig. 8, the abnormal delay detection unit 108 judges whether or not the system delay jitter amount Tj_i is a delay that exceeds a preset allowable amount (threshold). If it is judged to be greater than the threshold, the abnormal delay detection unit 108 reports abnormal delay flag information to the allocation information addition unit 109 in step S132. If the system delay jitter amount Tj_i is less than the threshold in step S131, the abnormal delay detection unit 108 reports abnormal delay flag information to the allocation information addition unit 109 in step S133, indicating that the system delay is within a normal range. (Assignment information addition unit 109)

[0037] Upon receiving the notification from the jitter amount estimation unit 107, the allocation information addition unit 109 allocates the system delay jitter amount Tj_i to the detection data from the receiving I / F unit 101 and stores the allocated system delay jitter amount Tj_i. Upon receiving the notification of the abnormal delay flag information from the abnormal delay detection unit 108, the allocation information addition unit 109 allocates the abnormal delay flag information to the detection data from the receiving I / F unit 101 and stores the allocated abnormal delay flag information.

[0038] Thus, the detection data from the receiving I / F unit 101 is associated with the event detection time TMS_i', the system delay jitter amount Tj_i, and the abnormal delay flagging information, and the synthesis processing unit 161 is informed of the detection data from the receiving I / F unit 101 together with information on all of these items or information on at least one of these items. (1-3) Advantageous effect of the first embodiment

[0039] Fig. Figure 9 is a diagram showing an example of a system delay distribution used for simulations in Fig. 10 and Fig. 11, is used. Fig. 10 is a diagram showing an example of estimation errors of event detection timings obtained by the simulation in the first embodiment. Fig. Figure 11 is a graph showing an example of estimation errors of event detection times obtained by the simulation in the comparative example.

[0040] Fig. 9 shows the system delay distribution. In the simulations in Fig. 9 to Fig. 11, the sampling period is 50 ms, the average system delay time is 20 ms, and the system delays are randomly generated so that the system delay jitter amount is in a range of ±10 ms. Fig. 10 shows the result of simulating errors between estimated event detection times TMS_i' estimated by the data receiving unit 100 according to the first embodiment and actual event detection times TMS_i when such data is received by the data receiving unit 100 according to the first embodiment.

[0041] Fig. Figure 11 shows the result of the simulation of errors between the event detection times TMS_ia calculated in the comparison example, i.e., according to equation (4) above, and the actual event detection times TMS_i. The result shows that in the Fig. 11, the fluctuation of the system delay jitter amount within a range of ±10 ms directly affects the estimated event detection times (TMS_ia in the above equation (5)), and the influence of the fluctuation remains within a range of ±10 ms in the estimated event detection times TMS_ia, and thus the accuracy of the timing estimation is poor.

[0042] In contrast, depending on the configuration in the first embodiment, the fluctuation of the system delay jitter amount is controlled within a range of ±10 ms from the estimated event detection times TMS_i' as shown in Fig. 10, and it is possible to calculate an event detection time that is estimated with high accuracy, even under circumstances where the system delay time contains jitter.

[0043] As in Fig. As shown in Fig. 10, according to the configuration in the first embodiment, in the system for transmitting data from the transmitter to the receiver, it is possible to estimate the event detection time TMS_i' by the receiver with high accuracy even under circumstances where the system delay time includes jitter amounts.

[0044] It is possible to apply the configuration in the first embodiment to a system in which a plurality of different sensors (the sensors 170, 171 and 172 and the like in Fig. 1) are included, such as a camera installed in a vehicle, a millimeter-wave radar, LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging), and SONAR, wherein each of the sensors performs a scan (detection) at every fixed sampling period, wherein raw data obtained by the detection or data converted into information such as object position information, relative distance information, and object type information is transmitted via a car network such as a CAN or a LAN (Local Area Network), and an ECU acquires this data and controls a steering, a brake, or an accelerator of a motor vehicle. For example, in a case where the sensor data acquired by each of the sensors is information about a position of an object, it is possible to estimate with high accuracy a time at which each of the sensors detects an event, i.e.a time point (event detection time point) at which each of the sensors detects the object from the received object position information, to associate received sensor data with the estimated event detection time point, and thus accurately detect positions at the detection times by the sensors. When the detection target object or the vehicle is moving, it is possible to calculate a speed or acceleration of the object from several recent samples of object position data with estimated time points formed from estimated event detection times and object positions at the time points, and it is possible to estimate the current position of the object from this and the current time point with high accuracy.

[0045] For example, if “X(t1)” denotes an object position vector on three-dimensional coordinates of an object detected by the sensor at an estimated event detection time (estimated detection time) t1 and “v(t)” denotes an object speed at a time t, it is possible to calculate an object position coordinate vector X(t) at the current time t according to the following equation (6) with high accuracy, and it is possible to estimate the current position with high accuracy. X(t)=∫t1tv(t)d(t)+X(t1)

[0046] This means that a system equipped with the receiver (the event detection timing estimation method) according to the first embodiment is capable of estimating with high accuracy that the object position X(t1) detected by the sensor was a phenomenon at time t1. For example, consider a case where vehicles pass each other on a road at a speed of 100 km / h. When a sensor detects an object at intervals of 100 ms, the two vehicles approach each other by approximately 2.8 m over a period of 100 ms. If the estimation method of the first embodiment is not used, an object position error of a maximum of 2.8 m is included until the next sampling.

[0047] When a future object position is predicted according to Equation (6) while including the object position error, the influence of the error increases and the estimation error of the object position becomes larger, and the reliability of an obstacle avoidance route for the vehicles obtained by using the estimated vehicle positions, for example, may be reduced. According to the receiver (the event detection time estimation method) according to the first embodiment, it is possible to estimate a time at which an object is located at a certain position with high accuracy. Thus, it is possible to calculate the position of the object as a function of time according to Equation (6), predict a future position of the object with high accuracy, and accurately calculate a route that allows a vehicle to avoid an obstacle, for example, as a vehicle travel route.

[0048] Furthermore, in the first embodiment, a correlation is established between a detected object position and a detection time (event detection time). Therefore, when a process of judging whether objects are the same object or different objects is performed by synthesizing data from a plurality of sensors, it is possible to estimate with high accuracy that objects detected by different sensors are the same object.

[0049] In the first embodiment, the receiver is able to estimate an event detection time point with high accuracy without the transmitter adding time point information. Therefore, a time point addition function of the transmitter-side device is not required, and a sensor can be selected more freely. For example, it is not common for various sensors installed in a motor vehicle to include a sensor with a time point addition function for adding a detection time point. In the case where it is used to control the steering, a brake, and an accelerator by an ECU via a car network such as a CAN according to the object location information from these sensors, multiple sensors should be used. However, in such a system, it is difficult to use a sensor with the function of adding a detection time point.In the first embodiment, a sensor without the function of adding timing information to detection data may be used as the sensor.

[0050] Moreover, in the first embodiment, even if the plural sensors do not have the function of adding a timing of detection, the receiver is able to estimate a timing of detection with high accuracy, and therefore it is possible to reduce the cost of the system using plural sensors.

[0051] Furthermore, in the first embodiment, the notification of the detection data is performed by making the detection data associated with the system delay jitter amount, or the notification of the detection data is performed by making the detection data associated with the abnormal delay flagging information. Therefore, it is possible to detect an abnormal increase in the system load or the traffic congestion conditions on the transmission path from the magnitude of the delay jitter amount, and it is possible to evaluate the degree of stability of the system. Moreover, in the first embodiment, when the system delay amount is a large delay amount exceeding an allowable level, it is judged that the reliability of the detection data is low, and the use of the detection data can be prohibited accordingly, thus avoiding abnormal operation. (2) Second Embodiment(2-1) Configuration in Second Embodiment

[0052] The performance of the data receiving units 100, 120, and 140 as the receivers according to the first embodiment may be affected by a change in circumstances (e.g., a function for limiting the number of times of data transmission retries). This is because some systems are equipped with a function for limiting the number of data transmissions from a transmitter-side device to a transmission path to prevent an extreme increase in the transmission load, and this function may cause the average system delay time Tt_me measured in advance to vary greatly. In contrast, in the data receiving units 200, 220, and 240 as the receivers according to the second embodiment, a shortest system delay time Tt_min is used instead of the average system delay time Tt_me, which is comparatively less affected by a change in circumstances.Therefore, even in a case where the function of limiting the number of times of data transmission from a transmitter-side device to a transmission path works, it is possible to suppress fluctuations in the performance of the data receiving units 200, 220, and 240.

[0053] Fig. 13 is a block diagram schematically showing a configuration of the data receiving units 200, 220, ...., 240 as the receivers according to the second embodiment of the present invention. In Fig. 13 are components that meet the requirements Fig. 1 shown components are assigned the same reference numerals as the reference numerals in Fig. 1. As in Fig. 13, the plurality of sensors 170, 171, ...., 172 for detecting an event are communicatively connected to the plurality of data receiving units 200, 220 and 240 for receiving detection data (sensor data) via a transmission path.

[0054] As in Fig. 13, the plurality of data receiving units 200, 220, and 240 and the synthesis processing unit 161 form a receiving system 20 as a receiver-side system for receiving detection data. Although Fig. 13 shows the three data receiving units 200, 220 and 240, the number of data receiving units may be one, two or four or more.

[0055] The data receiving units 200, 220, and 240 are basically identical in structure. Accordingly, the configuration of the data receiving unit 200 will be described below. The data receiving unit 200 includes: a receiving I / F unit 201 as a receiving unit for receiving detection data transmitted from a sensor (e.g., the sensor 170); and a reception timing measuring unit 202 for measuring a timing (reception timing) when detection data is received (i.e., for acquiring the reception timing) by referring to a system timing from the system clock 160 each time a data reception notification for notifying reception of detection data is received by the receiving I / F unit 201. The receiving I / F unit 201 sequentially receives detection data, and a reception timing at which i-th (i is an integer not less than zero) received detection data is received is referred to as 'Tr_i'.

[0056] In the first embodiment, as shown in equation (4) above, the event detection time TMS_i' is calculated by subtracting the pre-measured average system delay time Tt_me from the reception time expectation value Ta_me_i. Here, for example, when a CAN, which is an automotive network, is used as a transmission path for communicating between the sensor and the data receiving unit, there is a protocol that sets an upper limit on the number of retries as a protocol for the CAN. If the number of retries reaches the set upper limit number (e.g., 256) due to a malfunction in the sensor connected to the CAN, this protocol limits data transmission from the transmitter-side device to the CAN to prevent an increase in transmission load due to multiple retries.When such a situation occurs, the amount of data transmitted on the CAN decreases, the frequency of bus access conflicts between transmitter-side devices at the time of data transmission decreases accordingly, and thus the pre-measured average system delay time Tt_me shortens. In other words, as shown in . Fig. As shown in Figure 12, the reception timing expected value Ta_me_i in the data receiving unit shifts (shifts to the left) from a reception timing distribution curve (a white line) before the change in circumstances to a reception timing distribution curve (a black line) after the change in circumstances due to a change in circumstances. Consequently, in the data receiving unit according to the first embodiment, since the changed average system delay time Tt_me is subtracted from the left-shifted reception timing expected value Ta_me_i, the estimated event detection timing TMS_i' estimated in the first embodiment may greatly deviate from the actual event detection timing TMS_i.

[0057] To cope with this, each of the data receiving units 200, 220, and 240 according to the second embodiment includes a shortest system delay time storage unit 206 instead of the average system delay time storage unit 106, and additionally includes a jitter amount storage unit 210 (a jitter amount estimation unit 207 and the jitter amount storage unit 210 constitute a shortest system delay time jitter amount estimation unit 207a), as shown in Fig. 13. In this respect, the data receiving units 200, 220, and 240 according to the second embodiment differ from the data receiving units 100, 120, and 140 according to the first embodiment. The reception I / F unit 201, a reception timing measuring unit 202, a reception timing expected value calculating unit 203, a sampling period storing unit 204, an abnormal delay detecting unit 208, and a mapping information adding unit 209 in the second embodiment are the same in function as the reception I / F unit 101, the reception timing measuring unit 102, the reception timing expected value calculating unit 103, the sampling period storing unit 104, the abnormal delay detecting unit 108, and the mapping information adding unit 109 in the first embodiment.Accordingly, the equations (1), (1'), (2) and (3) in the first embodiment can also be applied in the second embodiment.

[0058] In the second embodiment, a time point at which the sensor in the transmitter-side device detects an event is estimated in the following manner. The receiving unit 200 according to the second embodiment uses the following theory: The shortest system delay time Tt_min measured in advance corresponds to a shortest system delay time during operation after the advance measurement (that is, both can be considered substantially the same), and the shortest system delay time Tt_min does not change even if the average system delay time Ta_me_i changes due to a change in circumstances during operation after the advance measurement. A bandwidth usage amount under normal circumstances in a network as a transmission path is designed to be sufficiently small compared to a maximum communication amount available in the network.Accordingly, the shortest time of the system delay time at the time of advance measurement and the shortest time of the system delay time after advance measurement are both shortest periods in a case that data is successfully transmitted through the transmission path while no bus access contention occurs, and these are regarded as the same time period (shortest system delay time) Tt_min.By defining a time obtained by subtracting, from the reception timing expectation value Ta_me_i, a reception timing Tr_i when receiving is performed with the shortest system delay time as a jitter amount (shortest-system-delay-case jitter amount) Tj_min when receiving is performed with the system delay time that is shortest (when receiving is performed in the shortest time), the shortest-system-delay-case jitter amount Tj_min can be calculated by the data receiving unit 200 during operation in the following manner.That is, in a case that detection data is received while the system delay time is the shortest, since the jitter amount Tj_i calculated by the jitter amount estimation unit 207 is maximum when the reception timing Tr_i is earlier than the reception timing expected value Ta_me_i, and when the jitter amount Tj_i calculated by the jitter amount estimation unit 207 is larger than the past maximum value (when the jitter amount Tj_i is a new maximum value), the jitter amount Tj_i is stored in the jitter amount storage unit 210 as the shortest-system-delay-case jitter amount Tj_min. Using these values, an event detection time TMS_ib' can be calculated by subtracting from the reception time expectation value Ta_me_i the shortest system delay case jitter amount Tj_min and the pre-measured shortest system delay time Tt_min, as shown in . Fig. 14. This calculation can be expressed by the following equation (7). TMS_ib'=Ta_me_i−Tj_min−Tt_min (2-2) Operation in the second embodiment

[0059] Fig. 15 is a timing chart showing a method of estimating the event detection time TMS_ib' in the data receiving unit 200 according to the second embodiment. In Fig. 15 are parts that Fig. 4 are provided with the same reference numerals. In Fig. 15, a time point at which the sensor 170 detects an event (e.g., a position of an object) is denoted as 'TMS_i' (i = 0, 1, 2, ...), and the data generated at that time is denoted as 'No. i'. After the internal delay time caused by internal processing in the sensor has elapsed, the data is sent to the transmission path. After the transmission delay time has elapsed, the detection data sent to the transmission path is received by the data receiving unit 200 at a time point Tr_i (i = 0, 1, 2, ...). In the data receiving unit 200, the receiving I / F unit 201 performs a receiving process. Specifically, the receiving I / F unit 201 reads the data stored in a receiving buffer in the receiving I / F unit 201 through a receiving interrupt process, and transmits the data to the allocation information adding unit 209.The receiving I / F unit 201 simultaneously sends a data reception notification to the reception timing measuring unit 202 to associate an estimated event detection timing TMS_ib' estimated by an event detection timing estimation unit 205 described later with the detection data in the association information addition unit 209, and to store the associated data.

[0060] The sensor 170 detects the event at each fixed sampling period Tsa and transmits the data as the detection result to the transmission path. When the system delay time is constant, the reception time by the data receiving unit 200 coincides with the fixed period Tsa, but the actual intervals between the reception times Tr_0, Tr_1, Tr_2, ...., Tr_i when the data receiving unit receives data do not have the fixed value Tsa, but different values, as shown in Fig. 15 shown.

[0061] In Fig. 15, 'Tt_min' denotes the value of the shortest system delay time measured in advance (shortest system delay time). Upon receiving the acquisition data, the receiving I / F unit 201 notifies the receiving time measurement unit 202 of a data reception notification. Each time the data reception notification is received, the receiving time measurement unit 202 acquires a current time (reception time) Tr_i from the system clock 160 and notifies the receiving time expected value calculation unit 203 of the current time. At this time, the shortest system delay time is measured in advance, and the measured value is stored in the shortest system delay time storage unit 206. The sampling period storage unit 204 stores the event detection period, which is an interval between object detections by the sensor 170, that is, the sampling period, which is an interval between data outputs to the transmission path.The reception timing expected value calculation unit 203 calculates the reception timing expected value Ta_me_i from an average value (average system delay jitter amount) Tj_me_i of the arrival timing variation amount (system delay jitter amount) Tj_i with respect to the reception timing of regular intervals, in . Fig. 15.

[0062] The reception timing expected value Ta_me_i is calculated using the above equation (3), in the same manner as in the first embodiment. The system delay jitter amount Tj_i calculated according to the above equation (2) is the amount of deviation from the reception timing expected value (Ta_me_i-1) + Tsa. "Tj_min" denotes a system delay jitter amount when receiving is performed in the shortest time (shortest system delay case jitter amount), that is, a maximum jitter amount in a direction in which the reception timing becomes earlier than the reception timing expected value Ta_me_i. The jitter amount storage unit 210 monitors the jitter amount at the time of data reception, which is estimated by the jitter amount estimation unit 207, and stores the maximum jitter amount in the direction in which the reception timing becomes earlier.Using the above definition, the event detection timing estimation unit 205 calculates the event detection timing TMS_ib' in the sensor 170 according to the above equation (7).

[0063] The following describes the specific operation of the receiving unit 200 according to the second embodiment for estimating the event detection time TMS_ib' in the above-described sensor 170. First, the reception time expectation value Ta_me_i is calculated by the reception time expectation value calculation unit 203. This process is the same as that shown in the flowchart according to Fig. 5 process shown in the first embodiment.

[0064] Fig. 16 is a flowchart showing a process of estimating the event detection time point TMS_ib' in the data receiving unit 200 according to the second embodiment. The reception time point expected value calculation unit 203 notifies the event detection time point estimation unit 205 of the reception time point expected value Ta_me_i, and the event detection time point estimation unit 205 then performs a process of calculating the event detection time point TMS_ib' using Equation (7) in step S211. Then, in step S212, the event detection time point estimation unit 205 notifies the association information addition unit 209 of the calculated event detection time point TMS_ib'.

[0065] Upon receiving the event detection time point TMS_ib' from the event detection time point estimation unit 205, the association information addition unit 209 associates the event detection time point TMS_ib' with the detection data of the sensor 170 that has already been buffered via the reception I / F unit 201, and sends the associated data to the synthesis processing unit 161. (2-3) Advantageous effect in the second embodiment

[0066] Fig. 17 is a diagram showing an example of a system delay distribution used for a simulation in Fig. 18 is used. Fig. 18 is a diagram showing an example of estimation errors of event detection times obtained by simulations of the first and second embodiments. Fig. Figure 17 shows a case where the sampling time is set to 50 ms and the average value of the system delay time changes from 20 ms to 30 ms during operation (time 25000 ms). Accordingly, in the example according to Fig. 17 generates the system delay, so that the jitter amount of the system delay time changes from ±10 ms to ±20 ms during operation (time 25000 ms). Fig. 18 shows a result of a simulation of errors of the event detection times TMS_ib' estimated when the data receiving unit 200 according to the second embodiment receives such data and errors of the event detection times TMS_i' estimated when the data receiving unit 100 according to the first embodiment receives such data. As in Fig. As shown in Figure 18, when the average value of the system delay time changes from 20 ms to 30 ms (at time 25000 ms), it is assumed that the errors of the event detection timings in the first embodiment occur steadily in a range of approximately 0 ms to 10 ms. On the other hand, in the second embodiment, the errors of the event detection timings TMS_ib' are not affected by the change in the system delay time, and it is assumed that the estimation of the timings can be performed with insensitivity to changes in circumstances.

[0067] As described above, the data receiving unit (the event detection timing estimation method) according to the second embodiment is capable of estimating the event detection timing TMS_ib' with high accuracy in the system in which the transmitter transmits data to the data receiving unit, even if the system delay time includes jitter.

[0068] The data receiving unit (the estimation method) according to the second embodiment eliminates the need to provide the sensor with the function of adding time information, thus improving the flexibility of the system configuration.

[0069] Furthermore, according to the second embodiment, in addition to the advantageous effect shown in the first embodiment, it is possible for the data receiving unit 200 to estimate the event detection time TMS_ib' with high accuracy in the system in which the transmitter transmits data to the data receiving unit, even if the average system delay time changes. For example, if there is a device that stops the transmission operation between the sensors connected to the transmission path, the average system delay time decreases. As another example, in a case where a sensor connected to the transmission path starts operating when it meets a certain condition (for example, in a case where an infrared camera starts operating when the brightness in the environment decreases, for example,At night, and video data captured by the camera is transmitted to a network at regular intervals, the frequency of access conflicts between the transmitter-side devices increases. Since in this case, the transmission of detection data from a lower-priority transmitter-side device is awaited, the average system delay time on the transmission path relative to the detection data from the transmitter-side device increases. Even in such a case, by using the data receiving unit according to the second embodiment, it is possible to estimate a time at which the sensor detects an event with high accuracy.

[0070] Vehicle detection information included in traffic guidance information distributed to a vehicle is so outdated that a traffic condition far different from the current condition is displayed as a display of traffic information, such as traffic congestion information. This problem can be solved by employing the data receiving unit according to the second embodiment. Specifically, in the case where each of the sensors 170, 171, and 172 performs vehicle detection at regular intervals of Tsa, and detected data is supplied to a traffic guidance information generation system as the receiving system via a network as the transmission route, the shortest time for transmission to the receiving I / F unit 201 included in the data receiving unit is measured in advance, and the measured time is stored in the shortest system delay time storage unit 206.The reception timing measuring unit 202 measures a reception timing Tr_i when the reception I / F unit 201 receives vehicle detection information. The reception timing expected value calculation unit 203 calculates a reception timing expected value Ta_me_i by the method shown in the flowchart of FIG. Fig. 5 based on equations (1), (2), and (3) from past reception times and the sampling period value Tsa stored in the sampling period storage unit 204. The jitter amount storage unit 210 stores the maximum jitter amount that makes the reception time earlier from system delay jitter amounts Tj_i when data generated by the jitter amount estimation unit 207 is received as a jitter amount when receiving in the shortest time (shortest system delay case jitter amount). By performing the process shown in equation (7) of subtracting the shortest system delay case jitter amount Tj_min and the pre-measured shortest system delay time Tt_me from the reception time expectation value Ta_me_i, that is, according to the flowchart of Fig. 16, it is possible for the event detection timing estimation unit 205 to accurately estimate an event detection timing (vehicle detection timing) to associate the estimated vehicle detection timing with the vehicle detection information received from the association information addition unit 209, and output the associated information to a processing unit in a subsequent step.

[0071] In addition, even with fluctuations in the system delay time, as in Fig. 9, which is a period of time after the vehicle detection by the sensor until the reception by the traffic control information generation system as the receiving system, the data receiving unit 200 according to the second embodiment enables a reduction of an error of an estimated event detection time to be very small, as shown in Fig. 10 shown.

[0072] Furthermore, even if the average value of the system delay time is as in Fig. 17, the data receiving unit 200 according to the second embodiment makes it possible to estimate with high accuracy without being influenced by the estimation of the event detection time, as shown by the result obtained by the method according to the second embodiment in Fig. 18 is received.

[0073] As described above, according to the second embodiment, even if there is a change in the system delay time included in the transmission delay time, it is also possible to accurately estimate an event detection time. Accordingly, it is possible to generate traffic guidance information without incorporating event detection information from the past before a certain threshold.

[0074] Recently, various IOT (Internet of Things) services have been proposed that utilize various sensors connected to a network as a transmission path and utilize large data acquired through sensor sensing, such as remote control operation of an object or the like at a remote location, autonomous driving or driver assistance systems, detection of abnormal conditions of equipment or structures, prediction of abnormal conditions, generation and distribution of real-time traffic information using data from sensors in vehicles or on roads, and monitoring or remote monitoring services for the elderly. Each of these services uses a system in which data is obtained at regular intervals from sensors at remote locations and the obtained data is transmitted over a network.By applying the data receiving unit according to the second embodiment to the system, it is possible to accurately estimate a detection time even in a case where a random transmission path delay jitter amount is undesirably included on a transmission path and the transmission delay time changes to various values ​​or the average transmission delay time changes. Therefore, it can be used for various applications. (3) Modification example

[0075] Fig. 19 is a hardware configuration diagram showing a configuration of a modification example of the data receiving units according to the first and second embodiments. Fig. The data receiving units 100, 120 and 140 shown in Figure 1 can be realized by using a memory 91 as a memory for storing a program as software and a processor 92 as an information processing unit for executing the program stored in the memory 91 (e.g., by using a computer). In this case, the components 104, 106 and 109 in Fig. 1 the memory 91 in Fig. 19 and components 101, 102, 103, 105, 107, 108 and 161 in Fig. 1 correspond to the processor 92 that executes the program. Some of the Fig. The components 101, 102, 103, 105, 107, 108 and 161 shown in Figure 1 can be realized by the memory 91 and the processor 92 executing the program, which are shown in Fig. 19 are shown.

[0076] The Fig. The data receiving units 200, 220 and 240 shown in Figure 13 can be realized by using the memory 91 as a memory for storing a program as software and the processor 92 as an information processing unit for executing the program stored in the memory 91 (e.g., by using a computer). In this case, the components 204, 206, 209 and 210 in Fig. 13 the memory 91 in Fig. 19 and components 201, 202, 203, 205, 207, 208 and 161 in Fig. 13 the processor 92, which executes the program. Some of the Fig. The components 201, 202, 203, 205, 207, 208 and 161 shown in Figure 13 can be realized by the memory 91 and the processor 92 for executing the program shown in Fig. 19 are shown. LIST OF REFERENCE SYMBOLS

[0077] 10, 20: receiving system; 100, 120, 140: data receiving unit (receiver); 101: receiving I / F unit (receiving unit); 102: receiving timing measurement unit; 103: receiving timing expected value calculation unit; 104: sampling period storage unit; 105: event detection timing estimation unit; 106: average system delay time storage unit; 107: jitter amount estimation unit; 108: abnormal delay detection unit; 109: allocation information addition unit; 160: system clock; 161: synthesis processing unit; 170, 171, 172: sensor; 200, 220, 240: data receiving unit (receiver); 201: Receive I / F unit (receiver); 202: Receive timing measurement unit; 203: Receive timing expected value calculation unit; 204: Sampling period storage unit; 205: Event detection timing estimation unit; 206: Average system delay time storage unit; 207: Jitter amount estimation unit;207a: Shortest system delay case jitter amount estimation unit; 208: Abnormal delay detection unit; 209: Association information addition unit; 210: Jitter amount storage unit; Tsa: Sampling period (detection period); Tr_i: Reception time; Tt_me: Average system delay time; Ta_me_i: Reception time point expected value; Tj_i: System delay jitter amount; TMS_i', TMS_ib': Estimated event detection time point; Tj_me_i: Average system delay jitter amount; Tj_min: Shortest system delay case jitter amount; Tt_min: Shortest system delay time.

Claims

[1] A receiver (10) for receiving detection data sent from a sensor (170) detecting an event in each fixed sampling period (Tsa) to estimate an event detection time (TMS_i'), which is a time at which the sensor detects the event, the receiver comprising: a receiving unit (101) for receiving the detection data; a reception timing measuring unit (102) for measuring a reception timing (Tr_i), which is a timing at which the detection data is received by the receiving unit; a reception timing expected value calculation unit (103) for calculating a reception timing expected value (Ta_me_i), which is an expected value of a next reception timing, which is a timing at which detection data is subsequently received, from the reception timing (Tr_i) and the sampling period (Tsa); a jitter amount estimation unit (107) for calculating a variation amount of the reception time (Tr_i) with respect to the reception time expectation value (Ta_me_i) as a system delay jitter amount (Tj_i); and an event detection timing estimation unit (105) for estimating the event detection timing from a system delay time measured in advance as a time period from the time the sensor detects the event to the reception timing (Tr_i), the reception timing expected value (Ta_me_i), and the system delay jitter amount (Tj_i). [2] The receiver (10) according to claim 1, wherein the event detection time estimation unit (105) calculates the event detection time by subtracting, from the reception time expectation value (Ta_me_i), an average system delay time (Tt_me) which is an average value of the system delay time. [3] Receiver (10) according to claim 1 or 2, wherein the reception time expected value calculation unit (103) calculates an average system delay jitter amount, which is a distribution mean of variation time components of the system delay time, and the reception time point expected value (Ta_me_i) is obtained by adding the sampling period (Tsa) and the average system delay jitter amount to an immediately previous reception time point expected value calculated at a time of reception of immediately previous acquisition data. [4] Receiver (10) according to one of claims 1 to 3, further comprising an association information adding unit (109) for making the event detection time (TMS_i') associated with the detection data. [5] Receiver (10) according to claim 4, wherein the jitter amount estimation unit (107) estimates the system delay jitter amount (Tj_i) from the reception time (Tr_i) and the reception time expectation value (Ta_me_i), and the allocation information adding unit (109) allocates the system delay jitter amount (Tj_i) to the detection data. [6] Receiver (10) according to claim 4, further comprising an abnormal delay detection unit (108) for detecting that a system delay is abnormal when the system delay jitter amount (Tj_i) exceeds a prescribed threshold value, wherein the association information adding unit (109) associates information indicating that the system delay is abnormal with the detection data. [7] An event detection time estimation method of estimating, in a receiver (10) for receiving detection data transmitted from a sensor (170) detecting an event in each fixed sampling period (Tsa), an event detection time (TMS_i') which is a time at which the sensor detects the event, the method comprising: a step of measuring a reception time (Tr_i) which is a time at which the detection data is received by the receiver; a step of calculating a reception timing expected value (Ta_me_i), which is an expected value of a next reception timing, which is a timing at which detection data is subsequently received, from the reception timing (Tr_i) and the sampling period (Tsa); a step of calculating a variation amount of the reception time (Tr_i) with respect to the reception time expectation value (Ta_me_i) as a system delay jitter amount (Tj_i); and a step of estimating the event detection time (TMS_i') from a system delay time measured in advance as a period from the time the sensor detects the event to the reception time (Tr_i), the reception time expectation value (Ta_me_i) and the system delay jitter amount (Tj_i). [8] The event detection time estimation method according to claim 7, wherein the event detection time (TMS_i') is calculated by subtracting, from the reception time expectation value (Ta_me_i), an average system delay time (Tt_me) which is an average value of the system delay time. [9] The event detection time estimation method according to claim 7 or 8, wherein the step of calculating the reception time expectation value (Ta_me_i) comprises: a step of calculating an average system delay jitter amount which is a distribution mean of the variation time components of the system delay time; and a step of obtaining the reception time point expected value (Ta_me_i) by adding the sampling period (Tsa) and the average system delay jitter amount to an immediately previous reception time point expected value calculated at a time of reception of immediately previous acquisition data. [10] A receiver (20) for receiving detection data transmitted from a sensor (170) detecting an event in each fixed sampling period (Tsa) to estimate an event detection time (TMS_i'), which is a time at which the sensor detects the event, the receiver comprising: a receiving unit (201) for receiving the detection data; a reception timing measuring unit (202) for measuring a reception timing (Tr_i), which is a timing at which the detection data is received by the receiving unit; a reception timing expected value calculation unit (203) for calculating a reception timing expected value (Ta_me_i), which is an expected value of a next reception timing, which is a timing at which detection data is subsequently received, from the reception timing (Tr_i) and the sampling period (Tsa); a shortest system delay case jitter amount estimation unit (206) for calculating a maximum value of a variation amount of the reception time (Tr_i) with respect to the reception time expectation value (Ta_me_i) as a shortest system delay case jitter amount; and an event detection timing estimation unit (205) for estimating the event detection timing (TMS_i') from a shortest system delay time obtained by measuring in advance a shortest time period from the time at which the sensor detects the event to the reception timing (Tr_i), the reception timing expectation value (Ta_me_i), and the shortest system delay case jitter amount. [11] An event detection time estimation method of estimating, in a receiver (20) for receiving detection data transmitted from a sensor (170) detecting an event in each fixed sampling period (Tsa), an event detection time (TMS_i') which is a time at which the sensor detects the event, the method comprising: a step of measuring a reception time (Tr_i) which is a time at which the detection data is received by the receiver; a step of calculating a reception timing expected value (Ta_me_i), which is an expected value of a next reception timing, which is a timing at which detection data is subsequently received, from the reception timing (Tr_i) and the sampling period (Tsa); a step of calculating a maximum value of a variation amount of the reception time (Tr_i) with respect to the reception time expectation value (Ta_me_i) as a shortest system delay case jitter amount; and a step of estimating the event detection time point (TMS_i') from a shortest system delay time obtained by measuring in advance a shortest time period from the time point at which the sensor detects the event to the reception time point (Tr_i), the reception time point expected value (Ta_me_i), and the shortest system delay case jitter amount.

Images